I-MECH has attended the American Control Conference (ACC) in Philadelphia, USA. A full-paper entitled: `Feedforward Motion Control: From Batch-to-Batch Learning to Online Parameter Estimation’ is published (you can find it here). In this paper, two methods are presented and analyzed for optimization of feedforward control parameters from data in real-time, which may lead to a major performance benefit as shown in the paper. This is an active research topic within I-MECH, specifically in building block 8 and 9. During the visit this work is presented in the Learning session, which was well received. For more information check the related paper or read the deliverable 4.4.