This chapter presents hybrid iterative learning control schemes with acceleration feedback for control of flexible manipulator systems. The learning schemes considered are PD-type, PI-type and PID-type. A collocated PD controller is considered for rigid-body motion control, and this is extended to incorporate noncollocated and iterative learning control with acceleration feedback. The control scheme is incorporated into a single-link flexible manipulator and a set of case study exercises assessing the performance of the approach is presented and discussed. The tests include time-domain and frequency-domain analyses with and without acceleration feedback in terms of amount of vibration reduction at resonance modes, robustness and input tracking.