Stability analysis of learning feed-forward control


Veldhuis, Wubbe J.R. and Vries, Theo J.A. de and Schaak, Pieter and Gaal, Erik W. (2000) Stability analysis of learning feed-forward control. Automatica, 36 (12). pp. 1889-1895. ISSN 0005-1098

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Abstract:In this paper, a learning control system is considered for motion systems that are subject to two types of disturbances; reproducible disturbances, that re-occur each run in the same way, and random disturbances. In motion systems, a large part of the disturbances appear to be reproducible. In the control system considered, the reproducible disturbances are compensated by a learning component consisting of a B-spline neural network that is operated in feed-forward. The paper presents an analysis of stability properties of the configuration in case of a linear process and second-order B-splines. The outcomes of the analysis are quantitative criteria for selection of the width of the B-splines, and of the learning rate, for which the system is guaranteed to be stable. These criteria facilitate the design of a learning feed-forward controller.
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Copyright:© 2000 Elsevier
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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