Stability analysis of learning feed-forward control

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 con"guration 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. 2000 Elsevier Science Ltd. All rights reserved.

• Type: Journal
• Year: 2000
• Where: AUTOMATICA
• Authors: Wubbe J. R. Velthuis, Theo J. A. de Vries, Pieter Schaak, Erik W. Gaal
• Keywords: AUTOMATICA 2000, Motion Systems, Random Disturbances, Reproducible Disturbances