A clarifying analysis of feedback error learning in an LTI framework
Artikel i vetenskaplig tidskrift, 2008

Feedback error learning (FEL) is a proposed technique for reference-feedforward adaptive control. FEL in a linear and time-invariant (LTI) framework has been studied recently; the studies can be seen as proposed solutions to a feedforward MRAC problem. This paper reanalyzes two suggested schemes with new interpretations and conclusions. It motivates the suggestion of an alternative scheme for reference-feedforward adaptive control, based on a certainty-equivalence approach. The suggested scheme differs from the analyzed ones by a slight change in both the estimator and the control law. Boundedness and error convergence are then guaranteed when the estimator uses normalization combined with parameter projection onto a convex set where stability of the estimated closed-loop system holds.

adaptive control

feedback error learning

feedforward control

Författare

Magnus Nilsson

Signaler och system, System- och reglerteknik, Reglerteknik

Bo Egardt

Signaler och system, System- och reglerteknik, Reglerteknik

International Journal of Adaptive Control and Signal Processing

0890-6327 (ISSN) 1099-1115 (eISSN)

Vol. 22 875-901

Ämneskategorier

Reglerteknik

DOI

10.1002/acs.1031