The convergence of learning control is traditionally analyzed in the time domain. This is because a finite planning horizon is often assumed and the analysis in time domain can be extended to time-varying and nonlinear systems. For linear time-invariant (LTI) systems with infinite planning horizon, however, we show that simple frequency domain techniques can be used to quickly derive several interesting results not amenable to time-domain analysis, such as predicting the rate of convergence or the design of optimum learning control law. We explain a paradox arising from applying the finite time convergence criterion to the infinite time learning control problem, and propose the use of current error feedback for controlling possibly unstable systems.
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December 1994
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A Frequency Domain Analysis of Learning Control
C. J. Goh
C. J. Goh
Department of Mathematics, The University of Western Australia, Nedlands, Western Australia 6009
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C. J. Goh
Department of Mathematics, The University of Western Australia, Nedlands, Western Australia 6009
J. Dyn. Sys., Meas., Control. Dec 1994, 116(4): 781-786 (6 pages)
Published Online: December 1, 1994
Article history
Received:
February 22, 1993
Revised:
September 30, 1993
Online:
March 17, 2008
Citation
Goh, C. J. (December 1, 1994). "A Frequency Domain Analysis of Learning Control." ASME. J. Dyn. Sys., Meas., Control. December 1994; 116(4): 781–786. https://doi.org/10.1115/1.2899278
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