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**Harvard**

Nilsson, M. (2007) *On Feedforward Adaptation*. Göteborg : Chalmers University of Technology

** BibTeX **

@book{

Nilsson2007,

author={Nilsson, Magnus},

title={On Feedforward Adaptation},

isbn={ISSN 1403-266X},

abstract={Adaptation of a feedforward term in a two-degrees-of-freedom servo controller for single-input single-output systems is investigated in this thesis. The first part ofthe thesis gives a clarifying analysis of feedback-error learning in a linear and time-invariant framework. It leads to the suggestion of a novel scheme that guarantees boundedness of all signals in the system; something that previous considered schemes cannot guarantee. The second part is devoted to the adaptation of a feedforward gain in a linear and time-invariant structure. Stability and convergence are here treated for an adaptive law without the assumption of a model-matching condition, and possible adaptive techniques are discussed and examined in simulations. The last part of the thesis contains a preliminary investigation that treats the problem to adapt a nonlinear feedforward function. The function corresponds to the steady-state relation between the input and the output for a nonlinear plant. The update law in this last part is inspired from earlier parts, whilde the conclusions rely heavily on simulations and intuitive reasoning.},

publisher={Institutionen för signaler och system, Chalmers tekniska högskola,},

place={Göteborg},

year={2007},

keywords={feedforward, adaptive, control},

note={77},

}

** RefWorks **

RT Dissertation/Thesis

SR Print

ID 65823

A1 Nilsson, Magnus

T1 On Feedforward Adaptation

YR 2007

SN ISSN 1403-266X

AB Adaptation of a feedforward term in a two-degrees-of-freedom servo controller for single-input single-output systems is investigated in this thesis. The first part ofthe thesis gives a clarifying analysis of feedback-error learning in a linear and time-invariant framework. It leads to the suggestion of a novel scheme that guarantees boundedness of all signals in the system; something that previous considered schemes cannot guarantee. The second part is devoted to the adaptation of a feedforward gain in a linear and time-invariant structure. Stability and convergence are here treated for an adaptive law without the assumption of a model-matching condition, and possible adaptive techniques are discussed and examined in simulations. The last part of the thesis contains a preliminary investigation that treats the problem to adapt a nonlinear feedforward function. The function corresponds to the steady-state relation between the input and the output for a nonlinear plant. The update law in this last part is inspired from earlier parts, whilde the conclusions rely heavily on simulations and intuitive reasoning.

PB Institutionen för signaler och system, Chalmers tekniska högskola,

LA eng

OL 30