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A clarifying analysis of feedback error learning in an LTI framework

Magnus Nilsson (Institutionen för signaler och system, Reglerteknik) ; Bo Egardt (Institutionen för signaler och system, Reglerteknik)
International Journal of Adaptive Control and Signal Processing (0890-6327). Vol. 22 (2008), 9, p. 875-901.
[Artikel, refereegranskad vetenskaplig]

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.

Nyckelord: adaptive control, feedback error learning, feedforward control

Denna post skapades 2008-11-18. Senast ändrad 2016-06-29.
CPL Pubid: 78190


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Institutioner (Chalmers)

Institutionen för signaler och system, Reglerteknik (2005-2017)



Chalmers infrastruktur

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