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 configuration 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.
- Learning feed-forward control
- Neural Networks
- Stability analysis
- Iterative learning control
Velthuis, W. J. R., de Vries, T. J. A., Schaak, P., & Gaal, E. W. (2000). Stability analysis of learning feed-forward control. Automatica, 36(12), 1889-1895. https://doi.org/10.1016/S0005-1098(00)00107-2