Stability analysis of learning feed-forward control

W.J.R. Velthuis, Theodorus J.A. de Vries, Pieter Schaak, Erik W. Gaal

    Research output: Contribution to journalArticleAcademicpeer-review

    19 Citations (Scopus)


    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.
    Original languageUndefined
    Pages (from-to)1889-1895
    Number of pages7
    Issue number12
    Publication statusPublished - 2000


    • METIS-111793
    • Learning feed-forward control
    • Neural Networks
    • Adaptation
    • IR-74346
    • Stability analysis
    • Iterative learning control

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