A Frequency Domain Analysis of Learning Control

[+] Author and Article Information
C. J. Goh

Department of Mathematics, The University of Western Australia, Nedlands, Western Australia 6009

J. Dyn. Sys., Meas., Control 116(4), 781-786 (Dec 01, 1994) (6 pages) doi:10.1115/1.2899278 History: Received February 22, 1993; Revised September 30, 1993; Online March 17, 2008


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.

Copyright © 1994 by The American Society of Mechanical Engineers
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