DISCRETE-TIME FEEDBACK ERROR LEARNING
Keywords:
Discrete-time system, Feedback Error Learning, strictly positive rea, learning controlAbstract
In this study, a theoretical foundation on the Discrete-Time Feedback Error Learning (DTFEL) method is established. This is analogous to the original continuous-time version Feedback Error Learning (FEL) method which is proposed as a control model of cerebellum in the field of computational neuroscience. The FEL is an adaptive control method for two-degree-of-freedom control schemes. In this control scheme the adaptive controller must become an inverse system of the plant. DTFEL is proposed because now the controller is computer-based, which means that the digital control scheme is used instead of the analog one. Many control algorithms are also computed in discrete-time format. Furthermore, some systems are themselves inherently discrete and, certainly for these systems, it is useful to have results available in discrete version for controlling. The ready-to-use controller is the key target of this study.
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