Nonlinear Learning Control
From the results of the past three chapters, it is clear that for a linear plant there is no real advantage to the method of iterative learning control (in the presence of noise this claim may not be as strong, however, this is still an area of research). The real usefulness of learning control is for situations in which we wish to control the performance of a nonlinear and/or time-varying system. In this chapter we consider nonlinear learning control. The first section discusses the issues involved. In the second section we give an example of a specific learning controller for a class of nonlinear systems that includes the models of typical n-jointed robotic manipulators. This learning controller has a linear time-varying structure and is illustrated with the results of a simulation experiment.
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