제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
- /
- Pages.550-554
- /
- 1992
Exponential Convergence of A Learning Scheme for Unknown Linear Systems
- Kuc, Tae-yong (Department of Electrical Engineering, POSTECH, P.O.Box 125, Pohang 790-600) ;
- Lee, Jin-Soo (Department of Electrical Engineering, POSTECH, P.O.Box 125, Pohang 790-600)
- 발행 : 1992.10.01
초록
In this paper the issue of convergence rate is introduced for a learning control scheme we have developed and applied for tracking of unknown linear systems. A sufficient condition under which the output trajectory converges exponentially fast is obtained using the controllability grammian of controllable linear systems. Under the same condition it is also shown that the learning control input converges exponentially with the same rate as the rate of output convergence. A numerical example with computer simulation results is presented to show the feasibility of the scheme.
키워드