Just-In-Time Control with Lazy Feedback Error Learning

Abstract

Recently, much attention has been paid to Feedback Error Learning (FEL), in which a Feedforward (FF) controller is trained by Feedback (FB) errors and attains good tracking after learning. This paper proposes Just-in-time (JIT) control by means of a lazy FEL, namely, we store as a database the set of FF controllers learned by feedback error in various query points of the plant. Then we select an appropriate FF controller from the database in real time.