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Exponential Convergence of A Learning Scheme for Unknown Linear Systems
Tae-yong Kuc,Jin Soo Lee 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
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.