An H∞ approach to learning control systems

In this paper we study a control methodology now often referred to as learning control in the recent control literature. Our primary aim is to establish a mathematical framework which will allow systematic and continuing development of learning control theory. The framework is based on the functional spaces which have been heavily used in H ∞ control theory. It is then applied to the study of the convergence problems associated with learning control. Three theorems on general convergence conditions are presented.