Design and Experiments of Anticipatory Learning Control: Frequency-Domain Approach

A frequency-domain design is presented for the anticipatory learning control. Convergence conditions are derived in terms of two design parameters, the lead-time and the learning gain. For minimum phase systems, the design of the anticipatory learning control in the frequency domain is decoupled into a two-step procedure. The design is robust against uncertainties in system modeling. The effectiveness of the anticipatory learning control is demonstrated by an example and experiments. Comparisons of the anticipatory learning control with the conventional P-type, D-type, and PD-type learning control highlight the differences between these close yet distinctive approaches.