The stability analysis of module blending architecture in brain motor control

In this paper, we deal with a stabilization problem for a type of blending control system, which originated from studies of brain motor control. In our approach, the feedback controller has a module structure with softmax blending. The controller is composed of multiple modules, each of which consists of a state predictor and a controller, and the weights of blending are given by the softmax function of the prediction error from each module. We establish exponential stability of our system based on theory of slowly time-varying systems.