Nonlinear Discrete-time feedback error learning with PI Controller for AC servo motor

The theme of this paper is to show the efficiency of nonlinear discrete time error learning(NDTFEL) in real application and how to improve it. PI Controller is chosen to improve the stability and reliability of the system by increasing robustness of the system. The simulations show how NDTFEL work on error rejecting. The results also show how PI controller improve the stability of NDTFEL.