Adaptive Output Feedback Control with Adaptive PFC and Adaptive FF via Cerebellar Model Articulation Controller

This paper presents an adaptive PFC design strategy via the cerebellar model articulation controller (CMAC) in order to make it possible to maintain the ASPR-ness (or OFEP property) of the augmented system with the PFC in a considered operating range for a nonlinear system. It is shown that, by applying the CMAC to PFC design, we can obtain a PFC, which make the resulting augmented system ASPR approximately, for a nonlinear system. Moreover, an adaptive feedforward input to attain output tracking for the practical output is also proposed via CMAC strategy. The stability of the obtained control system will be analyzed and the effectiveness of the proposed method will be validated through numerical simulations.