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Combining Learning and Model Based Control via Discrete-Time Chen-Fliess Series (1906.11084v3)
Published 26 Jun 2019 in eess.SY and cs.SY
Abstract: A learning control system is presented suitable for control affine nonlinear plants based on discrete-time Chen-Fliess series and capable of incorporating knowledge of a given physical model. The underlying noncommutative algebraic and combinatorial structures needed to realize the multivariable case are also described. The method is demonstrated using a two-input, two-output Lotka-Volterra system.