Combining Learning and Model Based Control via Discrete-Time Chen-Fliess Series

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.