Feedback error learning and nonlinear adaptive control

  title={Feedback error learning and nonlinear adaptive control},
  author={Jun Nakanishi and Stefan Schaal},
  journal={Neural networks : the official journal of the International Neural Network Society},
  volume={17 10},
In this paper, we present our theoretical investigations of the technique of feedback error learning (FEL) from the viewpoint of adaptive control. We first discuss the relationship between FEL and nonlinear adaptive control with adaptive feedback linearization, and show that FEL can be interpreted as a form of nonlinear adaptive control. Second, we present a Lyapunov analysis suggesting that the condition of strictly positive realness (SPR) associated with the tracking error dynamics is a… CONTINUE READING
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