Frequency domain analysis of learning systems

Frequency domain arguments on a general learning law are presented to verify claims of convergence which relax earlier requirements on the learning law transfer function. Known convergence properties are used to develop a pole-placement interpretation for an example for which simulations using a proportional-derivative learning law form are carried out. Physically relevant disturbances are introduced, and the ability of the learning law to damp out their effects is studied. A significant state-dependent disturbance is shown to be attenuated for reliable trajectory tracking