Analysis and design of a learning feedforward controller using Bartlet window

A learning feedforward controller (LFFC) using the Bartlet window function is proposed for a better tracking control of linear system over a finite time interval. LFFC is applied as a feedforward controller to the existing feedback controller. This paper demonstrates that using a simple window function-Bartlet (Fejer or triangular) window in signal processing, the design of a learning feedforward controller reduces to determining only two design parameters: the learning gain and the number of point in the window. Convergence analysis is presented together with a design procedure.