Feedback error learning control of time delay systems

Feedback error learning (FEL) method has been proposed by Kawato et. al. as a scheme of brain motor control in neurophysiology. Recently, Miyamura and Kimura have established a control theoretical validity of the FEL method in the framework of adaptive control and proved its stability based on the strictly positive realness. In this paper, we propose another scheme for the feedback error learning method which does not require any positive real conditions. By taking such advantage, the scheme is extended to time delay systems.