Analysis and design of anticipatory learning control

In this note, frequency domain analysis is carried out for anticipatory learning control. Convergence conditions are derived in terms of two design parameters, lead-time and learning gain. For minimum phase systems, the design of the anticipatory learning control in frequency domain is decoupled into a two-steps procedure. The effectiveness of anticipatory learning control is demonstrated via an example and experiments. Comparisons of the anticipatory learning control with the conventional P-type, D-type and PD-type learning control highlight the differences between these close yet distinctive approaches.