Learning Based Nonlinear Internal Model Control

Abstract

In this paper, we propose a learning based nonlinear internal model control approach for nonlinear dynamic systems with non-parametric uncertainties. When nonlinear non-parametric uncertainties exist both in the plant and exogenous system, it is difficult to apply the classical IMC. On the other hand, a major class of the neutrally stable exogenous systems is the periodic systems which generate periodic output signals. When the periodicity of an exogenous system is known a priori, and the resulting internal model is also periodic in nature, a learning mechanism can be constructed to update the control profile in a cyclic manner. The learning mechanism, using memory components, stores the tra..