Robustness of feedback error learning method with time delay

Abstract

A. Miyamura and H. Kimura (2001) improved feedback error learning (FEL) method to apply to general time invariant linear plant with time delay, and proved the stability of that system under the condition that time delay was known. In this paper, we examine the robustness of FEL method when time delay is unknown, and propose a method to learn time delay.