一类二维变学习因子自学习控制器

设计了一种新的学习控制律，通过沿学习轴递推辨识学习增益矩阵以改善控制效果，分别对连续系统及离散系统设计了学习控制律，给出了相应的收敛性证明结果，同时考虑了系统存在着噪声干扰及初始误差不为零时滓控制器的收敛性条件。仿真结果表明该控制算法能达到很高的控制精度。

A 2-D Variable Factor Learning Controller

This paper presents a new learning control law which can obtain learning gain matrices from a recursive identifier along the learning axis. The controller is designed respectively in continuous and discrete time dynamic system, the system convergence condition is proved and spread when the system exists disturbances and its initial error isnt zero in every iteration. The simulation results shows its validity.