Adaptive output feedback control with cerebellar model articulation controller-based adaptive PFC and feedforward input

This paper deals with a design scheme of adaptive output feedback control system with an adaptive parallel feedforward compensator (PFC) and an adaptive feedforward input based on the cerebellar model articulation controller (CMAC). It is shown that, by applying the CMAC strategy to PFC design, we can obtain a PFC, which makes the resulting augmented system almost strictly positive real approximately, for a nonlinear system. Moreover, an adaptive feedforward input to attain output tracking for the practical output is also provided via CMAC. The stability of the obtained control system will be analysed and the convergence of the mean value of tracking error to a small range will be shown. In addition, the effectiveness of the proposed method will be validated through numerical simulations.