Virtual feedback error learning control

Feedback error learning (FEL) is a model for biological motion control and has attracted much attention also in control engineering. This paper proposes a new scheme named Virtual Feedback Error Learning (VFEL), which does not use actual feedback error signals, by modifying the two-degree-of-freedom structure in conventional FEL schemes. The paper first points out that for some cases the conventional schemes have certain drawbacks due to this structure and explains how they will be overcome by the proposed VFEL scheme. It is further pointed out that VFEL has its own drawback. These aspects are discussed through a specific experimental system by means of simulation, at this moment.