Adaptive Inverse Control based on Linear and Nonlinear Adaptive Filtering - Neural Networks for Identification, Control, Robotics, and Signal/Image Processing, 1996. Proceedi

At present, the control of a dynamic system (the ‘$plant”) is generally done by means of feedback. This paper proposes a n alternative approach that uses adaptive filtering to achieve feedforward control f o r both linear and nonlinear plants. Precision is attained because of the feedback incorporated in the adaptive filtering. Disturbance in the plant can be optimally controlled by a special circuit that obtains the disturbance at the plant output, filters it, and feeds it back into the plant input. The circuit works in such a way that the feedback does not alter the plant dynamic response. The concept of adaptive inverse control has application to both linear and nonlinear, MIMO and SISO plants [I].