On Using a Support Vector Machine in Learning Feed-Forward Control

Abstract

For mechatronic motion systems, the performance increases significantly if, besides feedback control, also feed-forward control is used. This feed-forward part should contain the (stable part of the) inverse of the plant. This inverse is difficult to obtain if non-linear dynamics are present. To overcome this problem, learning feed-forward control can be applied. The properties of the learning mechanism are of importance in this setting. In the paper, a support vector machine is proposed as the learning mechanism. It is shown that this mechanism has several advantages over other learning techniques when applied to learning feed-forward control. The method is tested with simulation