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Low-Frequency Learning (Lectures on Adaptive Control and Learning)

While adaptive control has been used in numerous applications to achieve system performance without excessive reliance on dynamical system models, the necessity of high-gain learning rates to achieve fast adaptation can be a serious limitation of adaptive controllers. This is due to the fact that fast adaptation using high-gain learning rates can cause high-frequency oscillations in the control response resulting in system instability. In this lecture, we present a new adaptive control architecture for nonlinear uncertain dynamical systems to address the problem of achieving fast adaptation using high-gain learning rates. This architecture is called as the low-frequency learning. Have fun!