Learning Transient Performance with Cutoff-Frequency Phase-In

  • Danwei WangEmail author
  • Yongqiang Ye
  • Bin Zhang
Part of the Advances in Industrial Control book series (AIC)


In this chapter, a cutoff-frequency phase-in method to deal with the problem of initial condition is proposed. In the proposed method, the cutoff frequency of the filter phases in along a predefined profile from a high value to a low value on the time axis. The high cutoff frequency at the beginning part of cycle can suppress the influence of initial state error on learning. Experimental results show that this method can effectively handle initial position offsets.


Cutoff frequency phase-in profile Initial state error 


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Copyright information

© Springer Science+Business Media Singapore 2014

Authors and Affiliations

  1. 1.School of Electrical and Electronic EngineeringNanyang Technological UniversitySingaporeSingapore
  2. 2.College of Automation EngineeringNanjing University of Aeronautics and AstronauticsNanjingChina
  3. 3.Department of Electrical EngineeringUniversity of South CarolinaColumbiaUSA

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