A learning control system is presented suitable for control affine nonlinear plants based on discrete-time Chen-Fliess series and capable of incorporating knowledge of a given physical model. The underlying noncommutative algebraic and combinatorial structures needed to realize the multivariable case are also described. The method is demonstrated using a two-input, two-output Lotka-Volterra system.
@article{arxiv.1906.11084,
title = {Combining Learning and Model Based Control via Discrete-Time Chen-Fliess Series},
author = {W. Steven Gray and G. S. Venkatesh and Luis A. Duffaut Espinosa},
journal= {arXiv preprint arXiv:1906.11084},
year = {2020}
}