<h2>AAS 97-152</h2>
<h2>USE OF DECOUPLING BASIS FUNCTIONS IN LEARNING CONTROL FOR  LOCAL LEARNING AND FOR IMPROVED TRANSIENTS                                            </h2>
<h4> S.J. Oh and R. W. Longman, Columbia University                                                                                                                           </h4>
<h2> Abstract </h2>
 One formulation of learning control uses basis functions to establish a way of  correcting the majority of a control system's tracking error quickly and smoothly,  but this is done at the expense of not obtaining zero tracking error when a small  number of basis functions is used.  In this paper we seek zero tracking error, and  use the basis function concept to improve poor transients during learning in the  simplest forms of learning control.  A nominal model of the system is used to  develop basis functions in the output and output spaces that have local support.