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In this paper, Virtual Feedback Error Learning (VFEL) is proposed. Conventional schemes for FEL have a drawback that a time variant block is embedded into the closed loop system as a side effect from eliminating an assumption of positive realness for stability. In the scheme of VFEL, the embedded block is separated from the closed loop system by means of cascade connection of an inverse system. As a result, designers do not need to pay attention to the effect of the block to stability. Finally, this paper shows the effectiveness of VFEL in terms of simulation.

Virtual Feedback Error Learning by Means of Cascade Connection of an Inverse System