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This paper proposes a control strategy consisting of a robust controller andan Echo State Network (ESN) based control law for stabilizing a class ofuncertain nonlinear discrete-time systems subject to persistent disturbances.Firstly, the robust controller is designed to ensure that the closed-loopsystem is Input-to-State Stable (ISS) with a guaranteed stability regionregardless of the ESN control action and exogenous disturbances. Then, the ESNbased controller is trained in order to mitigate the effects of disturbances onthe system output. A numerical example demonstrates the potentials of theproposed control design method.

Combining Robust Control and Machine Learning for Uncertain Nonlinear Systems Subject to Persistent Disturbances