In this study we developed an adaptive model inspired by internal models in the cerebellum and this approach called Feedback Error Learning (FEL). FEL is the origin of Learning Feed-Forward Control (LFFC). It depends on Feedback Controller and Feed-F
orward Controller which is a Neural Network, and this Neural Network uses feedback controller output as training signal. We developed this approach to control a robot arm, and to balance inverted pendulum and to control bus suspension system. We developed this approach by adding a second Neural Network, and this new Neural Network uses FEL controller output as training signal. We simulate these systems by using Matlab and Simulink, and we find that this development improves control performance.
