The inverse controller is traditionally assumed to be a deterministic function. This paper presents a pedagogical methodology for estimating the stochastic model of the inverse controller. The proposed method is based on Bayes' theorem. Using Bayes' rule to obtain the stochastic model of the inverse controller allows the use of knowledge of uncertainty from both the inverse and the forward model in estimating the optimal control signal. The paper presents the methodology for general nonlinear systems. For illustration purposes, the proposed methodology is applied to linear Gaussian systems.
|Title of host publication||Proceedings of the IEEE International Conference on Control Applications, 2004|
|Number of pages||6|
|Publication status||Published - 2004|
|Event||2004 IEEE International Conference on Control Applications - Taipei, United Kingdom|
Duration: 2 Sep 2004 → 4 Sep 2004
|Conference||2004 IEEE International Conference on Control Applications|
|Period||2/09/04 → 4/09/04|