On the Control Strategies that Humans use to Interact with Linear Systems with Output Nonlinearities

This paper examines the feedforward control strategies that humans use to interact with an unknown nonlinear system. We present results from two different experiments. In the first experiment, 11 human subjects interact with an unknown linear system. In the second experiment, 11 different human subjects interact with the same linear system but with the addition of a static output nonlinearity. We use subsystem identification to identify the feedback and feedforward controllers that model the subjects' control strategies. The identified controllers suggest the subjects use approximate feedforward plant inversion in both experiments. However, plant inversion is less precise for the nonlinear experiment.

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