A Computer-Simulated On-Line Experiment in Learning Control Systems

tem performance. The learning control system will operate satisfactorily under changing environmental conditions in which an adaptive system fails to improve the performance. The general learning system operation is outlined in this paper and a simple experimental system which illustrates the improved performance is discussed. The example system is a second order plant in which the damping ratio and undamped natural frequency are considered to be affected by the environment in a piecewise constant manner. The system was simulated on a GEDA an-