Stability of feedback error learning method with time delay

Feedback error learning method was recently proposed by Kawato et al. [A heirarchical neural-network model for control and learning of voluntary movements, Biol. Cybernet. 57 (1987) 169-185.] as a possible architecture of brain motor control which is supported by experimental results in neurophysiology. In this paper, we analyze it as a two-degree-of-freedom adaptive control for general time invariant linear plant with adaptive controller in the...