Best estimated inverse versus inverse of the best estimator

Amir Karniel, Ron Meir, Gideon F. Inbar

Research output: Contribution to journalArticlepeer-review

20 Scopus citations


The construction of a feed-forward controller frequently requires the estimation of an inverse function. Two possible methods to achieve this are: (i) learning the best estimated inverse (BEI), a method that is sometimes referred to as direct inverse learning and (ii) learning the inverse of the best estimator (IBE), a method that is sometimes referred to as indirect inverse learning. We analyze a general control problem, in the presence of noise, and show analytically that these two methods are asymptotically significantly different, even for simple linear non-redundant systems. We further demonstrate that the IBE method is typically superior for control purposes.

Original languageEnglish
Pages (from-to)1153-1159
Number of pages7
JournalNeural Networks
Issue number9
StatePublished - 11 Oct 2001
Externally publishedYes


  • Adaptive control
  • Direct inverse learning
  • Feedforward systems
  • Indirect inverse learning
  • Motor control
  • Neural networks for control
  • Neurocontrollers
  • inverse control

ASJC Scopus subject areas

  • Cognitive Neuroscience
  • Artificial Intelligence


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