“…Since, in the absence of disturbance, the system is tracking well, the reference input in the steady state, G r , is approximately equal to one; therefore, [1 − G r (z)](0.1r i ) would not contribute much to the error in each iteration and its effect is also reduced by the G d (z)(0.1d i ) term, which is verified by the results presented in Section 3. In recursive error Equation (30), the dominant term is [0.9 − G f (z)L(z)]. The smaller the magnitude of this term, the faster the convergence of the learning scheme, as the tracking error in each iteration will be reduced.…”