Generalization of feedback error learning (FEL) to strictly proper MIMO systems

Basel Alali; Kentaro Hirata; Kenji Sugimoto

doi:10.1109/acc.2006.1657591

Generalization of feedback error learning (FEL) to strictly proper MIMO systems

Basel Alali, Kentaro Hirata, Kenji Sugimoto

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Citations (Scopus)

Abstract

This paper studies MIMO (Multi Input Multi Output) learning control systems. It generalizes the well-known Feedback Error Learning (PEL) scheme of Kawato et al. to MIMO systems which are not necessarily biproper, and hence not invertible. Assuming that a "diagonal interactor" is known, ideal and adaptive feedforward controllers are derived to achieve PEL. It is also proven that the stability of the generalized scheme is guaranteed under a positive realness condition. Simulation results illustrate the effectiveness of the proposed method.

Original language	English
Title of host publication	Proceedings of the 2006 American Control Conference
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5450-5455
Number of pages	6
ISBN (Print)	1424402107, 9781424402106
DOIs	https://doi.org/10.1109/acc.2006.1657591
Publication status	Published - Jan 1 2006
Externally published	Yes
Event	2006 American Control Conference - Minneapolis, MN, United States Duration: Jun 14 2006 → Jun 16 2006

Publication series

Name	Proceedings of the American Control Conference
Volume	2006
ISSN (Print)	0743-1619

Other

Other	2006 American Control Conference
Country/Territory	United States
City	Minneapolis, MN
Period	6/14/06 → 6/16/06

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.1109/acc.2006.1657591

Cite this

Generalization of feedback error learning (FEL) to strictly proper MIMO systems. / Alali, Basel; Hirata, Kentaro; Sugimoto, Kenji.

Proceedings of the 2006 American Control Conference. Institute of Electrical and Electronics Engineers Inc., 2006. p. 5450-5455 1657591 (Proceedings of the American Control Conference; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Alali, B, Hirata, K & Sugimoto, K 2006, Generalization of feedback error learning (FEL) to strictly proper MIMO systems. in Proceedings of the 2006 American Control Conference., 1657591, Proceedings of the American Control Conference, vol. 2006, Institute of Electrical and Electronics Engineers Inc., pp. 5450-5455, 2006 American Control Conference, Minneapolis, MN, United States, 6/14/06. https://doi.org/10.1109/acc.2006.1657591

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Generalization of feedback error learning (FEL) to strictly proper MIMO systems

Abstract

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