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

Basel Alali, Kentaro Hirata, Kenji Sugimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)


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 languageEnglish
Title of host publicationProceedings of the American Control Conference
Number of pages6
Publication statusPublished - 2006
Externally publishedYes
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: Jun 14 2006Jun 16 2006


Other2006 American Control Conference
CountryUnited States
CityMinneapolis, MN


ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Alali, B., Hirata, K., & Sugimoto, K. (2006). Generalization of feedback error learning (FEL) to strictly proper MIMO systems. In Proceedings of the American Control Conference (Vol. 2006, pp. 5450-5455). [1657591]