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)

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 languageEnglish
Title of host publicationProceedings of the American Control Conference
Pages5450-5455
Number of pages6
Volume2006
Publication statusPublished - 2006
Externally publishedYes
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: Jun 14 2006Jun 16 2006

Other

Other2006 American Control Conference
CountryUnited States
CityMinneapolis, MN
Period6/14/066/16/06

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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]