強正実性条件に基づくフィードバック誤差学習制御の多入出力化

抄録

Feedback error learning (FEL) is a promising design method for two-degree-of-freedom (2DOF) control systems where feedforward control is tuned online. A tuning law has been proposed in the literature with stability proof for the single-input single-output (SISO) case under a strictly positive real condition. This paper generalizes this scheme to the multi-input multi-output (MIMO) case together with its stability proof, by making full use of left coprime fraction by polynomial matrices. Numerical simulation illustrates the effectiveness of the proposed MIMO FEL scheme.