Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Left-right Polynomial Matrix Factorization for MIMO Pole/Zero Cancellation with Application to FEL
Kenji SugimotoWataru Imahayashi
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JOURNALS OPEN ACCESS

2019 Volume 32 Issue 1 Pages 32-38

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Abstract

Motivated by a biological motion control model called feedback error learning (FEL), feedforward learning control schemes have been extensively studied with emphasis on their implementation by linear filters and tuning parameters. Its multi-input multi-output (MIMO) generalization, however, has been redundant in terms of pole/zero cancellation structure. The objective of this paper is to propose an exact feedforward controller by introducing the notion of left-right polynomial matrix factorization.

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© 2019 The Institute of Systems, Control and Information Engineers
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