2019 年 32 巻 1 号 p. 32-38
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.