Two-degree-of-freedom Control with Adaptive Inverse Model

Eiichi Muramatsu; Keiji Watanabe

doi:10.11499/sicep.2004.0_59_3

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_59_3

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

Two-degree-of-freedom Control with Adaptive Inverse Model

*Eiichi Muramatsu, Keiji Watanabe

Author information

Keywords: two-degree-of-freedom control, feedback error learning, adaptive control

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 59

Details

Abstract

Feedback error learning has an architecture of two-degree-of-freedom control in which the feedforward controller is tuned to be the inverse model of the plant. Recently, Miyamura and Kimura have proved stability of FEL, based on the strictly positive realness. In this paper, we propose a design method for the two-degree-of-freedom control system, which does not require any positive real conditions.

Corresponding author

Register with J-STAGE for free!