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

会議情報

主催: The Society of Instrument and Control Engineers

共催: 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

著者情報

キーワード: two-degree-of-freedom control, feedback error learning, adaptive control

会議録・要旨集フリー

p. 59

詳細

抄録

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.

責任著者(Corresponding author)

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