抄録
This paper studies MIMO (Multi Input Multi Output) learning control systems. It generalizes the well-known Feedback Error Learning (FEL) scheme to MIMO systems which are not necessarily biproper, and hence not invertible with properness. Assuming that a diagonal interactor is known, a pre-filter and an exact feedforward controller are designed to achieve FEL. Furthermore, adaptive feedforward controller based on FEL is derived using linear parameterization. Stability of the adaptive control law is proved with and without positive realness condition for strictly proper and biproper systems, respectively. Simulation results illustrate the effectiveness of the proposed method.
