Paper Info
Title
Feedforward learning control for MIMO plant with finite zeros: Parameterization of numerator polynomial matrix
Abstract
This paper proposes a scheme for feedforward (FF) learning control for an unknown multi-input multi-output (MIMO) linear plant in the two-degree-of-freedom structure. Provided that a feedback (FB) control stabilizes the plant but gives a poor response property to reference signals, FF control with on-line learning of inverse dynamics improves the response significantly. In contrast to existing FF learning control schemes called feedback error learning, we propose a scheme that overcomes difficulties in MIMO plant with finite zeros. Numerical simulation is carried out to show the effectiveness of the proposed scheme.
Year
DOI
Venue
2014
10.1109/CDC.2014.7040030
Decision and Control
Keywords
Field
DocType
MIMO systems,feedback,feedforward,learning systems,polynomial matrices,FB control,FF learning control,MIMO plant,feedback control,feedback error learning,feedforward learning control,finite zeros,inverse dynamics online learning,multiinput multioutput linear plant,numerator polynomial matrix parameterization,two-degree-of-freedom structure
Mathematical optimization,Computer simulation,Parametrization,Polynomial matrix,Control theory,Computer science,MIMO,Inverse dynamics,Fraction (mathematics),Feed forward
Conference
ISSN
Citations 
PageRank 
0743-1546
0
0.34
References 
Authors
4
2
Name
Order
Citations
PageRank
Kenji Sugimoto13010.35
Lorlynn A. Mateo200.34