Generalization of feedback error learning (FEL) to strictly proper MIMO systems

Basel Alali, Kentaro Hirata, Kenji Sugimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)


This paper studies MIMO (Multi Input Multi Output) learning control systems. It generalizes the well-known Feedback Error Learning (PEL) scheme of Kawato et al. to MIMO systems which are not necessarily biproper, and hence not invertible. Assuming that a "diagonal interactor" is known, ideal and adaptive feedforward controllers are derived to achieve PEL. It is also proven that the stability of the generalized scheme is guaranteed under a positive realness condition. Simulation results illustrate the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationProceedings of the 2006 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)1424402107, 9781424402106
Publication statusPublished - 2006
Externally publishedYes
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: Jun 14 2006Jun 16 2006

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2006 American Control Conference
Country/TerritoryUnited States
CityMinneapolis, MN

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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