Stability of MIMO Feedback Error Learning Control under a Strictly Positive Real Condition ?

摘要

Motivated by a biological motion control model called feedback error learning (FEL), adaptive feedforward control schemes have been extensively studied in literature. Stability of a single-input single-output (SISO) FEL control scheme has been shown under a strictly positive real condition via passivity theory. This paper generalizes the scheme to the multi-input multi-output (MIMO) case together with its stability proof, by making full use of left coprime fraction by polynomial matrices. Numerical simulation illustrates the effectiveness of the proposed tuning law over existing MIMO FEL schemes resorting to recursive least square estimation.