Feedforward learning control for MIMO plant with finite zeros: Parameterization of numerator polynomial matrix

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.