Abstract
Motivated by a model for biological motion control, known as Feedback Error Learning (FEL), much attention has been paid to feedforward (FF) control with on-line tuning. Various tuning/control schemes have been proposed so far for its implementation. This paper proposes yet another tuning law that uses an external signal more directly and makes full use of prior knowledge of feedback (FB) controller. The paper also emphasizes a pole placement perspective on FF control in the two-degree-of-freedom (2DOF) structure, which is particularly useful to address non-minimum phase plant. This is done by tuning the numerators of both prefilter and FF controller transfer functions, while their denominators are specified by poles allotted in advance. Numerical simulation is carried out to illustrate the proposed scheme.
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