This paper proposes a new scheme of on-line identification for feedforward (FF) learning control of an un known nonlinear multi-input multi-output (MIMO) plant free of zero dynamics. This is achieved by constructing a FF controller consisting of a bank of linear approximation models for various operating points, which are discretized and called scheduler. Conventional schemes used piecewise constant/linear interpolation techniques to address the discretiza tion. However, the accuracy of response shaping was i…
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