Direct Tuning in Feedback Error Learning Control and Its Generalization to Non-minimum Phase Plant

A design method of strong stability self‐tuning controller based on on‐demand type feedback control

“…The generalized output and its prediction formulâ Φ(t+k m |t) are obtained from Equations (5) and (9).…”

“…There are also a number of studies intended for specific applications. [7][8][9] On the other hand, the present study deals with a control system to follow a target value (control system with closed loop gain of 1); in so doing, design parameters are introduced based on coprime factorization approach, and feedforward and feedback controllers are configured so that steady-state gain of open-loop system also becomes 1 (control system is configured so that steady-state value of feedback signal is 0 when parameters of controller plant are true values, and no disturbance exists). In other words, in this study, feedforward and feedback controllers are designed so that feedforward controller has steady-state gain corresponding to the inverse model of controlled plant, while closed-loop gain is kept at 1.…”