Further results on numerator polynomial matrix for feedforward learning control of MIMO plant with finite zeros

In the implementation of feedforward learning control, a two-degree-of-freedom (2DOF) structure is assumed where both feedforward (FF) control and feedback (FB) control blocks are used. The two controllers have designated tasks, namely, response shaping by the FF controller and plant stabilization by the FB controller. This article specifically proposes a design for FF learning control considering an unknown multi-input multi-output (MIMO) linear time-invariant plant with finite zeros. To treat the difficulties in the plant introduced by finite zeros, a numerator polynomial matrix fractional representation approach is proposed. The proposed scheme aims to achieve faster error convergence compared to the conventional scheme.