Feedback Error Learning with insufficient excitation

Control-theoretical studies on feedback error learning (FEL) have been active recently. The authors generalized this scheme to multi-input multi-output (MIMO) systems with application to writing one-stroke characters by a two-link manipulator. After mentioning those related works, this paper studies further issues on MIMO-FEL, with focus on insufficient excitation and plant parameter estimation by means of frequency response.

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