Closed-loop Identification Based on MIMO Feedback Error Learning

Motivated by the recent development of Feedback Error Learning (FEL), this paper proposes a method for closed-loop identification of a Multi Input Multi Output (MIMO) plant. Given a control system roughly designed, a feedforward controller is constructed by learning to achieve desirable responses. Then the learned feedforward controller gives a model of the plant, which will be effective for re-designing the control system to improve the performance. The effectiveness of the method is verified through numerical simulation.