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Motivated by a biological motion control model called feedback error learning (FEL), feedforward learning control schemes have been extensively studied with emphasis on their implementation by linear filters and tuning parameters. Its multi-input multi-output (MIMO) generalization, however, has been redundant in terms of pole/zero cancellation structure. The objective of this paper is to propose an exact feedforward controller by introducing the notion of left-right polynomial matrix factorization.

Left-right Polynomial Matrix Factorization for MIMO Pole/Zero Cancellation with Application to FEL