U-model based learning feedforward control of MIMO nonlinear systems

S. Saad Azhar Ali, Fouad M. Al-Sunni, Muhammad Shafiq, Jamil M. Bakhashwain

Research output: Contribution to journalArticlepeer-review

27 Citations (Scopus)


In this paper, a learning feedforward controller (LFFC) using the U-model is proposed for a better tracking control of multivariable nonlinear systems over a finite time interval. The multivariable system is modelled using the U-model and the LFFC is established using Newton-Raph-son method. U-model significantly simplifies the online synthesis of the feedforward control law. The proposed technique is verified on 2-link robot manipulator in real-time. The performance of the proposed U-model based LFFC is compared with a number of schemes under varying load conditions.

Original languageEnglish
Pages (from-to)405-415
Number of pages11
JournalElectrical Engineering
Issue number8
Publication statusPublished - Apr 2010


  • LFFC
  • MIMO nonlinear systems
  • Robotics
  • U-model

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Applied Mathematics


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