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Here, we focus on I-PD controller which is widely used in many actual control applications. We also expand Virtual Internal Model Tuning, which was proposed by the authors and is an off-line tuning method of controller parameter by using directly experimental data, to the real-time manner. Particularly, we show that our proposed real-time tuning converges to the optimal parameter from the theoretical points of view. Finally, numerical examples is illustrated to show the validity of our theoretical analysis on the convergence.</p>"}],"abstractLicenseFlag":"disallow"}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1410001288100003330","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000411824694"},{"@type":"NRID","@value":"9000409009922"},{"@type":"NRID","@value":"9000409905146"},{"@type":"NRID","@value":"9000411018254"},{"@type":"NRID","@value":"9000399215672"},{"@type":"NRID","@value":"9000403159373"},{"@type":"NRID","@value":"9000408477067"},{"@type":"RESEARCHMAP","@value":"https://researchmap.jp/t1ike"}],"foaf:name":[{"@language":"en","@value":"IKEZAKI Taichi"},{"@language":"ja","@value":"池崎 太一"}],"jpcoar:affiliationName":[{"@language":"ja","@value":"電気通信大学大学院情報理工学研究科"},{"@language":"en","@value":"Graduate School of Informatics and Engineering, The University of Electro-Communications"}]},{"@id":"https://cir.nii.ac.jp/crid/1420282801192607616","@type":"Researcher","personIdentifier":[{"@type":"KAKEN_RESEARCHERS","@value":"00314394"},{"@type":"NRID","@value":"1000000314394"},{"@type":"NRID","@value":"9000412116536"},{"@type":"NRID","@value":"9000414758305"},{"@type":"NRID","@value":"9000403023361"},{"@type":"NRID","@value":"9000020360152"},{"@type":"NRID","@value":"9000399351545"},{"@type":"NRID","@value":"9000403157718"},{"@type":"NRID","@value":"9000403157519"},{"@type":"NRID","@value":"9000389434122"},{"@type":"NRID","@value":"9000391898162"},{"@type":"NRID","@value":"9000347039643"},{"@type":"NRID","@value":"9000408917091"},{"@type":"NRID","@value":"9000411018821"},{"@type":"NRID","@value":"9000403023330"},{"@type":"NRID","@value":"9000311064054"},{"@type":"NRID","@value":"9000272991744"},{"@type":"NRID","@value":"9000258290893"},{"@type":"NRID","@value":"9000000104787"},{"@type":"NRID","@value":"9000322102513"},{"@type":"NRID","@value":"9000413779533"},{"@type":"NRID","@value":"9000411580760"},{"@type":"NRID","@value":"9000415221047"},{"@type":"NRID","@value":"9000248243460"},{"@type":"NRID","@value":"9000248243272"},{"@type":"NRID","@value":"9000377394220"},{"@type":"NRID","@value":"9000399351279"},{"@type":"NRID","@value":"9000411580696"},{"@type":"NRID","@value":"9000258684117"},{"@type":"NRID","@value":"9000361679713"},{"@type":"NRID","@value":"9000399351424"},{"@type":"NRID","@value":"9000411824695"},{"@type":"NRID","@value":"9000248243164"},{"@type":"NRID","@value":"9000412195151"},{"@type":"NRID","@value":"9000410182600"},{"@type":"NRID","@value":"9000409009924"},{"@type":"NRID","@value":"9000411580694"},{"@type":"NRID","@value":"9000415428073"},{"@type":"NRID","@value":"9000345302572"},{"@type":"NRID","@value":"9000404829874"},{"@type":"NRID","@value":"9000402241229"},{"@type":"NRID","@value":"9000409905147"},{"@type":"NRID","@value":"9000283398304"},{"@type":"NRID","@value":"9000412372774"},{"@type":"NRID","@value":"9000254286153"},{"@type":"NRID","@value":"9000399351824"},{"@type":"NRID","@value":"9000411018255"},{"@type":"NRID","@value":"9000411018081"},{"@type":"NRID","@value":"9000265571959"},{"@type":"NRID","@value":"9000389434126"},{"@type":"NRID","@value":"9000377393590"},{"@type":"NRID","@value":"9000377393742"},{"@type":"NRID","@value":"9000347039126"},{"@type":"NRID","@value":"9000345404823"},{"@type":"NRID","@value":"9000254769883"},{"@type":"NRID","@value":"9000399351084"},{"@type":"NRID","@value":"9000411018220"},{"@type":"NRID","@value":"9000020327238"},{"@type":"NRID","@value":"9000391895210"},{"@type":"NRID","@value":"9000403157715"},{"@type":"NRID","@value":"9000399215670"},{"@type":"NRID","@value":"9000411018257"},{"@type":"NRID","@value":"9000248243463"},{"@type":"NRID","@value":"9000020345664"},{"@type":"NRID","@value":"9000399351620"},{"@type":"NRID","@value":"9000403159374"},{"@type":"NRID","@value":"9000408477068"},{"@type":"NRID","@value":"9000242758494"},{"@type":"NRID","@value":"9000256907293"},{"@type":"NRID","@value":"9000290820884"},{"@type":"NRID","@value":"9000402267316"},{"@type":"RESEARCHMAP","@value":"https://researchmap.jp/read0054707"}],"foaf:name":[{"@language":"en","@value":"KANEKO Osamu"},{"@language":"ja","@value":"金子 修"}],"jpcoar:affiliationName":[{"@language":"ja","@value":"電気通信大学大学院情報理工学研究科"},{"@language":"en","@value":"Graduate School of Informatics and Engineering, The University of Electro-Communications"}]}],"publication":{"publicationIdentifier":[{"@type":"PISSN","@value":"04534654"},{"@type":"LISSN","@value":"04534654"},{"@type":"EISSN","@value":"18838189"}],"prism:publicationName":[{"@language":"en","@value":"Transactions of the Society of Instrument and Control Engineers"},{"@language":"ja","@value":"計測自動制御学会論文集"},{"@language":"en","@value":"Transaction of SICE"},{"@language":"en","@value":"Transactions of the Society of Instrument and Control Engineers"},{"@language":"en","@value":"TSICE"},{"@language":"ja","@value":"計測自動制御学会論文集"},{"@language":"ja","@value":"計測論文"},{"@language":"ja","@value":"ＳＩＣＥ論文誌"},{"@language":"ja","@value":"ＳＩＣＥ論文集"},{"@language":"ja","@value":"計制論"},{"@language":"ja","@value":"制御論文"},{"@language":"en","@value":"T. 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