Real-time Tuning for I-PD Controller by VIMT

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  • IKEZAKI Taichi
    Graduate School of Informatics and Engineering, The University of Electro-Communications
  • KANEKO Osamu
    Graduate School of Informatics and Engineering, The University of Electro-Communications

Bibliographic Information

Other Title
  • VIMTを用いたI-PD制御系に対するリアルタイム制御器更新
Published
2022
DOI
  • 10.9746/sicetr.58.179
Publisher
The Society of Instrument and Control Engineers

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Description

<p>In this paper, we present a new method of real-time tuning by directly using experimental data. 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>

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