A New Approach to Parameter Tuning of Controllers by Using Output Data of Closed Loop system

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  • Ikezaki Taichi
    Graduate School of Informatics and Engineering, The University of electoro-communications
  • Kaneko Osamu
    Graduate School of Informatics and Engineering, The University of electoro-communications

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Other Title
  • 閉ループ系出力データに基づく制御器パラメータチューニングの新しいアプローチ
  • 閉ループ系出力データに基づく制御器パラメータチューニングの新しいアプローチ : Virtual Internal Model Tuningの提案
  • ヘイループケイ シュツリョク データ ニ モトズク セイギョキ パラメータチューニング ノ アタラシイ アプローチ : Virtual Internal Model Tuning ノ テイアン
  • —A proposal of Virtual Internal Model Tuning—
  • —Virtual Internal Model Tuningの提案—

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Abstract

<p>In this paper, we propose a new method to update parameters of the controller implemented in the closed loop system. The proposed parameter tuning method here requires only one-shot output data obtained in the closed loop experiment together with the feedback controller used in this initial experiment and the desired tracking specification. This method is derived based on the idea of the data-driven estimation and the concept of the internal model control (IMC) structure that only appears in the virtual closed loop system. Finally, the validity and the effectiveness of the proposed method are verified through actual experiments.</p>

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