Data-driven Update of Two-degree-of-freedom Control System by Virtual Internal Model Tuning

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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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  • Virtual Internal Model Tuningによる二自由度制御系のデータ駆動型更新
  • Virtual Internal Model Tuning ニ ヨル ニ ジユウド セイギョケイ ノ データ クドウガタ コウシン

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Abstract

<p>In this paper, we propose a new update scheme for the controller parameters of the two-degree-of-freedom control system using Virtual Internal Model Tuning. Here, both of the feedback controller and the feed-forward one are simultaneously updated to improve the closed loop property and the tracking property, respectively. The key of the proposed technique is to use the virtual model, which is derived from the ideal controller for a given specification. Finally, to show the usefulness of the proposed method, verification is performed using numerical simulation.</p>

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