Abstract
This paper proposes a novel algorithm for iterative tuning of a completely unknown two-mass torsional motor system. The command generator tracking (CGT) theory is used to formulate a feedforward controller that consists of a reference model and input generator, which can clarify the relationship between the controller parameters and the two-mass model parameters. The relationship is used to construct physical model parameter estimates, which are shown to converge to true values as the output error is minimized. The proposed tuning process is conducted by utilizing these estimates at each iteration to approximate a system transfer function. This allows the analytical calculation of controller gradients needed for conducting Iterative Feedback Tuning (IFT), without having to perform additional experiments for gradient estimation. The effectiveness of the proposed method in achieving trajectory tracking and identification of all physical parameters is demonstrated via experimentation.
