抄録
This paper addresses the model reference control problem, which is a typical control problem in the data-driven controller tuning methods. For non-minimum phase systems, the unstable zeros of the plant should be included in the reference to avoid destabilization of the resulting closed-loop system and improve tracking performance. First, we propose the data-driven controller tuning method considering closed-loop stability with the tuned controller parameters in time-domain. If the plant has unstable zero(s), the proposed method would not lead to destabilizing controller at worst. Closed-loop stability is checked by linear inequalities described by input/output data, which contributes to less computation in the proposed method. Moreover, this paper proposes the data-driven controller tuning method for non-minimum phase plants estimating its unstable zero(s) by the flexible reference model at every parameter updates and reflecting them into the resulting reference model. The effectiveness of the proposed method is confirmed by numerical experiments.
