2019 Volume 139 Issue 7 Pages 780-785
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.
The transactions of the Institute of Electrical Engineers of Japan.C
The Journal of the Institute of Electrical Engineers of Japan