制御対象の入出力データを用いた最小二乗法による相関法に基づく多変数制御器の調整

—張力・速度制御装置に対する適用—

抄録

This paper proposes a correlation-based model-free controller design method for the tuning of linear time invariant (LTI) multivariable controllers. In the proposed method, the controller parameters are tuned directly by using sets of input/output data obtained independently from the controlled plant; the number of sets is equal to the number of the input dimension of the controlled plant so that the closed-loop output approximates the output of the given reference model. In addition, if the controllers are parameterized linearly with respect to the controller parameters, optimal control parameters can be obtained by the least-squares method. The effectiveness of the proposed method is experimentally confirmed by using a two-input two-output system, namely, a tension-and-speed control apparatus.