FRIT Based Simultaneous Update of Controller and Model for Integral Type Servo Systems with Full State Observers

Abstract

In this paper, we consider the simultaneous improvement of a controller and a model for an integral type servo system with a full state observer. Particularly, by employing the fictitious reference iterative tuning (FRIT), we give an effective method of a parameter tuning with only one-shot experimental data for the improvement of a controller that achieves more desired tracking property than the initial controller and a model that reflects the dynamics more accurately than the nominal model, respectively. Finally, we give an illustrative example in order to show the validity of the proposed method.