Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
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FRIT Based Simultaneous Update of Controller and Model for Integral Type Servo Systems with Full State Observers
Osamu KanekoTsuyoshi MiyajimaShigeru Yamamoto
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2014 Volume 27 Issue 3 Pages 122-131

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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.

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© 2014 The Institute of Systems, Control and Information Engineers
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