Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
FRIT Based Simultaneous Update of Controller and Model for Integral Type Servo Systems with Minimal Order State Observers
Osamu KanekoYuji AsanoShigeru Yamamoto
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2016 Volume 29 Issue 6 Pages 275-284


In this paper, we consider the simultaneous improvement of a controller and a model for an integral type servo system with a minimal-order state observer. The authors have already studied this issue for the full-state observer. However, in the case in which it is preferable to implement a controller as simply as possible and it is possible to observe a part of state variables directly, utilization of the minimal-state observer is desirable. Thus, this paper extends the previous result on the full state observer to the minimal order state observer case. By employing 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 to show the validity of the proposed method.

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© 2016 The Institute of Systems, Control and Information Engineers
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