フィードフォワード制御器の性能保証付きデータ駆動設計法の提案

抄録

In this paper, we propose a data-driven design of feedforward controllers so that closed-loop characteristics of two-degree-of-freedom control systems can be theoretically guaranteed. The controller is designed by finite-time markov parameter matching. We first show an upper bound of the error between a desired closed-loop performance and that achieved by the designed controller. Based on this error analysis, an iterative algorithm, where data collection and the error bound estimation are iteratively performed, is proposed for designing a feedforward controller with a desired error precision. The effectiveness of the proposed algorithm is shown through a numerical simulation.