Nonlinear Term Compensation with Data-Driven Control and its Application for Shaking-Table

Abstract

In this study, we propose a data-driven control method that compensates for the effects of nonlinear terms with a simple configuration. Although the control target that can be handled is limited, the proposed method has an advantage in that the conventional FRIT can be extended without using special conversion. The effectiveness of the proposed method was verified by numerical simulations for two examples: a simple inverted pendulum and a shaking-table that is close to a real problem. In the example of a shaking-table, we confirmed that the effect of nonlinear friction can be suppressed appropriately. Therefore, we believe that the proposed method can be one of the practical methods.