Abstract
In this paper, we present a two-degree-of-freedom controller tuning for two-mass spring systems with friction based on the IFT (Iterative Feedback Tuning) approach. Existing IFT methods may not work very well for such a system because they heavily rely on the linearity of the plants. In order to cope with such cases, we adopt two strategies. One is the separate tuning of the feedback and feedforward controller. The other is to introduce a quasi-Newton method into a parameter renewal law. Finally, we evaluate its effectiveness by an experiment.
