2B34 FRIT of ILQ Based Integral Type Servo Controllers and Its Applications(The 12th International Conference on Motion and Vibration Control)

Abstract

In this paper, we address one of the issues on data-driven approach for controller parameter tuning. Here, we propose a new approach to simultaneous attainment of controller and model for integral type servo systems designed by Inverse Linear Quadratic (ILQ) approach. We show that a property of the feedback gain designed by ILQ is utilized for the simultaneous attainment of a model and a controller based on fictitious reference iterative tuning (FRIT), which enables us to obtain the optimal parameter with only one-shot experiment.