二自由度制御系におけるフィードフォワード制御器更新の新しいアプローチ —Estimated Response Iterative Tuning (ERIT) の提案—

抄録

We propose a new approach to controller parameter tuning in the two-degree-of-freedom control architecture, what is called as Estimated Response Iterative Tuning (ERIT). The idea is very simple in the sense that the feed-forward controller is tuned so as to realize that the estimated response calculated in the off-line is equal to the desired response. This approach is very useful because the required material for the optimization are the obtained data and the available information like the feedback controller, the desired transfer function, and the initial feed-forward controller. Here, we analyze the cost function which appears in the ERIT. To show the validity of the proposed method, we give an illustrative example.