ベイズ最適化を用いた制御器チューニング

—提案と実験検証—

抄録

This paper proposes an approach for automatic controller tuning based on experimental data only. It determines the controller parameters for a given cost function without knowing the true plant dynamics via Bayesian optimization. The validity of the proposed method is tested through some numerical simulations. Then, the proposed method is applied to PID controller tuning for an actual motor positioning system. The experimental results show that the proposed method improves the control performance effectively.