Virtual Internal Model Tuning for Smith Compensator

Abstract

In this paper, we consider a new approach to data-driven controller tuning for time-delay systems. The Smith compensator is widely known as an effective method for time-delay systems. In the case where a mathematical model of a time-delay system is completely known, it is well known that the desired response can be completely achieved by using suitable feedback controller using the mathematical model. In this paper, we address the case where a mathematical model is unknown and it is difficult to execute an ideal experiment for identification. A direct usage of the data is one of the rational approaches in such a case. Here, we apply Virtual Internal Model Tuning (VIMT), which was a data-driven controller update method by using output data and was proposed by the authors, to the Smith compensator. We explain how VIMT is expand to this class of the controllers. We also consider the meaning of the cost function used in the proposed method. Finally, we illustrate an experimental example to show the validity and the effectiveness of the proposed method.