計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
論文
入力と出力にむだ時間をもつ多入出力系に対するスミス補償器の一構成法とFRIT
樋口 奎金子 修
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ジャーナル 認証あり

2021 年 57 巻 9 号 p. 409-417

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In this paper, we consider a controller tuning method of the Smith compensator for multi-input and multi-output (MIMO) systems with both input delays and output delays. Particularly, we discuss on the application of Fictitious Reference Iterative Tuning (FRIT), which is one of the data-driven controller update methods utilizing one-shot experimental data. To apply FRIT to systems where both input and output have time delays, we introduce a specific structure of the Smith compensator with tunable parameters. In addition, we consider the meaning of the cost function used in the proposed method. Finally, we illustrate a numerical example to show the validity and the effectiveness of the proposed method.

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