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

抄録

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.