Experimental Validation of ERIT with Impulse Response Representation

Abstract

This paper discusses a data-driven control method. In particular, we focus on Estimated Response Iterative Tuning (ERIT) which updates the feedforward controller directly from data. This paper employs impulse response representation for feedforward controller to make the freedom sufficiently large. We also proposes to use kernel regularization to avoid overfitting. The effectiveness of the proposed method is shown through numerical example and practical experiments.