Real-time Tuning for I-PD Controller by VIMT

Abstract

In this paper, we present a new method of real-time tuning by directly using experimental data. Here, we focus on I-PD controller which is widely used in many actual control applications. We also expand Virtual Internal Model Tuning, which was proposed by the authors and is an off-line tuning method of controller parameter by using directly experimental data, to the real-time manner. Particularly, we show that our proposed real-time tuning converges to the optimal parameter from the theoretical points of view. Finally, numerical examples is illustrated to show the validity of our theoretical analysis on the convergence.