2006 年 42 巻 1 号 p. 17-25
In 19) and 20), the authors proposed the tuning method of a controller by using only one-shot experimental data, which is referred to as Fictitious Reference Iterative Tuning (which is abbreviated to FRIT). FRIT requires only one-shot experimental data for an off-line non-linear optimization in order to obtain the optimal parameter minimizing the error between the desired output and the real one, so this is a useful and effective method in the sense that the cost and time for tuning of a controller can be drastically reduced. In this paper we expand FRIT into the two-degree of freedom control scheme. We show that our FRIT works effectively in the two-degree of freedom control systems and the minimization of the error in the fictitious area by using an off-line non-linear optimization corresponds to that in the real area. Moreover, by focusing the role of a feedforward controller in the two-degree of freedom control scheme, we also provide a new and facile closed loop system identification as one of the applications of the obtained result. Finally, we give an experimental result in order to show the validity of the proposed method in this paper.
