FRIT and RLS-based online controller tuning and its experimental validation

Yuji Wakasa, Azakami Ryo, Kanya Tanaka, Shota Nakashima

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Citations (Scopus)

Abstract

This paper proposes an online type of controller parameter tuning method by modifying the standard fictitious reference iterative tuning (FRIT) method and by utilizing the so-called recursive least-squares (RLS) algorithm, which can cope with variation of plant characteristics adaptively. As used in many applications, the RLS algorithm with a forgetting factor is also applied to give more weight to more recent data, which is appropriate for adaptive controller tuning. Moreover, we extend the proposed method to online tuning of the feedforward controller of a two-degree-of-freedom control system. Finally, experimental results are provided to demonstrate the effectiveness of the proposed FRIT and RLS-based online controller tuning method.

Original languageEnglish
Title of host publication2013 9th Asian Control Conference, ASCC 2013
DOIs
Publication statusPublished - 31 Oct 2013
Event2013 9th Asian Control Conference, ASCC 2013 - Istanbul, Turkey
Duration: 23 Jun 201326 Jun 2013

Publication series

Name2013 9th Asian Control Conference, ASCC 2013

Conference

Conference2013 9th Asian Control Conference, ASCC 2013
Country/TerritoryTurkey
CityIstanbul
Period23/06/1326/06/13

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