Online Controller Tuning via FRIT and Recursive Least-Squares

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  • Wakasa Yuji
    Graduate School of Science and Engineering, Yamaguchi University
  • Azakami Ryo
    Graduate School of Science and Engineering, Yamaguchi University
  • Masuda Shiro
    Graduate School of System Design, Tokyo Metropolitan University
  • Tanaka Kanya
    Graduate School of Science and Engineering, Yamaguchi University
  • Nakashima Shota
    Graduate School of Science and Engineering, Yamaguchi University

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  • FRITと逐次最小2乗法によるオンライン型制御器調整
  • FRIT ト チクジ サイショウ 2 ジョウホウ ニ ヨル オンラインガタ セイギョキ チョウセイ

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Abstract

This paper proposes an online type of controller parameter tuning method by modifying the standard fictitious reference iterative tuning 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 feed-forward controller of a two-degree-of-freedom control system. Finally, experimental results are provided to demonstrate the effectiveness of the proposed method.

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