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JRM Vol.28 No.5 pp. 707-714
doi: 10.20965/jrm.2016.p0707
(2016)

Paper:

Realization of Prefilter for Virtual Reference Feedback Tuning Using Closed-Loop Step Response Data

Yoshihiro Matsui*, Hideki Ayano*, Shiro Masuda**, and Kazushi Nakano***

*Department of Electrical Engineering, National Institute of Technology, Tokyo College
1220-2 Kunugida-machi, Hachioji, Tokyo 193-0997, Japan

**Graduate School of System Design, Tokyo Metropolitan University
6-6 Asahi-ga-oka, Hino, Tokyo 191-0065, Japan

***Graduate School of Informatics and Engineering, The University of Electro-Communications
1-5-1 Chofu-ga-oka, Chofu, Tokyo 182-8585, Japan

Received:
March 18, 2016
Accepted:
June 20, 2016
Published:
October 20, 2016
Keywords:
data-driven controller tuning, model matching, time domain, VRFT, PID control
Abstract

Realization of Prefilter for Virtual Reference Feedback Tuning Using Closed-Loop Step Response Data

VRFT model matching problem with prefilter F(z)

Prefilters for Virtual Reference Feedback Tuning (VRFT) in the time domain are realized by the least-squares method with step reference response data acquired from the closed-loop system to be tuned and are used to obtain controller parameters for making closed-loop systems as close as possible to the desired reference model. The usefulness of this proposal is shown in numerical examples in which fifth-order and PID controllers for a flexible transmission system are tuned by VRFT with prefilters.

Cite this article as:
Y. Matsui, H. Ayano, S. Masuda, and K. Nakano, “Realization of Prefilter for Virtual Reference Feedback Tuning Using Closed-Loop Step Response Data,” J. Robot. Mechatron., Vol.28, No.5, pp. 707-714, 2016.
Data files:
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