Iterative Controller Tuning in the Time-Scale Domain

A novel method of controller tuning is introduced to achieve a desired closed-loop response. It uses the same strategy as Iterative Feedback Tuning (IFT), but instead of relying on a scalar cost function of the performance error between the desired response and system response, it utilizes the expanded version of the performance error in the time-scale domain for estimating the suitable controller parameters. The proposed method relies on the enhanced delineation of output sensitivities in the time-scale domain to identify regions in the time-scale domain wherein the performance error can be attributed to individual controller parameters [1]. It then relies on the error association in each region to estimate the corresponding controller parameter. It is shown that given a realistic desired response for the closed-loop system, the proposed method can lead to satisfactory controller parameters. It is also shown that the results from this method can be integrated with those from IFT to represent the best of the two solutions from the time and time-scale domains.