This paper presents a model-based automated controller tuning algorithm for repetitive references. A key challenge in automated tuning is guaranteeing stability of the closed loop system during the tuning process. In order to guarantee the system stability while tuning, we reformulate the traditional controller tuning problem into the tuning of the Youla parameterized version of the controller. Thus at each iteration of the tuning process, the Youla parameter is iteratively tuned to minimize a given quadratic cost function. This makes the optimization problem affine in the parameters and at the same time, eliminates the need for checking stability at each iteration. The proposed algorithm can be used for (1) auto-tuning for optimizing a known controller, or (2) auto-tuning a controller from some arbitrary controller candidates. These capabilities of the model-based tuning algorithm are finally demonstrated experimentally on a precision linear stage. Criteria for convergence of the tuning law has also been presented.
- Dynamic Systems and Control Division
Design and Validation of a Model-Based Automated Controller Tuning Algorithm
Gao, X, & Mishra, S. "Design and Validation of a Model-Based Automated Controller Tuning Algorithm." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 413-421. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8704
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