Fictitious Reference Iterative Tuning of Disturbance Observers for Attenuation of the Effect of Periodic Unknown Exogenous Signals

摘要

In this paper, we develop a data-driven controller tuning for the disturbance observers. Particularly, we focus on the disturbance attenuation problem for a periodic unknown disturbance. However, in the case where it is difficult to construct inverse mathematical model of a plant which is implemented in the disturbance observer, we have to tale much time and costs for identification. In order to overcome such a difficulty, we utilize fictitious reference iterative tuning (FRIT), which is data-driven controller tuning with only one-shot experimental data, for tuning of parameters of controllers to eliminate the effect of the disturbance.