Data-driven I-PD gain tuning using closed-loop step response data

摘要

This paper proposes a design method for continuous-time VRFT (Virtual Reference Feedback Tuning) for I-PD (Integral-Proportional, Differential) gain tuning using closed-loop step response data. The I-PD controllers can avoid an abrupt change of manipulated variables, and have been widely used for industrial process control. The present work derives an optimal prefilter condition, and a design procedure of an optimal prefilter. The efficiency of the proposed method is assured using a numerical example and a helicopter attitude control experimental result.