Tuning of a decoupling controller for a 2×2 system using iterative feedback tuning

Gunnarsson, Svante; Collignon, Vincent; Rousseaux, O.

doi:10.1016/s0967-0661(02)00288-5

Cited by 21 publications

(10 citation statements)

References 6 publications

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“…A suitable method for PID controller tuning is the Iterative Feedback Tuning (IFT), which is an iterative method based in the use of experimental data [3], [4]. The theory behind IFT had been developed for discrete-time linear time-invariant (LTI) systems, however its implementation has been proven to be effective on systems with non linearities [5], [6], [7], [8], [9]. The reliability of this method lies in the fact that the response of the system is recorded and used later to estimate a gradient direction for each parameter of the controller through several iterations, according to the standard of a determined performance measure.…”

Section: Introductionmentioning

confidence: 99%

Iterative Feedback Tuning for the joint controllers of a 7-DOF Whole Arm Manipulator

Rico

Lecchini‐Visintini

Quiroga

2012

2012 IEEE 51st IEEE Conference on Decision and Control (CDC)

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This paper presents the tuning of the Proportional Integral Derivative (PID) controllers of the joints of a 7 degrees of freedom (DOF) manipulator with friction using the Iterative Feedback Tuning method. In the procedure both experimental data and model simulations are used and two different approaches to the approximation of the Hessian are tested. Friction identification is also performed for the implementation of friction compensation over the pre-configured joint Proportional Derivative (PD) control of the manipulator. The responses of the system when using joint PID control and joint PD control with gravity and friction compensation are compared.

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Section: Introductionmentioning

confidence: 99%

Iterative Feedback Tuning for the joint controllers of a 7-DOF Whole Arm Manipulator

Rico

Lecchini‐Visintini

Quiroga

2012

2012 IEEE 51st IEEE Conference on Decision and Control (CDC)

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“…[1] proposed two cascade control structures according to different modeling levels for a cascade process in practice. As for the typical MIMO system, two-input two-output (TITO) system, [2] proposed a method for tuning a decoupling PD-controller using iterative feedback tuning, and [3] demonstrated a method of tuning for PI controllers with Manuscript one-way lead/lag decoupling based on finite frequency response data. [4] proposed a novel full dimensional PI/PID controller for MIMO processes which consists of diagonal main controllers and off-diagonal decoupling controllers.…”

Section: Introductionmentioning

confidence: 99%

Decoupling based decentralized robust control for combined shape and gauge system in tandem cold rolling process

Peng

Tong

Xiao

2009

Proceedings of the 48h IEEE Conference on Decision and Control (CDC) Held Jointly With 2009 28th Chinese Control Conference

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In this paper, we proposed a new control scheme of decoupling based decentralized robust control for a typical two-input two-output system in tandem cold rolling process. A dynamic coupled model of shape and gauge system was developed based on some field data. Then we proposed a new control scheme for the combined system. The controller consists of a decoupler and a set of robust controllers. The interactions could be mainly dealt with by the decoupler, and robust controllers could guarantee good performance of decoupling control and the robustness of each isolated subsystem. An example was given to illustrate the proposed control strategy. Simulation results showed excellent decoupling effectiveness, input tracking, disturbance rejection and parameter perturbation rejection.

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“…The application of IFT for multivariable linear systems has also been studied (see for example [8], [13] - [17]). IFT of a specific decoupling controller for a 2 2 × multivariable system is presented in [13].…”

Section: Introductionmentioning

confidence: 99%

“…IFT of a specific decoupling controller for a 2 2 × multivariable system is presented in [13]. Generic IFT algorithms for multivariable controllers are given in [8], [14] and [15], where it is shown that the number of experiments required increases proportionally with the dimension of the controller.…”

Section: Introductionmentioning

confidence: 99%

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Multivariable iterative feedback tuning - a step-wise safe switching approach

Koumboulis¹,

Tzamtzi²,

Chamilothoris

2007

2007 IEEE Conference on Emerging Technologies &Amp; Factory Automation (EFTA 2007)

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Iterative Feedback Tuning (IFT) Safe SwitchingAlgorithm is extended for the case of multivariable nonlinear systems with unknown descriptions. The proposed scheme incorporates multivariable IFT techniques, with a multivariable step-wise safe switching algorithm. Using the IFT algorithm for tuning safe switching controllers eliminates the need for identifying the MIMO linear models that describe the plant around trim (operating) points. Instead of that, specific experiments proposed by multivariable IFT are performed, in order to tune the parameters of "common" MIMO controllers for adjacent trim points. Controller tuning is based on optimizing a cost criterion appropriately defined to express the desired closed loop performance characteristics simultaneously for adjacent operating areas.

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Tuning of a decoupling controller for a 2×2 system using iterative feedback tuning

Cited by 21 publications

References 6 publications

Iterative Feedback Tuning for the joint controllers of a 7-DOF Whole Arm Manipulator

Iterative Feedback Tuning for the joint controllers of a 7-DOF Whole Arm Manipulator

Decoupling based decentralized robust control for combined shape and gauge system in tandem cold rolling process

Multivariable iterative feedback tuning - a step-wise safe switching approach

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