Virtual Feedback Reference Tuning Using Closed Loop Step Response Data in Frequency Domain

Abstract

SUMMARY The paper gives a controller tuning method using a virtual reference feedback tuning (VRFT) approach in frequency domain. While the original VRFT uses a data‐driven performance index based on input/output data directly, the proposed one derives a frequency domain performance index based on the Fourier transformation of one‐shot experimental input‐output data. The frequency domain performance index enables the optimal prefilter to be straightforwardly designed without using the spectral density of the collected input signal. Hence, the proposed one outperforms the original one when the input and output data are collected from the closed loop step response. The effectiveness of the proposed method is illustrated through a numerical example.

Data-driven I-PD Gain Tuning using Closed-loop Step Response Data

“…However, it is pointed out that in case of VRFT, a prefilter applied to initial input/output data has a strong effect on control results using the tuned controller parameters, and prefilter design is of great importance. 2,5 In this context, the main goal of the present study is to propose a method for optimal prefilter design for VRFT-based I-PD gain tuning using closed-loop step response data. The design of VRFT optimal prefilter follows the same procedures as in previous research:…”