ITERATIVE FEEDBACK TUNING FOR NONLINEAR SYSTEMS BASED ON IDENTIFICATION OF LINEARIZED TIME-VARYING MODELS
Paper in proceeding, 2008
A novel algorithm for tuning controllers for nonlinear plants
is presented. The algorithm iteratively minimizes a criterion of
the control performance. For each controller update iteration,
one experiment is performed with a reference signal slightly different
from the previous reference signal. The input-output signals
of the plant are used to identify a linear time-varying model
of the plant which is then used to calculate an update of the controller
parameters.
The algorithm requires an initial feedback controller that
stabilizes the closed loop for the desired reference signal and
in its vicinity, and that the closed-loop outputs are similar for the
previous and current reference signals. The tuning algorithm is
successfully tested on a laboratory set-up of the Furuta pendulum.
Author
Jonas Sjöberg
Chalmers, Signals and Systems, Systems and control
Chalmers, Signals and Systems
Per-Olof Gutman
Chalmers, Signals and Systems
Mukul Agarwal
Chalmers, Signals and Systems
Bax Mike
Chalmers, Signals and Systems
Proceedings of the 9th Biennial ASME Conference on Engineering Systems Design and Analysis ESDA2008, July 7-9, 2008, Haifa, Israel
ESDA2008-59062
Subject Categories
Control Engineering