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On iterative feedback tuning and disturbance rejection using simple noise models
KTH, School of Electrical Engineering (EES), Automatic Control. (System Identification Group)ORCID iD: 0000-0002-1927-1690
2005 (English)In: 16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005, Prague: Elsevier , 2005, Vol. 16, 632-637 p.Conference paper (Refereed)
Abstract [en]

The objective of this contribution is to discuss three basic control design methods for disturbance rejection. The key idea is to use a simple fixed continuous time noise model as a design variable to specify the desirable closed loop properties, e.g., the closed loop bandwidth. We will study three closely related controller design methods based on the noise model, namely minimum variance control, weighted minimum variance control and a loop shaping design procedure proposed by Skogestad and Postlethwaite. All these methods lead to simple controller structures, where the transfer function of the input/output relation is the only unknown part. The main motivation of this study has been tuning of controllers for disturbance rejection by means of iterative feedback tuning (IFT). Here, the controller parameters are found by minimizing a specified cost function using gradient search techniques. The gradients are estimated using data from iterative experiments. This is a rather difficult problem if no external input excitation is allowed. Import factors for good results are the controller parametrization and the choice of cost function. We propose an IFT cost function based on a simple output signal weighting tailored to the fixed noise model controller structure. This leads to robust procedure for iterative feedback tuning of a controller for disturbance rejection. The approach is illustrated on a simple example.

Place, publisher, year, edition, pages
Prague: Elsevier , 2005. Vol. 16, 632-637 p.
Keyword [en]
Control tuning, Disturbance rejection control oriented identification, Identification, Iterative feedback tuning, Minimum-variance regulator, Closed loop properties, Closed-loop bandwidth, Continuous time, Control design methods, Controller design method, Controller parameter, Controller parametrization, Controller structures, Design variables, External input, Gradient search, Input/output, Loop-shaping design, Minimum variance control, Noise models, Output signal, Robust procedures, Automation, Cost functions, Disturbance rejection, Feedback control, Identification (control systems), Reception quality, Structural design, Time varying networks, Controllers
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-55402ScopusID: 2-s2.0-79960712900ISBN: 008045108XISBN: 978-008045108-4OAI: diva2:471635
16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005. Prague. 3 July 2005 - 8 July 2005
QC 20120104. Sponsors: 16th Triennial World Congress of International; Federation of Automatic Control, IFAC 2005Available from: 2012-01-18 Created: 2012-01-02 Last updated: 2013-09-05Bibliographically approved

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