Controller Auto-tuning Scheme Improving Feedback System Performance in Frequency Domain

주파수역에서 피드백시스템의 성능향상을 위한 제어기 Auto-turning기법

Controller refinement scheme to improve the performance of a conventional system automatically in frequency domain is proposed. The controller automatic tuning method features using experimental frequency responses of the conventional closed-loop system the conventional controller, and the improved closed-loop system, instead of poorly modeled plant due to non-linearities and disturbances. The improved closed-loop system characteristics is automatically acquired by the conventional closed-loop system characteristics and the proposed performance index in system bandwidth. And the proper controller is realized by least squares approximation in frequency domain. To testify the usefulness of the approach, the path tracking control of robot arm is performed. Experimental results and analytic results are well-matched.