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Tuning of Controller Parameters by FCbT with Stability Constraints for Non-minimum Phase Plants
Ryota Matsuo,Kazuhiro Yubai,Daisuke Yashiro,Junji Hirai 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
We propose the controller tuning method considering closed-loop stability after tuning without the identified plant model. The methods are formulated as a model reference control problem in which the reference model is chosen by the user. In the case of non-minimum phase systems, the unstable zeros of the plant need to be included in the reference model to avoid unstable pole-zero cancellation. This paper proposes the model-free controller tuning for non-minimum phase plants estimating its unstable zeros by the flexible reference model in the process of parameter updates. The effectiveness of the proposed method is confirmed by simulation examples.