On Methods for Gradient Estimation in IFT for MIMO Systems

• Iterative feedback tuning (IFT) is a model free control tuning method using closed loop experiments. For single-input single-output (SISO) systems only 2 or 3, depending on the controller structure, closed loop experiments are required. However for multivariable systems the number of experiments increase to a maximum of 1 + m times p, where m times p is the dimension of the controller. In this contribution several methods are proposed to reduce the experimental time by approximating the gradient of the cost function. The local convergence for a method which uses the same technique as in IFT for SISO systems is analyzed. It is shown that even if there are commutation errors due to the approximation method, the numerical optimization may still converge to the true optimum.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

Multivariable

Non-model based control

TECHNOLOGY

TEKNIKVETENSKAP

SRA - ICT

Publikations- och innehållstyp

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