Abstract
In this paper, we propose a new method for updating controllers by using closed loop data without a mathematical model of plant. The proposed method here requires only one-shot output data obtained in the closed loop experiment together with the feedback controller used in this initial experiment and the desired tracking transfer function. This method is derived based on the idea of the data-driven prediction and the concept of the internal model control (IMC) structure that only appears in the virtual closed loop system. Finally, the validity and the effectiveness of the proposed method are verified through experimental examples.
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