Abstract
Abstract Iterative Feedback Tuning (IFT) is a method to tune controllers using closed loop experimental data and estimation of gradients. In this paper is shown how IFT can be extended to the case when there are constraints on some of the performance measures. This is accomplished by solving the Karush-Kuhn-Tucker conditions for the optimization problem using a primal-dual interior-point method. It is shown that only a few extra experiments have to be performed as compared to traditional IFT.
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