Abstract
A method for automatic tuning of decouplers is proposed. The decoupler is implemented as a number of single-input single-output feedforward transfer functions. A feedforward transfer function is tuned by generating excitations at frequencies around the bandwidth of the feedback loop. A multi-input single-output transfer function model is identified from the experimental data. The sampling interval and the prefilter parameters are determined from the average oscillation period. The feedforward transfer function is determined from the estimated transfer function model such that the feedforward is as ideal as possible at the oscillation frequency
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