Abstract
This paper proposes the model-free controller tuning method for MIMO systems ensuring closed-loop stability by imposing a set of constraints for discretely defined frequency points. This constraints are defined as a set of convex constraints on maximum singular values of a specific transfer function matrix estimated by spectral analysis. For linearly parameterized controllers, the optimal parameters can be obtained by convex optimization using the acquired I/O data. The resulting controller guarantees to stabilize the plant as the data length tends to infinity. The effectiveness of the proposed method is confirmed by experiments for a tension-and-speed control apparatus which is a two-input two-output system.
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