Data-driven I-PD Gain Tuning Using Closed-loop Step Response Data

Abstract

This research considers a continuous-time VRFT (Virtual Reference Feedback Tuning) for I-PD (Integral- Proportional, Derivative) gain tuning using closed-loop step response data. The VRFT is one of the representative data-driven controller design methods, and various extensive applications of VRFT have been required. For such a VRFT, the present work focuses on the I-PD controller structure, and provides how desired I-PD controller gains are achieved using VRFT. The I-PD controller has the advantage that can avoid an abrupt change of manipulated variables, and have been widely used for industrial process control. Thus, the obtained VRFT for I-PD and some discussions on this subject will contribute to spread a fine tuning of I-PD gains into the industrial field. The effectiveness of the approach is examined through the application to a helicopter attitude control model.