Abstract
This paper gives a mixed Virtual Reference Feedback Tuning (VRFT) - Iterative Feedback Tuning (IFT) design and tuning method. The performance objectives of VRFT and IFT are discussed comparatively. The parameterization of IFT is employed in the calculation of a convenient unbiased estimate of the Hessian specific to IFT. The VRFT-IFT design and tuning method is applied and assessed in the speed and position control of a laboratory equipment.
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