Abstract
In this paper, a new approach to tuning and optimisation of controlled systems regarding the tracking behaviour is presented. This approach can be understood as an extension to the iterative feedback tuning (IFT) approach known from the literature. Motivated by the sensitivity concept, the IFT algorithm is extended to both linear and nonlinear systems in state-space description with static state-feedback control, resulting in the proposed iterative state-feedback tuning (ISFT) method. The main contribution consists of the derivation of first and second-order sensitivity functions for quadratic cost functions, which is typical for control optimisation problems. The proposed approach results in a gradient-based iterative algorithm for control parameter adaptation. Finally, exemplary simulation results will be presented for a nonlinear system, demonstrating the usability of this new approach.
Published Version
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