Work

Randomized iterative feedback tuning for fast MIMO feedback design of a mechatronic system

Year: 2024

Type: article

Abstract: Iterative feedback tuning (IFT) enables the tuning of feedback controllers using only measured data to obtain the gradient of a cost criterion. The aim of this paper is to reduce the required number of experiments for MIMO IFT. It is shown that, through a randomization technique, an unbiased gradient estimate can be obtained from a single dedicated experiment, regardless of the size of the MIMO system. The gradient estimate is used in a stochastic gradient descent algorithm. The approach is experimentally validated on a mechatronic system, showing a significantly reduced number of experiments compared to standard IFT.

Source: Control Engineering Practice

DOI: 10.1016/j.conengprac.2024.106152

Authors: Leontine Aarnoudse, Peter den Toom, Tom Oomen

Institutions: Eindhoven University of Technology, Delft University of Technology

Language: English

Topic: Control Systems and Identification

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $2,920

Funder: Nederlandse Organisatie voor Wetenschappelijk Onderzoek