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Efficient tuning of linear multivariable controllers using iterative feedback tuning
Author(s) -
Hjalmarsson Håkan
Publication year - 1999
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/(sici)1099-1115(199911)13:7<553::aid-acs572>3.0.co;2-b
Subject(s) - multivariable calculus , control theory (sociology) , controller (irrigation) , invariant (physics) , lti system theory , computer science , iterative method , mathematics , linear system , mathematical optimization , control (management) , control engineering , engineering , artificial intelligence , mathematical analysis , agronomy , mathematical physics , biology
Iterative feedback tuning is a direct tuning method using closed‐loop experimental data. The method is based on numerical optimization and in each iteration an unbiased gradient estimate is used. Due to these unbiased gradient estimates, the method converges to a stationary point of the control criterion provided the closed loop signals remain bounded throughout the iterations. In this contribution, it is shown how such unbiased estimates can be obtained for multivariable linear time‐invariant systems. Particular attention is given to the issue of keeping the experiment time to a minimum and several efficient algorithms are presented. It is shown that, for tuning an arbitrary linear time‐invariant multivariable controller with n w inputs and n u outputs, 1+ n u × n w experiments are sufficient in each iteration of the algorithm. For disturbance rejection, an alternative algorithm is proposed which requires n u + n w experiments. As an illustration, the method is applied to a simulation model of a gas turbine engine. Copyright © 1999 John Wiley & Sons, Ltd.