A feedback gain tuning method is proposed to control mechatronic systems which have the characteristic applicable to iterative trial movements. The tuning algorithm is composed of an optimization procedure based on the complex method and has the following features: (1) it does not require any dynamic model of controlled systems; (2) it tunes the feedback gain under an arbitrary performance index and is applicable to both linear and nonlinear control laws; (3) the algorithm is concise and has a few adjusting parameters; and (4) the tuning process proceeds well and the on-site tuning for actual systems is possible. It is also confirmed by the experiments using both simulations and actual systems that the proposed tuning method is effective to the stabilization control of an inverted pendulum.
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