Tuning of a decoupling controller for a 2 x 2 system using iterative feedback tuning

摘要

Iterative feedback tuning is used to tune a decoupling controller for a 2 x 2 multivariable system, The tuning is carried out in two steps. In the first step the coefficients of two proportional decoupling controllers are tuned, and in the second step two PD-controllers are tuned. The approach is evaluated on a nonlinear simulation model of a two-link manipulator. The evaluation is carried out using two different reference trajectories and also in the presence of friction. The resulting closed loop systems show satisfactory behavior in all three cases.