Fictitious Reference Iterative Tuning of Internal Model Controllers for Non-Minimum Phase Systems: A Laguerre Expansion Approach

摘要

Fictitious reference iterative tuning (FRIT) is one of the effective data-driven tuning methods for parameters of a controller with only one-shot experiment. This paper applies FRIT to internal model control (IMC) for linear, time invariant, stable and non-minimum phase systems, which enables us to simultaneously obtain a desired controller and a mathematical plant model. Here, the authors consider the case where we do not have any information on the system. To overcome the difficulty of treating the non-minimum phase behaviors of the system, Laguerre expansion is used to describe the internal model.