An Application of Fictitious Reference Iterative Tuning to State Feedback Control

作者：Matsui Yoshihiro^*; Akamatsu Shunichi; Kimura Tomohiko; Nakano Kazushi; Sakurama Kazunori

来源：Electronics and Communications in Japan, 2014, 97(1): 1-11.

DOI：10.1002/ecj.11506

• state feedback control
• inverted pendulum
• unstable system
• gain tuning
• FRIT method
• stability analysis

This paper proposes the use of the fictitious reference iterative tuning (FRIT) method, which has been developed for controller gain tuning in single-input single-output systems, in state feedback gain tuning for a single-input multivariable system. The transient response data for a single-input multivariable plant obtained in closed-loop operation is used for model matching by FRIT in the time domain. The data is also used in the frequency domain to estimate the stability and improve the control performance of the closed-loop system with the state feedback gain tuned by the FRIT method. The FRIT method is applied to a state feedback control system for an inverted pendulum with an inertial rotor, and its usefulness is illustrated through experiments.

• 出版日期2014-1