Seminar Details
2006-02-14 (14.00 pm) : "Robust and Feed-forward Controller Optimization by Iterative Feedback Tuning"
At Euler building
Organized by Mathematical Engineering
Speaker :
Hynek Prochazka (CESAME )
Abstract :
Iterative Feedback Tuning (IFT) is an iterative procedure for controller optimization. It is useful mainly for tuning of badly adjusted low-order controllers to upgrade its performance. Desired controller performance is expressed in terms of a criterion. The criterion is typically constructed with two terms: one reflecting a desired tracking property, the second one restricting control action energy. The IFT procedure does not require a plant model; only closed-loop system experiments are necessary to estimate a
gradient of the criterion function.
Although the main application of IFT is controller tuning (optimization starting from an initial controller), it is successfully used for model-free and model-based controller design as well. The IFT procedure was primarily developed for tuning of single-input single-output (SISO) one-degree-of-freedom or two-degree-of-freedom discrete-time controllers.
This presentation:
- Recalls basic IFT
- Presents new developments made on IFT to improve robustness of optimized controllers and to tune controller with feed-forward disturbance rejection.
- Shows realization of the IFT in an interactive software tool made for Electricité de France.
- Gives two application examples to illustrate using of the new theory in practice.