A New Approach to Prediction of Responses in Closed Loop Systems Based on the Direct Usage of One-shot Experimental Data

Abstract

To check whether a designed controller yields the desired response or not, we have to implement the controller and to execute the closed loop experiment. If we have an accurate model that reflects the actual dynamics of the plant, it is possible to see what happens in the closed loop before the designed controller is implemented. However, there are many cases in which it is difficult to obtain such a model due to some practical reasons. For example, it takes much time and cost for an ideal experiment to obtain a suitable model. In addition, there are some cases in which it is difficult to construct a model due to the complicated dynamics. For these cases, it is meaningful to develop a method for the prediction of the responses without a mathematical model of the plant. From these backgrounds, we present a new method for the prediction of the responses in a closed loop system by using only the experiment data and the controller which is to be implemented. The proposed method here can be regarded as a simple and innovative tool for a new framework of verifying the responses in the closed loop system without using the mathematical model of the plant. To show the validity of the proposed method, we also provide experimental results. PE 1)4) FRIT (Fictitious Reference Iterative Tuning) 2), 3) VRFT (Virtual Reference Feedback Tuning) 4) FRIT VRFT 5) 6), 7)