Youlaパラメータをもつ制御器に対するVirtual Internal Model Tuning

In this paper, we propose tuning methods of free parameters for control systems with stabilizing compensators. Here, we study a generalized internal model control system (GIMC). This control systems are generally designed based on a nominal models. However, it is difficult to redesign them in case of a nominal model have modeling errors between the original one. Therefore, we consider tuning the free parameters in this control systems using Virtual Internal Model Tuning (VIMT) which is one of the data-driven control. At the end of this paper, we verify the usefulness of the proposed method using numerical examples.