Correlation-based direct tuning of 2DOF controller by least squares

This paper proposes the correlation-based model-free 2DOF controller tuning method for MIMO systems. In the proposed method, a feedback controller parameters is first tuned by using the input/output data sets obtained independently from the controlled plant as often as the number of the input dimension of the controlled plant second, a precompensator is tuned by using the same number of data sets of the achieved closed-loop system. In addition, if the controllers are parameterized linearly with respect to the controller parameters, each optimal controller parameter can be obtained by least squares. The effectiveness of the proposed method is confirmed by the experimental results.