Direct iterative tuning via spectral analysis

Leonardo C. Kammer, Robert R. Bitmead, Peter L. Bartlett

    Research output: Contribution to journalArticlepeer-review

    97 Citations (Scopus)

    Abstract

    This paper introduces a nonparametric frequency-domain scheme for tuning closed-loop systems. A linear quadratic criterion is used for guiding the system towards an optimal-regulation state. The computation of tuning directions is performed with unbiased estimates of first and second derivatives of the cost function. In order to provide cautious adjustments of the controller parameters, this scheme introduces a mechanism that guarantees stability of the loop during the tuning procedure. This mechanism uses the generalized stability margin and a metric on transfer functions to impose safe limits on the variation of the control law.

    Original languageEnglish
    Pages (from-to)1301-1307
    Number of pages7
    JournalAutomatica
    Volume36
    Issue number9
    DOIs
    Publication statusPublished - Sept 2000

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