Brief Direct iterative tuning via spectral analysis

Authors:
Leonardo C. Kammer;Robert R. Bitmead;Peter L. Bartlett
Affiliations:
Pulp and Paper Centre, University of British Columbia, 2385 East Mall, Vancouver, BC V6T 1Z4, Canada;Department of Mechanical & Aerospace Engineering, University of California at San Diego, La Jolla CA 92093-0411, USA;Computer Sciences Laboratory, Research School of Information Sciences & Engineering, Australian National University, Canberra ACT 0200, Australia
Venue:
Automatica (Journal of IFAC)
Year:
2000

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Information Sciences: an International Journal

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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 generalised stability margin and a metric on transfer functions to impose safe limits on the variation of the control law.