Title: Data-driven H_∞ controller tuning for sensitivity minimisation

Authors: Tomoki Hori; Kazuhiro Yubai; Daisuke Yashiro; Satoshi Komada

Addresses: Department of Electrical and Electronic Engineering, Graduate School of Mie University, 1577 Kurimamachiya, Tsu, Mie, 514-8603, Japan ' Department of Electrical and Electronic Engineering, Graduate School of Mie University, 1577 Kurimamachiya, Tsu, Mie, 514-8603, Japan ' Department of Electrical and Electronic Engineering, Graduate School of Mie University, 1577 Kurimamachiya, Tsu, Mie, 514-8603, Japan ' Department of Electrical and Electronic Engineering, Graduate School of Mie University, 1577 Kurimamachiya, Tsu, Mie, 514-8603, Japan

Abstract: By achieving low sensitivity, it is possible to suppress perturbations of a plant and disturbances. In model-based controller syntheses, the solution of sensitivity minimisation is analytically obtained through a mathematical model of a plant. However, a plant model which is enough accurate to design an appropriate controller is not always available. Moreover, if there exists a large uncertainly between a plant model and an actual plant, the designed controller might not show desired performance and at worst the system would be destabilised. This paper focuses on data-driven controller tuning methods because they require no plant model and skip system identification. The controller is designed or tuned by using only input/output data. This paper proposes a design method to achieve sensitivity minimisation, which is a typical controller synthesis problem in model-based approaches, by using only input/output data.

Keywords: H_∞ control; data-driven controller tuning; sensitivity minimisation; concave-convex procedure.

DOI: 10.1504/IJAMECHS.2017.099312

International Journal of Advanced Mechatronic Systems, 2017 Vol.7 No.6, pp.337 - 349

Received: 24 Jul 2017
Accepted: 27 Jun 2018
Published online: 26 Apr 2019 *

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