Welcome to the Virtual Reference Feedback Tuning Toolbox guide.
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What
it is used for: |
VRFT permits to tune a 1 or 2 degree of freedom linear controller within a specified class on the basis of a single set of input/output data collected from an experiment on the plant. |
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How it is used: | The control specifications are assigned via a model-reference discrete time transfer function. Given a single set of input/output data (either collected in open-loop or in closed-loop), the VRFT method can be applied in order to obtain the controller that satisfies the assigned specifications. |
How it works: | The "design engine" of VRFT is an solver of a model-reference optimization problem. Lack of knowledge of the plant transfer function is compensated for via I/O measurements. |
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VRFT Toolbox - Version 1.0
VRFT1_ry: Design a 1 degree of freedom (1 d.o.f.) linear controller so as to match the r(t) to y(t) closed-loop transfer function with the model reference Mr (see Figure 1). Figure 1: 1 degree of freedom control scheme.
VRFT1_dy:
Design a 1 d.o.f. linear controller so as to match the d(t) to y(t)
output sensitivity with the model reference Md (see Figure 1).
Figure 2: 2 degree of freedom control scheme.
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Main references
- Campi M.C., Lecchini A., Savaresi S.M. (2003). An application of the Virtual Reference Feedback Tuning (VRFT) method to a benchmark active suspension system. European Journal of Control, Vol.9, pp.66-76. - Lecchini A., M.C. Campi, S.M. Savaresi (2002). Virtual reference feedback tuning for two degree of freedom controllers. International Journal on Adaptive Control and Signal Processing, vol.16, n.5, pp.355-371. - Guardabassi G.O., Savaresi S.M.
(2000). |