Welcome to the Virtual Reference Feedback Tuning Toolbox guide.


 

VRFT ("Virtual Reference Feedback Tuning") is a general methodology for the design of feedback controllers when the plant is unknown. Its main features are:

  • it is a direct method (no model identification of the plant is needed);
  • it can be applied using a single set of data collected from the plant with no need for specific experiments nor iterations.


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).

VRFT1_ry_ru: Design a 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 and the r(t) to u(t) input sensitivity with the model reference Mu (see Figure 1).

VRFT1_dy_du: Design a 1 d.o.f. linear controller so as to match the d(t) to y(t) closed-loop transfer function with the model reference Md and the d(t) to u(t) input sensitivity with the model reference Mu (see Figure 1).

VRFT2_ry_dy: Design a 2 d.o.f. linear controller so as to match the r(t) to y(t) transfer function and the d(t) to y(t) transfer function (see Figure 2).



Figure 2: 2 degree of freedom control scheme.


VRFT_GUI: starts the Graphical User Interface for the VRFT toolbox.


Main references


 


- Campi M.C., A. Lecchini, S.M. Savaresi (2002). Virtual Reference Feedback Tuning: a Direct Method for the Design of Feedback Controllers. Automatica, Vol.38, n.8, pp.1337-1346.

- 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).
Virtual Reference Direct Design method: an off-line approach to data-based control system design. IEEE Transactions on Automatic Control , Vol.45, n.5, pp.954-959.