Unfalsified parameter space design of PID controllers for nonlinear plants

We present a parameter space design method of PID controllers for a mixed sensitivity control problem of nonlinear plants. The input output data are directly used for falsifying the PID gains without constructing the mathematical model. Falsified regions can be drawn for each input output data on the PID gain plane, and the unfalsified gains are used for control. The success of this method depends on how efficiently the gains can be falsified. We examine this problem by a numerical example of a plant with friction and by a cart positioning control experiment.