A Fictitious Reference Iterative tuning for disturbance attenuation based on disturbance feed-forward and PID control

This paper proposes direct parameters tuning method which is extension of FRIT (Fictitious Reference Iterative Tuning) for disturbance attenuation on measurable disturbance feed-forward control combined with PID control system and evaluates the variance of system output as an index of disturbance attenuation performance with numerical simulations to illustrate the efficiency of the proposed method.