Fictitious reference iterative tuning for cascade control systems

This paper presents an algorithm that directly uses the experimental data to determine optimal parameters of controllers in the cascade control systems where the feedback controller for the outer loop is the feedforward controller of the inner loop. The proposed algorithm does not require a mathematical model of the plant but only one-shot experimental data collected from the closed loop system. The algorithm enables us to obtain the optimal parameters of the cascade controller such that the controlled system can follow a given desired output. To show the validity of the proposed method, we give an illustrative example.