PID gain tuning for disturbance attenuation using FRIT method

Fictitious reference iterative tuning (FRIT) is a method for designing the feedback controller of an unknown plant model by optimizing the performance index that consists of the fictitious reference output computed from one-shot experimental input-output data. This paper proposes a PID gain tuning for disturbance attenuation using FRIT method. While the conventional FRIT tunes the PID gains so that the plant output follows the reference model output, the proposed one tunes the PID gains so that the disturbance response follows the reference model output. The proposed approach has the advantage that it more directly tunes the PID gains for the disturbance attenuation than the conventional ones. The efficiency of the proposed method is shown through a numerical example.