Title :
Synthetic generation of the gradient for an iterative controller optimization method
Author :
De Bruyne, Franky ; Carrette, Pierre
Author_Institution :
Centre for Syst. Eng. & Appl. Mech., Univ. Catholique de Louvain, Louvain-La-Neuve, Belgium
Abstract :
Recently, a data-driven model-free iterative control design method has been proposed in [4], This contribution reports an experimental study with this method when applied to a ball-on-beam system. This setup has nonlinear dynamics and suffers from nonlinear friction. The method is modified so as to allow its applicability when the second experiment that is described in [4] becomes a nuisance. The new concepts of synthetically generated gradients and line searches along the descent direction are shown to be valuable tools for the tuning of the controller.
Keywords :
control system synthesis; gradient methods; nonlinear control systems; optimisation; ball-on-beam system; data-driven model-free iterative control design; gradient; iterative controller optimization; nonlinear dynamics; nonlinear friction; synthetic generation; Control design; Estimation; Friction; Noise; Optimization; Sensitivity; Wires; estimation; linear identification; optimal control; optimization;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
