Simple controller design to achieve iso-damping robustness: Non-iterative data-driven approach based on fractional-order reference model

TL;DR

This paper introduces a simple, data-driven controller design method that achieves iso-damping robustness without requiring a plant model, using only one-shot input/output data and fractional-order reference models.

Contribution

It presents a novel non-iterative approach for robust control design based solely on input/output data and fractional-order models, avoiding the need for explicit plant modeling.

Findings

Successfully achieves iso-damping robustness in simulations and experiments.

Simplifies control design by eliminating the need for plant models.

Ensures BIBO stability from bounded inputs to outputs.

Abstract

This study proposes a simple controller design approach to achieve a class of robustness, the so-called iso-damping property. The proposed approach can be executed using only one-shot input/output data. An accurate mathematical model of a controlled plant is not required. The model-reference control problem is defined to achieve the desired closed-loop specifications, including the iso-damping, and the reference model is designed on the basis of fractional-order calculus. The optimization problem for the model-reference control is formulated using the one-shot input/output data while considering the bounded-input bounded-output (BIBO) stability from a bounded reference input to a bounded output. The iso-damping robust controller is obtained by solving the optimization problem. The representative advantages of the proposed approach over the conventional methods are the simplicity, practicality, and reliability from the viewpoint of the unnecessity of the plant model and explicit consideration of the BIBO stability from a bounded reference input to a bounded output. Numerical and experimental studies demonstrate the validity of the proposed approach.