Proposal of FCbT Considering Closed-Loop Stability at Each Parameter Update

We propose a controller tuning method that considers closed-loop stability after controller tuning without a mathematical plant model. We propose fictitious correlation-based tuning that yields reasonable controller parameters using a small amount of input and output data. However, closed-loop stability after controller tuning is not guaranteed in this approach. In this investigation, we impose a stability constraint on the parameter update in order to maintain closed-loop stability at each parameter update. Further, by introducing particle swarm optimization instead of the Gauss-Newton method to solve the constrained nonlinear optimization problem, the initial value dependence is considerably reduced. The effectiveness of the proposed method is confirmed by a numerical example and experimental results.