For model-free optimal control design, this paper proposes an approach based on optimizing the reference model that is used in direct data-driven controller synthesis. Optimality is defined with respect to suitable cost functions reflecting desired performance and control objectives. We rely on the well-known Virtual Reference Feedback Tuning technique and on a direct control design approach that ensures stability of the resulting closed-loop system. The proposed design method leads to a non-convex optimization problem with a small number of variables that can be easily solved by a global optimizer, such as by particle swarm optimization. The effectiveness of the proposed solution is illustrated in simulation examples.

对于无模型的最优控制设计，本文提出了一种基于优化参考模型的方法，该模型用于直接数据驱动的控制器综合。相对于反映所需性能和控制目标的合适成本函数定义了最优性。我们依靠著名的虚拟参考反馈调整技术和直接控制设计方法来确保最终闭环系统的稳定性。所提出的设计方法导致带有少量变量的非凸优化问题，可以通过全局优化器（例如粒子群优化）轻松解决该问题。仿真示例说明了所提出解决方案的有效性。