Many techniques have been developed for the loop-shaping method in control design. While most loop-shaping methods apply a model of the open-loop controlled plant, the resulting performance depends on the accuracy of the dynamical model. This paper aims to develop a model-free loop-shaping technique. The core idea is to convert the model matching problem to a trajectory tracking problem. To achieve the desired loop gain, we need to determine the control input such that the system output tracks the impulse response of the loop gain function. In this paper, a model-free iterative learning control (ILC) algorithm is applied to solve this tracking problem. Once the ILC converges, the feedback controller that meets the desired loop gain can then be constructed. This method does not require the model of the controlled plant; hence it provides better performance of loop-shaping control design. The proposed method is validated through numerical simulation on a third order plant.

中文翻译：

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基于迭代学习控制的无模型循环成形方法

已经为控制设计中的环路整形方法开发了许多技术。尽管大多数回路整形方法都应用了开环受控工厂的模型，但最终的性能取决于动态模型的准确性。本文旨在开发一种无模型的环路成形技术。核心思想是将模型匹配问题转换为轨迹跟踪问题。为了获得所需的环路增益，我们需要确定控制输入，以使系统输出跟踪环路增益函数的脉冲响应。本文采用一种无模型的迭代学习控制（ILC）算法来解决该跟踪问题。一旦ILC收敛，便可以构建满足所需环路增益的反馈控制器。该方法不需要受控工厂的模型。因此，它提供了更好的环路整形控制设计性能。通过对三阶工厂的数值模拟验证了该方法的有效性。