Model based controller design and its fine tuning for mechanical resonant system using one-shot experimental data

This paper proposes a velocity controller tuning method for 3-mass system that is one of such mechanical resonant systems. The method requires only one-shot transient input/output (I/O) data of the 3-mass system under closed-loop operation to tune the controller. The data is used to estimate the frequency response of the system and to model the system in frequency domain. The closed-loop system that consists of the model of the 3-mass system and the model-based controller designed by the model is introduced as the reference model for the Fictitious Reference Tuning (FRIT) to compensate the modeling error. The usefulness of the method is shown by numerical examples of the controller tuning for the velocity control system of a 3-mass system.