Construction of a data-driven design method of a nonlinear controller that has affine tuning parameters

将我们的数据驱动环路整形方法推广到非线性对象，得到了以下结果：在稳定裕度约束下获得干扰抑制。数值结果表明，对于含有间隙等非线性因素的被控对象，用该方法可以成功地设计出PID控制器。针对平衡点随参考输入变化而变化较大的非线性被控对象，提出了一种增益型PID控制器的设计方法。提出了一种非线性控制器仿射参数的优化方法。提出了一种三维空间允许参数集的可视化方法。

Extension of our data-driven loop-shaping method, by which disturbance attenuation is attained subject to a stability margin constraint, to nonlinear plants has been examined and the following results have been obtained. It is shown numerically that PID controllers can be designed successfully by this method for the plants that have nonlinear elements such as a backlash. A design method of a gain scheduled PID controller is proposed for a nonlinear plant whose equilibrium point changes considerably as the reference input changes. An optimization method of affine parameters of a nonlinear controller is proposed. A visualization method of permissible parameter sets in the 3D space is developed.