Improving convergence of Iterative Feedback Tuning

Iterative Feedback Tuning constitutes an attractive control loop tuning method for processes in the absence of an accurate process model. It is a purely data driven approach aiming at optimizing the closed loop performance. The standard formulation ensures an unbiased estimate of the loop performance cost function gradient with respect to the control parameters. This gradient is important in a search algorithm. The extension presented in this paper further ensures informative data to improve the convergence properties of the method and hence reduce the total number of required plant experiments especially when tuning for disturbance rejection. Informative data is achieved through application of an external probing signal in the tuning algorithm. The probing signal is designed based on a constrained optimization which utilizes an approximate black box model of the process. This model estimate is further used to guarantee nominal stability and to improve the parameter update using a line search algorithm for determining the iteration step size. The proposed algorithm is compared to the classical formulation in a simulation study of a disturbance rejection problem. This type of problem is notoriously difficult for Iterative Feedback Tuning due to the lack of excitation from the reference.