An FRIT method for disturbance attenuation using input-output data for disturbance responses

This paper proposes an FRIT method for mainly improving the feedback property. While the conventional FRIT tunes the control parameters so that the plant output follows the reference model output, the proposed one tunes the control parameters so that the disturbance response follows the disturbance reference model output, which represents a feedback property. Furthermore, the paper shows that the FRIT can tune the control parameters from input-output data caused by the disturbance response if precise estimated disturbance signals are obtained. The paper also derives the analytical pre-filter for the one-shot experimental input-output data in the proposed FRIT which makes the controller, determined in the proposed FRIT, a good approximation to the controller optimizing the original performance index, which evaluates the deviation of the disturbance response from the disturbance reference model output.