Correlation-based direct tuning of MIMO controllers by least-squares and its application to tension-and-speed control apparatus

This paper proposes the correlation-based model-free controller design method for the tuning of linear time invariant multivariable controllers. In the proposed method, the controller parameters are tuned directly by using the input/output data obtained as often as the input dimension of the controlled plant. In addition, if the controllers are parameterized linearly with respect to the controller parameters, the optimal control parameters can be estimated by least-squares. The effectiveness of the proposed method is experimentally confirmed with the tension-and-speed control apparatus.