A direct control parameters tuning method for random disturbances using CARMA models based on variance evaluation

The paper proposes a direct control parameter tuning method which employs the variance evaluation for the performance criterion to solve the disturbance attenuation problem for the CARMA (Controlled Auto Regressive Moving Average) models. The proposed method tunes the control parameters so that the variance of the plant output approaches the minimum variance value, which can be estimated from the output prediction using the CARMA model. The method can avoid the disturbance reference model, which is indispensable for our earlier research. The efficiency of the proposed method is demonstrated from a numerical example.