Passive iFIR Filters for Data-Driven Control
Systems and Control
2024-07-02 v2 Robotics
Systems and Control
Optimization and Control
Abstract
We consider the design of a new class of passive iFIR controllers given by the parallel action of an integrator and a finite impulse response filter. iFIRs are more expressive than PID controllers but retain their features and simplicity. The paper provides a model-free data-driven design for passive iFIR controllers based on virtual reference feedback tuning. Passivity is enforced through constrained optimization (three different formulations are discussed). The proposed design does not rely on large datasets or accurate plant models.
Keywords
Cite
@article{arxiv.2403.06640,
title = {Passive iFIR Filters for Data-Driven Control},
author = {Zixing Wang and Yongkang Huo and Fulvio Forni},
journal= {arXiv preprint arXiv:2403.06640},
year = {2024}
}
Comments
6 pages, 7 figures, Accepted by IEEE Control Systems Letters (L-CSS) with the option to present it to 2024 Conference on Decision and Control (CDC 2024)