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Vol: 50(64) No: 1 / March 2005       Applications of Iterative Feedback Tuning in PI and PID Controller Design Corina Ardelean Department of Automation and Applied Informatics, "Politehnica" University of Timisoara, Faculty of Automation and Computers, Bd. Vasile Parvan 2, RO-300223, Timisoara, Romania, phone: (0040-256) 403229, e-mail: corina.ardelean@gmail.com Axel Graeser Department of Electrical Engineering, Bremen University, Institute of Automation, Otto-Hahn Allee, NW1, Bremen, Germany, phone: (0049-421) 218-7523, e-mail: ag@iat.uni-bremen.de Miroslav Mihajlov Department of Electrical Engineering, Bremen University, Institute of Automation, Otto-Hahn Allee, NW1, Bremen, Germany, phone: (0049-421) 218-3217, e-mail: miroslav.mihajlov@iat.uni-bremen.de Radu-Emil Precup Department of Automation and Applied Informatics, "Politehnica" University of Timisoara, Faculty of Automation and Computers, Bd. Vasile Parvan 2, RO-300223, Timisoara, Romania, phone: (0040-256) 403229, e-mail: radu.precup@aut.upt.ro, web: http://www.aut.upt.ro/~rprecup/ Keywords: Iterative Feedback Tuning, data-based controller design, PID controllers, One-Degree-of-Freedom controllers. Abstract This paper aims to present basic aspects concerning Iterative Feedback Tuning (IFT) algorithms oriented on applications. Based on theoretical background, IFT algorithms have been developed for PID controllers and their derivates. Simulation examples have been studied for several benchmark processes and two practical applications have been implemented and tested. The practical applications deal with the control of the first prototype of the flexible fluidic actuator in research at the Institute of Automation, Bremen, and a temperature control system. Simulation and real-time experimental results are included in the paper. References [1] H. Hjalmarsson, S. Gunnarsson, and M. Gevers, “A convergent iterative restricted complexity control design scheme”, Proceedings of the 33rrd IEEE Conference on Decision and Control, Lake Buena Vista, FL, pp. 1735 – 1740, 1994. [2] H. Hjalmarsson, M. Gevers, S. Gunnarsson, and O. Lequin, “Iterative Feedback Tuning: theory and applications”, IEEE Control Systems Magazine, vol. 18, no. 4, pp. 26 – 41, 1998. [3] O. Lequin, M. Gevers, M. Mossberg, E. Bosmans, and L. Triest, “Iterative Feedback Tuning of PID parameters: comparison with classical tuning rules”, Control Engineering Practice, vol. 11, pp. 1023 – 1033, 2003. [4] K. Hamamoto, T. Fukuda, and T. Sugie, “Iterative Feedback Tuning of controllers for a two-mass-spring system with friction”, Control Engineering Practice, vol. 11, pp. 1061 – 1068, 2003. [5] D. Kostić, “Data-driven robot motion control design”, PhD Thesis, University Press Facilities, Eindhoven, The Netherlands, 2004. [6] C. Ardelean, “Applications of IFT in PID controllers design”, Diploma Thesis, University of Bremen, Germany, and “Politehnica” University of Timisoara, Romania, 2005. [7] A. Gräser, Grundlagen der Regelungstechnik, http://www.iat.uni-bremen.de/Vorlesung/GDR/download.htm. [8] M. Mihajlov, E. Wendland, O. Ivlev, and A. Gräser, “Versuchsaufbau und Reglerentwurf für modulare Leichtbaurobotergelenke mit flexiblen fluidischen Aktorelemente“, 8. DFMRS Fachtagung, Bremen, Germany, pp. 67 – 78, 2004.