Estimated Response Iterative Tuning with signal projection

This paper discusses about a data-driven control method which is called Estimated Response Iterative Tuning (ERIT). ERIT focuses on a two-degree of freedom control system, and updates the feedforward controller from one-shot experiment. The main contribution of this paper is to propose a pre-processing for ERIT to improve robustness against noise. In particular, this paper proposes to project the measured output onto a subspace, and regard the projected signal as a noise-free output. How to design this subspace is also proposed in this paper. A practical experiment with flexible link system is shown to demonstrate the effectiveness of the proposed method.