Intelligent Proportional Controller Tuned by Virtual Reference Feedback Tuning and Fictitious Reference Iterative Tuning

A comparative study of two mixes of data-driven algorithms is proposed in this paper. The discrete-time second-order model-free control known as an intelligent Proportional (iP) controller is tuned considering Virtual Reference Feedback Tuning (VRFT) and the overall performance of the resulting algorithm iP-VRFT is compared with that of iP controller that is tuned considering Fictitious Reference Feedback Tuning (FRIT), an algorithm that is further referred as iP-FRIT. The comparison is carried out as far as the control systems with these two control algorithms are concerned. The purpose of the comparison study is to determine if VRFT and FRIT optimally determine the iP parameters such that both control system structures perform in the same manner. Both algorithm mixes are experimentally validated on the Tower Crane System equipment.