Iterative feedback tuning of linear time-invariant MIMO systems

Iterative feedback tuning (IFT) is a direct method to tune controller parameters based on closed loop data. In recent years a wide range of applications have been reported as well as extensions of the method. In this contribution we show how to use IFT to tune controllers for linear time-invariant (LTI) multivariable systems. The method is applied to a laboratory model of a helicopter.