A Stable Parameter Area Calculation Method for Advanced Auto-tuning of a Feedback Controller

In high-performance industrial mechatronic servo systems, control parameter tuning is necessary for achieving the desired positioning response to satisfy target control specifications. Auto-tuning, in particular, is a promising technology for efficient fine-tuning and is gaining popularity in industrial servo systems. However, fine-tuning of feedback (FB) control parameters is generally difficult since an aggressive parameter search could lead to the deterioration of control stability. Herein, we present the concept of advanced auto-tuning method considering a stable parameter area and an efficient calculation method of a stable parameter area to address auto-tuning of an FB controller. In this paper, the proposed calculation method of a stable parameter area is extended to an FB controller, which comprises a PID controller and some resonant compensation filters, and the calculation time and accuracy are comparatively evaluated with a full search-based calculation method.