AI 中文总结
本文针对两自由度控制系统的数据驱动前馈控制器调谐问题，提出最优整形滤波器，通过数值和实验验证其有效性，并证明ERIT在特殊情况下最优。
AI 中文摘要
本文讨论数据驱动的模型匹配问题，尤其关注两自由度控制系统，考虑从输入输出数据设计前馈控制器。直观的解决方案是利用数据辨识最优控制器，但这无法得到原问题的精确解，需引入整形滤波器弥补该差距，本文的主要贡献是给出最优整形滤波器。所提整形滤波器在合理假设下由可用信息构造，其有效性通过数值算例和实际实验验证；同时探讨了所提整形滤波器与估计响应迭代调谐（ERIT）的关系，表明ERIT在特殊情况下是最优的。
英文摘要
This paper discusses the data-driven model matching problem. In particular, this paper focuses on two-degree-of-freedom control systems, and consider to design feedforward controller from input-output data. An intuitive solution to this problem would be identifying the optimal controller using data, but this does not give the exact solution to the original problem. A shaping filter is required to compensate for this gap, and the main contribution of this paper is to give the optimal shaping filter. The proposed shaping filter is constructed from available information under reasonable assumptions, and its effectiveness is shown through a numerical example and a practical experiment. The relation between the proposed shaping filter and Estimated Response Iterative Tuning (ERIT) is also discussed, and it is shown that ERIT is optimal for a special case.
