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## Model-free iterative tuning

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In this chapter a model-free time-domain iterative controller tuning method is introduced and extended for periodic noise cancellation using a two degree of freedom (tdf) controller. An assumption is made that a stabilising initial con troller is known. In each iteration of the design a controller is to be computed with a better performance than in the previous iteration. The first section will introduce the single-input single-output (SISO) problem, give a description of the iterative design method and explain its advantages compared with model-based approaches. The method is extended to a self-tuning method. Con vergence to the optimal solution is improved by introducing frequency selective filters (FSFs). The methodological section is followed by laboratory hardware results to show the usefulness of the different approaches. Finally, conclusions are drawn and future research directions are pointed out.

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