Publications de Klaske van Heusden

A comparison of model-based and data-driven controller tuning

In many industrial applications, finding a model from physical laws that is both simple and reliable for control design is a hard and time-consuming undertaking. When a set of input/output measurements is available, one can derive the controller directly f ...

Wiley-Blackwell2014

Data-driven model reference control with asymptotically guaranteed stability

Dominique Bonvin, Alireza Karimi, Klaske van Heusden

This paper presents a data-driven controller tuning method that includes a set of constraints for ensuring closed-loop stability. The approach requires a single experiment and can also be applied to nonminimum-phase or unstable systems. The tuning scheme u ...

Wiley-Blackwell2011

On identification methods for direct data-driven controller tuning

Alireza Karimi, Klaske van Heusden

In non-iterative data-driven controller tuning, a set of measured input/output data of the plant is used directly to identify the optimal controller that minimizes some control criterion. This approach allows the design of fixed-order controllers, but lead ...

Wiley-Blackwell2011

Non-iterative data-driven controller tuning with guaranteed stability: Application to direct-drive pick-and-place robot

Dominique Bonvin, Alireza Karimi, Klaske van Heusden

This paper illustrates the practical application of non-iterative correlation- based tuning with guaranteed stability. In this method, a sufficient condition for closed-loop stability is defined as the H infinity-norm of a particular error function. This n ...

2010

Data-driven controller validation

Dominique Bonvin, Alireza Karimi, Klaske van Heusden

This paper proposes a data-driven test for closed-loop stability. The test is based on a non-conservative stability condition that can be veriﬁed without having to actually implement the controller. It uses a set of measurements from the plant but does not ...

2009

Data-driven controller tuning with integrated stability constraint

Dominique Bonvin, Alireza Karimi, Klaske van Heusden

This paper presents a data-driven controller-tuning algorithm that includes a sufficient condition for closed-loop stability. This stability condition is defined by a set of convex constraints on the Fourier transform of specific auto- and cross-correlatio ...

IEEE2008

Data-Driven Estimation of the Infinity Norm of a Dynamical System

Dominique Bonvin, Alireza Karimi, Klaske van Heusden

The estimation of a system’s infinity norm using one set of measured input and output data is investigated. It is known that, if the data set is noise free, this problem can be solved using convex optimization. In the presence of noise, convergence of this ...

2007

Noniterative Data-driven Controller Tuning Using the Correlation Approach

Dominique Bonvin, Alireza Karimi, Klaske van Heusden

Data-driven controller tuning for model reference control problem is investigated. A new controller tuning scheme for linear time-invariant single- input single-output systems is proposed. The method, which is based on the correlation approach, uses a sing ...

2007