Mixed Virtual Reference Feedback Tuning — Iterative Feedback Tuning approach to the position control of a laboratory servo system

A mixed Virtual Reference Feedback Tuning (VRFT) — Iterative Feedback Tuning (IFT) approach to the position control of a laboratory servo system equipment is proposed in this paper. The meeting point between the performance objectives of VRFT and IFT is discussed. The mixed VRFT-IFT approach is expressed on the basis of a relatively simple unbiased estimate of the Hessian which is derived from the favorable parameterization of VRFT.