A Toolbox for Virtual Reference Feedback Tuning (VRFT)

The Virtual Reference Feedback Tuning (VRFT) is a direct data-driven method for controller design. In this paper, we present a MATLAB toolbox that implements the most important procedures of VRFT. The Toolbox is freely available online. The main VRFT procedures are described in this paper from a user-oriented point of view, and are illustrated on some numerical examples with a linear and a nonlinear plant. The tuning of a proportional-integral-derivative (PID) controller will serve as a running example throughout the paper.