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Virtual Reference Feedback Tuning

Project description


Virtual Reference Feedback Tuning


This Python Toolbox provides commands to design feedback controllers using the method Virtual Reference Feedback Tuning. The toolbox implements both SISO and MIMO controllers, using standard least-squares implementation and instrumental variables.


Use PIP to install:

pip install pyvrft


Please check the example folder. Basic use:

p =, y, y, Td, C, L)

where u and y are input/output data, Td is the reference mode, C describes the controller structure and L is a pre-filter.


Diego Eckhard - - @diegoeck

Emerson Christ Boeira - - @emersonboeira

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