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All Journal Teknologi dan Kejuruan: Jurnal teknologi, Kejuruan dan Pengajarannya JIPTEK : Jurnal Ilmiah Pendidikan Teknik dan Kejuruan TELKOMNIKA (Telecommunication Computing Electronics and Control) Indonesian Journal of Science and Technology ELECTRANS INVOTEC Momentum: Physics Education Journal JITTER (Jurnal Ilmiah Teknologi Informasi Terapan) Jurnal ULTIMA Computing Indonesian Journal of Electrical Engineering and Computer Science Jurnal Pembelajaran, Bimbingan, dan Pengelolaan Pendidikan Open Access DRIVERset Journal of Mechatronics and Artificial Intelligence
Dadang Lukman Hakim
Universitas Pendidikan Indonesia, Indonesia
Humanities Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Energy Engineering Environmental Science Industrial & Manufacturing Engineering Mechanical Engineering Physics Social Sciences

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A Comparative Study of Data-Driven Control Tuning: VRFT and FRIT for DC Motor Speed Regulation Dede Irawan Saputra; Dadang Lukman Hakim
Journal of Mechatronics and Artificial Intelligence Vol. 2 No. 2 (2025): JMAI: December 2025
Publisher : Universitas Pendidikan Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17509/jmai.v2i2.88236

Abstract

This study compares two data-driven control tuning methods Virtual Reference Feedback Tuning (VRFT), and Fictitious Reference Iterative Tuning (FRIT) applied to a DC motor speed control system. Both methods aim to achieve a predefined closed-loop behaviour without explicit plant modelling, relying instead on measured input–output data. For the VRFT method, single-shot open-loop data were collected using a PRBS signal to excite the DC motor, while FRIT used a single-shot closed-loop experiment under an initial PI controller. Each method used the same reference model, a first-order system with a 2 second time constant, to guide the tuning process. The VRFT approach produced a 6-DOF controller through least-squares optimization, whereas the FRIT method refined the parameters of a PI controller by minimizing a defined cost function. Simulations conducted at target speeds of 60 and 100 RPM demonstrated that both controllers delivered comparable tracking performance, despite having different structural designs. These findings confirm that both VRFT and FRIT can generate effective control strategies from limited data, providing design flexibility while still achieving the desired closed-loop behaviour.
Co-Authors Ade Gafar Abdullah, Ade Gafar Ade Gaffar Abdullah Ade Gaffar Abdullah Ade Gaffar Abdullah Aditya Ramadhan Islami Aditya Ramadhan Islami Aip Saripudin Al Azhima, Silmi Ath Thahirah Almira Hery Setiorini Ardha Rizky Juniawan Arfiansyah Rahman Asep Bayu Dani Nandiyanto Azmi, Mutiara Nabila Bambang Trisno Budi Mulyanti Dadang Lukman Hakim Dede Irawan Saputra Edy Purwanto Edy Purwanto Elih Mulyana, Elih Erik Haritman Fahrizal, Diki Fajrin, Suryadi Fauzan, Mochamad Rizal Fauzi, Rafi Rahman Hidayahtulloh, Rizky Heryanto Irvan Indrawan Isma Widiaty Isma Widiaty KURNIA KURNIA, KURNIA Lala Septem Riza Maman Somantri Mariya Al Qibtiya Mariya Al Qibtiya Miftahur Rizkiah Miftahur Rizkiah Muhammad Afif Auliya Muhammad Aziz Mupita, Jonah Nabila Andara Dwitasari Nur Adillawati Kosim Saputri Nurhidayatulloh Nurhidayatulloh Nurul Fahmi Arief Hakim Pramudita, Resa Rahmawati, Hanifah Indah Resti Fauziah, Resti Robby Ikhfa Nulfatwa Roer Eka Pawinanto, Roer Eka Saputra, Dede Irawan Silmi At Thahirah Al Azhima Silmi Ath Thahirah Al Azhima SRI RAHAYU Subekti, Eri Tasma Sucita Tuti Suartini Wasimudin Surya S Wawan Purnama Yadi Mulyadi