ITERATIVE TUNING TECHNIQUES FOR VEHICLE FEEDBACK BASED SYSTEMS WITH TIME DELAYS

An iterative tuning technique for a controller of a vehicle having a feedback based system includes obtaining, by a calibration system, a simulation model of operation of the controller and the feedback based system with a set of time delays, performing an iterative tuning process by running the simulation model to determine an optimal set of gains for the feedback based system for each of one or more sets of time delays and evaluating a cost function, and based on the cost function evaluating, determining the optimal set of gains for the feedback based system for the set of time delays, and uploading, by the calibration system to the controller, the one or more optimal sets of gains for the feedback based system for the one or more sets of time delays, respectively.