Algorithm 2: Generate Controller Parameters

Data: Model M and data D   Parameter mapping with fixed controller parameters and calibratable free parameters $c_{param,fpc}$   Port mapping for free parameter calibration $c_{port,fpc}$   Port mapping for controller parameter calibration (with penalty-expressions) $c_{port,cpc}$   Result: Set of controller parameter values

1Generate parameters $p_{fpc}$ for the free parameters defined in $c_{param,fpc}$ by performing a calibration using M, D, $c_{param,fpc}$ and $c_{port,fpc}$; 2Turn the controller parameters in $c_{param,fpc}$, which are to be calibrated, into free calibratable parameters while keeping the other parameters fixed to the values from $p_{fpc}$ to generate a new parameter mapping $c_{param,cpc}$ 3Perform a new calibration using M, D, $c_{param,cpc}$ and $c_{port,cpc}$ to generate parameters $p_{cpc}$ for the selected controller parameters 4return  $p_{cpc}$