We propose a guided multi-fidelity Bayesian optimization framework for data-efficient controller tuning that integrates corrected digital twin (DT) simulations with real-world measurements. The method targets closed-loop systems with limited-fidelity simulations or inexpensive approximations. To address model mismatch, we build a multi-fidelity surrogate with a learned correction model that refines DT estimates from real data. An adaptive cost-aware acquisition function balances expected improvement, fidelity, and sampling cost. Our method ensures adaptability as new measurements arrive. The accuracy of DTs is re-estimated, dynamically adapting both cross-source correlations and the acquisition function. This ensures that accurate DTs are used more frequently, while inaccurate DTs are appropriately downweighted. Experiments on robotic drive hardware and supporting numerical studies demonstrate that our method enhances tuning efficiency compared to standard Bayesian optimization (BO) and multi-fidelity methods.
Nobar et al. (2025) studied this question.