Title: Strongly stable GPC-based PID controller

Authors: T. Sato

Addresses: Division of Mechanical System, Department of Mechanical Engineering, Graduate School of Engineering, University of Hyogo, Japan

Abstract: This paper proposes a new method for designing a self-tuning PID controller. A PID controller is designed on the basis of generalised predictive control with a terminal matching condition (γGPC) to automatically tune its PID parameters. The proposed PID controller has a time-varying proportional gain to precisely achieve γGPC performance. Furthermore, a PID controller is designed on the basis of γGPC extended by using coprime factorisation to obtain stable proportional gain. Hence, γGPC can be well approximated by the proposed PID controller. A numerical example demonstrates its effectiveness.

Keywords: PID control; generalised predictive control; GPC; strongly stable; coprime factorisation; terminal matching condition; self-tuning control.

DOI: 10.1504/IJAMECHS.2009.023201

International Journal of Advanced Mechatronic Systems, 2009 Vol.1 No.3, pp.183 - 193

Published online: 13 Feb 2009 *

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