Title: Adaptive PID control system design for non-linear systems

Authors: Ikuro Mizumoto, Lin Liu, Hiroki Tanaka, Zenta Iwai

Addresses: Department of Intelligent Mechanical Systems, Graduate School of Science and Technology, Kumamoto University, 2-39-1 Kurokami, Kumamoto 860-8555, Japan. ' Department of Intelligent Mechanical Systems, Graduate School of Science and Technology, Kumamoto University, 2-39-1 Kurokami, Kumamoto 860-8555, Japan. ' Department of Intelligent Mechanical Systems, Graduate School of Science and Technology, Kumamoto University, 2-39-1 Kurokami, Kumamoto 860-8555, Japan. ' Kumamoto Prefectural College of Technology, 4455-1 Haramizu, Kikuyo-mach, Kikuchi-gun, Kumamoto, 869-1102, Japan

Abstract: This paper deals with the design of an adaptive PID control system for non-linear systems with disturbances. The proposed PID method utilises the output feedback exponential passivity (OFEP) characteristics of the controlled system. It is widely recognised that one can easily design an adaptive output feedback control system for OFEP systems, however we propose a robust PID control based on the OFEP properties of the non-linear systems. Further, a practical control system design with a parallel feed-forward compensator (PFC) is also shown and the effectiveness of the proposed method is confirmed through experiments on a magnetic levitation system.

Keywords: adaptive control; PID control; nonlinear systems; output feedback exponential passivity; parallel feedforward compensator; PFC; feedback control; control system design; magnetic levitation; maglev.

DOI: 10.1504/IJMIC.2009.024463

International Journal of Modelling, Identification and Control, 2009 Vol.6 No.3, pp.230 - 238

Published online: 05 Apr 2009 *

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