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|Title:||Robust self-tuning PID controller for nonlinear systems|
|Authors:||Tan, K.K. |
|Source:||Tan, K.K.,Huang, S.,Ferdous, R. (2001). Robust self-tuning PID controller for nonlinear systems. IECON Proceedings (Industrial Electronics Conference) 3 : 758-763. ScholarBank@NUS Repository.|
|Abstract:||In this paper, we propose a robust self-tuning PID controller suitable for nonlinear systems. The control system employs a preload relay (P_Relay) in series with a PID controller. The P_Relay ensures a high gain to yield a robust performance. However, it also incurs a chattering phenomenon. In this paper, instead of viewing the chattering as an undesirable yet inevitable feature, we use it as a naturally occurring signal for tuning and re-tuning the PID controller as the operating regime digresses. No other explicit input signal is required. Once the PID controller is tuned for a particular operating point, the relay may be disabled and chattering ceases correspondingly. However, it is invoked when there is a change is setpoint to another operating regime. In this way, the approach is also applicable to time-varying systems as the PID tuning can be continuous, based on the latest set of chattering characteristics. Simulation results for the level control of fluid in a spherical tank using the scheme are also presented.|
|Source Title:||IECON Proceedings (Industrial Electronics Conference)|
|Appears in Collections:||Staff Publications|
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