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Abstract
In this paper, a robust control system is first proposed which is suitable for the control of a class of nonlinear systems. A parallel connection of a relay to a proportional integral derivative (PID) controller collectively forms the robust controller. The relay ensures robust control by providing a high feedback gain, but it also induces a control chattering phenomenon. Instead of viewing chattering as an undesirable yet inevitable feature, the chattering signals are used as natural excitation signals for identifying an equivalent PID controller using the recursive least squares algorithm. No other explicit input signal is required. Analysis is provided on the stability properties of the control scheme. Simulation results for the level control of fluid in a spherical tank using the scheme are presented. © 2002 Elsevier Science Ltd. All rights reserved.
Keywords
Automatic tuning, Least squares estimation, Nonlinear systems, PID control, Relay, Robust performance
Source Title
Chemical Engineering Science
Publisher
Series/Report No.
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Date
2002-08
DOI
10.1016/S0009-2509(02)00186-0
Type
Article