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Title: Robust self-tuning PID controller for nonlinear systems
Authors: Tan, K.K. 
Huang, S. 
Ferdous, R.
Keywords: Chattering signal
Nonlinear systems
PID control
Issue Date: Oct-2002
Citation: Tan, K.K., Huang, S., Ferdous, R. (2002-10). Robust self-tuning PID controller for nonlinear systems. Journal of Process Control 12 (7) : 753-761. 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 in 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. 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 also presented. © 2002 Elsevier Science Ltd. All rights reserved.
Source Title: Journal of Process Control
ISSN: 09591524
DOI: 10.1016/S0959-1524(02)00005-7
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