SELF-TUNING TWO-DEGREE-OF-FREEDOM PID COMPENSATOR BASED ON TWO-DEGREE-OF-FREEDOM GENERALIZED MINIMUM VARIANCE CONTROL

摘要

This paper proposes a new design scheme for a self-tuning PID controller. Expressions to calculate PID parameters from the identified plant coefficients are given. These expressions are derived by approximating the Two-Degree-of-Freedom PID controller to the Two-Degree-of-Freedom generalized minimum variance control (GMVC) law. Since the proposed self-tuning PID control law is Two-Degree-of-Freedom, reference response and disturbance response can be designed independently. Using a numerical example, the control performance of the proposed method is compared with that of another self-tuning PID controller.