An adaptive I-PD controller with the modified smith predictor based on frequency domain system identification

摘要

This paper presents an approach to auto-tuning method of the I-PD controller for processes with long delays such as pneumatics cylinder. The proposed control scheme first estimates the frequency response of the controlled object using the sliding DFT and composes the modified Smith predictor. The control gains are then determined so as to minimize the model error between the closed-loop frequency transfer function of the desired system and that of the actual system.