Dynamic Set-Point Weighting of 2DOF/PID via Super Twisting Sliding Modes

摘要

The work deals with the set-point weighting of PID controllers with two degrees of freedom (2DOF/PI_D). A dynamic weighting method is proposed to overcome the limitations that these controllers usually present in complex and/or non-linear processes. Unlike the conventional procedure in which the set-point weight of the integral action is set to 1, in this work that weight is dynamically adjusted. The proposal complements ideas of high order sliding mode control (HOSM) with concepts of immersion of systems and manifold invariance (I&I). This allows achieving the target dynamics in finite time and, potentially, allows preserving the anti-reset-windup properties that 2DOF/PID controllers present in linear systems. The main features of the proposal are validated through an example.