On-line adaptive tuning for PID controllers

摘要

Adaptive and robust designs are two major approaches to deal with possible modelling errors in a control system. This paper proposes an adaptive control system for on-line tuning of PID controllers for SISO systems. The proposed system comprises of two adaptive loops. The first Loop monitors and tunes the controllers on-line to ensure the system is robustly stable. This first Loop enables the system to achieve robust stability over a wide range of possible modelling errors Without trading off performance against nominal design. When modelling errors occur, the second Adaptive loop conducts recursive on-line identification and retunes the controller.