An adaptive PID control algorithm for nonlinear process with uncertain dynamics

摘要

The control objective is to maintain level in a conical tank which is a highly nonlinear process having varying dynamics. The classical PID control scheme finds it difficult to implement a proper control action when process switches between operating regions. Hence dynamic set of controller parameters are required to enhance the performance of the controller. Eventually this leads to drifting of controller parameters which makes stability a critical phenomenon. Hence an adaptive algorithm which updates the controller parameters automatically based on the operating conditions is required. In this paper, this task is achieved with an adaptive controller where adaptation is done with the help of fuzzy rule-base.