Self-Tuning Control of Offset: A Unified Approach

摘要

Offset between measurement and desired value when regulating a plant subjected to constant load-disturbances about a nonzero set-point, with the controlled autoregressive integrated moving average (CARIMA) model in self tuning control is discussed. The normal ad-hoc insertion of an integrator solves the problem but can introduce others (such as convergence difficulties). One solution is to use a CARIMA plant model in which the noise term is nonstationary, and it is shown that good adaptive behavior is then possible with generalized minimum-variance and pole-placement self tuning controllers. The approach produces integral control terms in a natural way, and for simplified plant models leads directly to a general PID algorithm.