METHOD FOR DESIGNING PID VARIABLE GAIN FOR CONTROLLING MULTI-VARIABLE NON-LINEAR SYSTEM

摘要

The present invention relates to a method for designing a PID variable gain. The method for designing the PID variable gain according to the present invention comprises: a parameter setting unit which sets a natural frequency, a damping ratio, sampling time, and a non-linear damping element (parameter) to have error dynamics required for controlling a control object; a PID gain inducing unit which induces a PID gain by using a correlation between PID control for controlling the control object and back stepping control using time delay estimation and non-linear damping with the predetermined parameters; and a PID gain calculating unit which calculates the gain of a PID controlling device by controlling a BCTND control gain based on the induced PID gain. When the change of rapid dynamics is generated in the system, the feature of the controlling device is performed by using the PID variable gain generated by the feedback of the system.;COPYRIGHT KIPO 2015