State based adaptive feedback feedforward PID controller

摘要

A state based adaptive feedback/feedforward PID controller includes a model set component, communicatively coupled to a process input, having a state variable defining a number of process regions, and a number of models grouped into the process regions. Each of the grouped models includes a plurality of parameters having a value selected from a set of predetermined initial values assigned to the respective parameter. The adaptive controller further includes an error generator communicatively coupled to the model set component and a process output. The error generator configured to generate a model error signal representative of the difference between a model output signal and a process output signal. The error generator, communicatively coupled to a model evaluation component, is configured to compute a model squared error corresponding to a model and correlating the model squared error to parameter values represented in the model. The adaptive controller further includes a parameter interpolator communicatively coupled to the model evaluation component for calculating a respective adaptive parameter value for parameters represented in the model and a controller update component, communicatively coupled to the parameter interpolator, for updating the controller in response to adaptive parameter values upon conclusion of an adaptation cycle.