TUNING PID PARAMETERS USING CAUSAL MODELS

摘要

Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for optimizing parameters of one or more proportional-integral-derivative (PID) controllers. In one aspect, the method comprises repeatedly performing the following: i) selecting a configuration of respective PID parameters for each of the plurality of PID controllers, based on a causal model that measures causal relationships between PID parameters and a measure of success in controlling the system; ii) determining the measure of success of the configuration of respective PID parameters for the plurality of PID controllers in controlling the system; and iii) adjusting, based on the measure of success of the configuration of respective PID parameters for the plurality of PID controllers in controlling the system, the causal model.