ADAPTIVE PID CONTROL FOR NONLINEAR SYSTEMS WITH A PARALLEL FEEDFORWARD COMPENSATOR

作者：Mizumoto Ikuro^*; Tanaka Hiroki; Iwai Zenta

来源：International Journal of Innovative Computing Information and Control, 2010, 6(7): 2901-2916.

• PID control
• Adaptive control
• Adaptive neural networks
• Parallel feedforward compensator

In this paper, we propose a design method of an adaptive PID controller based on output feedback for nonlinear systems with a higher order relative degree and disturbances. To realize an adaptive PID control system, we introduce a PFC for a nonlinear system which does not satisfy OFEP(Output Feedback Exponentially Passive) conditions and design an adaptive feedforward input with a structure of RBF (Radial Basis Function) neural networks in order to remove the steady-state bias error from the PFC output. The proposed method has a structure of two degree of freedom and can design a robust adaptive PID control system. with higher accuracy on tracking control.

• 出版日期2010-7