Title :
Auto-Tuning Method of Expanded PID Control for MIMO Systems
Author :
Tamura, Kenichi ; Ohmori, Hiromitsu
Author_Institution :
Graduate Sch. of Sci. & Technol., Keio Univ., Kanagawa
Abstract :
This paper is concerned with auto-tuning of the expanded PID control for general MIMO linear system (r-input, m-output, nth-order). The purpose is to give an adaptive law of time-varying PID parameter matrices so as to asymptotically stabilize the closed-loop system using expanded PID control for the regulation problem. The proposed method is derived from satisfying the Lyapunov´s stability theorem. For its execution it is necessary for a certain hypothetical system to satisfy almost strictly positive real (ASPR) property. So we also propose the method letting its hypothetical system be ASPR. In our method, since it is not necessary for the controlled MIMO system to be stable and/or minimum phase, it is useful for large class systems. The effectiveness of the proposed method is confirmed with unstable MIMO system by numerical simulations
Keywords :
Lyapunov methods; MIMO systems; adaptive control; asymptotic stability; closed loop systems; linear systems; matrix algebra; self-adjusting systems; three-term control; time-varying systems; Lyapunov stability; MIMO linear system; almost strictly positive real property; asymptotical stability; auto-tuning method; closed-loop system; expanded PID control; hypothetical system; time-varying PID parameter matrix; Adaptive control; Control systems; Linear systems; Lyapunov method; MIMO; Output feedback; Programmable control; Regulators; Three-term control; Time varying systems; MIMO linear system; PID control; almost strictly positive real (ASPR); auto-tuning;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.314919
