Self-tuning feedforward PID controller

The parameters of fixed structure PID controller are difficult to determine, especially for non-minimum phase system. Recently, there has been significant progress in combining adaptive technology with PID controller. Most of them use pole assignment method, but the choosing closed-loop system poles and solving equation online restrict their development. The self-tuning PID controller can overcome this problems, but the stability analysis of closed loop system is difficult and global convergence of the algorithm cannot be established. This paper presents a new self-tuning feedforward controller and solves the above problems. The controller proposed is based on the generalised minimum variance control strategy