Adaptive PID controller for nonlinear systems with H∞ tracking performance

In this paper, we developed a PID control for a certain class of unknown nonlinear dynamic systems. The three parameters of PID controller are obtained based on Lyapunov approach. Moreover, a H^∞ control technique obtained by a is constructed to achieve the H^∞ tracking performance for any prescribed level. The simplicity of the scheme provides a new approach for implementing PID controller for a variety of nonlinear problems. Simulation studies have shown that the proposed controller performs well in tracking performance.