Title :
Adaptive PID control for perfect tracking problem of MIMO systems
Author :
Tamura, Kenichi ; Ohmori, Hiromitsu
Author_Institution :
Keio Univ., Tokyo
Abstract :
This paper is concerned with an adaptive PID control for the output model tracking ploblem of MIMO systems {A, B, C}. We propose the new adaptive PID control that has the constant matrices gain and the time-varying gain matrices. The proposed design method is derived from satisfying Lyapunov´s stability theorem under some assumptions that the controlled system´s zero-dynamics is asymptotically stable, some rank conditions concerning the controlled system and the reference model matrices and CB = 0 CAB > 0 or CB > 0. In our method, the asymptotical perfect output model tracking can be guaranteed even if there exist unknown system parameters and unknown step disturbances. Finally, the effectiveness of the proposed method is confirmed with the simulation result.
Keywords :
Lyapunov matrix equations; MIMO systems; adaptive control; asymptotic stability; three-term control; Lyapunov stability theorem; MIMO system; adaptive PID control; asymptotic stability; multiple input multiple output; output model tracking ploblem; perfect tracking problem; reference model matrices; time-varying gain matrices; zero-dynamics; Adaptive control; Control system synthesis; Control systems; Design engineering; Electronic mail; Lyapunov method; MIMO; Programmable control; Three-term control; Time varying systems; MIMO linear system; PID control; adaptive control; auto-tuning; tracking problem;
Conference_Titel :
SICE, 2007 Annual Conference
Conference_Location :
Takamatsu
Print_ISBN :
978-4-907764-27-2
Electronic_ISBN :
978-4-907764-27-2
DOI :
10.1109/SICE.2007.4421025