A design of robust self-tuning GPC-based PID controllers

PID control schemes have been widely used in most process systems represented by chemical processes for a long time. However, it is still a very important problem how to determine or tune the PID parameters, because these parameter have a great influence on the stability and the performance of the control system. On the other hand, it is well known that the generalized predictive controller(GPC) is effective for systems with ambiguous time-delays and/or time-variant time-delays. Then, the PID parameters adjusting method based on GPC has been proposed. In this paper, a new tuning algorithm of PID parameters based on GPC is proposed, which is composed of an adaptive switching scheme and some robust PID sub-controllers switched by the former according to a certain property of the controlled object. Finally, the proposed control scheme is investigated on a numerical simulation example.