2 DOF adaptive PID control with a parallel feedforward compensator for nonlinear systems

Author

Mizumoto, Ikuro ; Tanaka, H. ; Iwai, Zenta

Author_Institution

Dept. of Intell. Mech. Syst., Kumamoto Univ., Kumamoto

fYear

2009

fDate

26-29 March 2009

Firstpage

261

Lastpage

266

Abstract

In this paper, we propose a design method of an adaptive PID controller based on output feedback for nonlinear systems with a higher order relative degree and disturbances. To realize an adaptive PID control system, we introduce a PFC for a nonlinear system which does not satisfy OFEP (Output Feedback Exponentially Passive) conditions and design an adaptive feedforward input with a structure of RBF (Radial Basis Function) neural networks in order to remove the steady-state bias error from the PFC output. The proposed method can design a robust adaptive PID controller with higher accuracy on tracking control.

Keywords

adaptive control; control system synthesis; error analysis; feedback; nonlinear control systems; radial basis function networks; three-term control; tracking; 2 degree of freedom; adaptive PID control; control system synthesis; neural network; nonlinear system; output feedback exponentially passive; parallel feedforward compensator; radial basis function; steady-state bias error; Adaptive control; Adaptive systems; Control systems; Design methodology; Neural networks; Nonlinear control systems; Nonlinear systems; Output feedback; Programmable control; Three-term control;

fLanguage

English

Publisher

ieee

Conference_Titel

Networking, Sensing and Control, 2009. ICNSC '09. International Conference on

Conference_Location

Okayama

Print_ISBN

978-1-4244-3491-6

Electronic_ISBN

978-1-4244-3492-3

Type

conf

DOI

10.1109/ICNSC.2009.4919283

Filename

4919283