Model predictive 2DOF PID control for slip suppression of Electric Vehicles

This paper propose the design method of 2DOF (two degrees of freedom) PID (Proportional-Integral-Derivative) controller based on MPC (Model predictive control). This controller is called as MP-2DOF PID controller. The method repeatedly optimizes the control parameters for each control period by solving an optimization problem based on the MPC algorithm, while using the 2DOF PID controller structure. Generally 2DOF PID controller can be implemented by a simple extension of the pre-existing PID controller with feed-forward element. This means we can get better performance without much cost. The proposed method aims to improve the maneuverability, the stability and the low energy consumption of EVs (Electric Vehicles) by controlling the wheel slip ratio. There also include numerical simulation results to demonstrate the effectiveness of the method.