A Response Predictionable Data-Driven PID Gain Update Method

Abstract

This paper gives a data-driven PID gain update method based on model matching with a reference model using closed-loop step reference data obtained from a poorly-tuned closed-loop system. The proposed method has the following features: 1) the method can suppress the influence of approximation of model matching error on the PID gain update; 2) the method can predict the responses of the closed-loop system after updating the controller; and 3) the response predictions can be useful in the evaluation of the suitability of the reference model for model matching. The effectiveness of the proposed method is shown through experiments.