Adaptive PID control system with assigned robust stability

Abstract

This paper presents a proportional‐integral‐derivative (PID) control system design method for discrete‐time first‐order plus dead‐time plants. Because the relation between the tracking performance and the robust stability is the trade‐off, the PID parameters of the PID control system are decided such that the tracking performance is optimized subject to the assigned robust stability, where the reference or disturbance response is selected as the tracking performance. In the proposed method, the PID parameters decision method is designed using a neural network with an extreme learning machine. Hence, the optimal PID parameters are obtained based on the trade‐off between the tracking performance and the robust stability. Furthermore, the proposed design method is extended as the adaptive control, and hence an unknown or time‐varying plant, is well controlled using the proposed method. © 2018 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.