Abstract
The proportional-integral-derivative (PID) controller is widely used in process control engineering. However, the parameter updating of PID controller has been a challenging issue for control engineers. A new approach to apply iterative learning control (ILC) scheme for updating the PID parameters, is presented in this paper. The quadratic performance index is employed to optimize the parameters of the PID controller and then an optimal PID type iterative learning control (ILC) scheme is established for discrete linear time-invariant (LTI) systems. In addition, the convergence analysis of optimal ILC of PID type is well described by using Lyapunov composite energy function. The tracking performance of the desired output can be enhanced by the proper choice of penalty matrices. The resultant performance using proposed methodology is significantly improved in term of convergence as compared to available methods in the literature. Simulation examples are also given also to demonstrate the effectiveness of the proposed scheme.
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