Design of Adaptive I-PD Control Systems using Delta Operator based on Partial Model Matching

Abstract

Proportional-Integral-Derivative (PID) controllers are undoubtedly the most employed controllers in industry, and various methods of the parameter tuning in PID control are proposed until now. As a way to tune the PID parameter systematically, the partial model matching method from the lowest order term to as higher the term as possible is adopted by Kitamori. However, since this partial model matching method uses a xed PID parameter, when the information on the controlled object obtained by beforehand has uncertainty, the control performance may Performance deteriorates. In this paper, we propose an adaptive IPD controller for Single-Input/Single-Output(SISO) systems using delta operator based on the partial model matching method. In addition, we show the e ectiveness of the proposed method by the simulation result.