Abstract
This paper addresses tracking problems of 2nd-order single-input, single-output nonlinear plants via proportional–integral–derivative (PID) controllers. A new design scheme of PID controllers based on adaptive updating rules and data-driven (DD) techniques is presented. First, with the help of dynamic linearization models, a new adaptive PID control rule is proposed. A rigorous Lyapunov-based proof of stability is provided to ensure the convergence of tracking errors when the initial states belong to a compact set. Subsequently, the relationship between stability regions and reference signals is analyzed. Based on this relationship, a new DD PID control algorithm with adaptive updating rules is proposed to improve the stability regions by invoking historical data. Finally, numerical simulations are given to illustrate the efficiency and feasibility of the proposed results.
Published Version
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