Abstract
Model-Free PI/PID Controller Tuning of Higher Order Nonlinear Dynamic Systems
Highlights
This paper proposes a method which may be viewed as an extension of the previous methods of the work in Dalen and Di Ruscio (2018a,b,c).We will focus here on Proportional Integral (PI) or PI Derivative (PID) controller tuning of stable Single Input Single Output (SISO) parts of possible higher order systems
The proposed PI/PID controller tuning method is compared to the MATLAB pidTuner method applied to two motion problems and one offshore problem, i.e. three stable SISO parts of higher order motivated nonlinear models
The proposed PI/PID controller tuning method is applied to a nonlinear Deep Submergence Rescue Vehicle (DSRV) model in the Marine Systems Simulator toolbox (Fossen and Perez (2004))
Summary
This paper proposes a method which may be viewed as an extension of the previous methods of the work in Dalen and Di Ruscio (2018a,b,c). We will focus here on Proportional Integral (PI) or PI Derivative (PID) controller tuning of stable Single Input Single Output (SISO) parts of possible (nonlinear) higher order systems. The proposed PI/PID controller tuning method is compared to the MATLAB pidTuner method applied to two motion problems and one offshore problem, i.e. three stable SISO parts of higher order motivated nonlinear models. The proposed PI/PID controller tuning method is applied to a nonlinear Deep Submergence Rescue Vehicle (DSRV) model in the Marine Systems Simulator toolbox (Fossen and Perez (2004)). The proposed PI/PID controller tuning method is applied to a nonlinear rocket model found in the work of Mracek and Cloutier (1997). Where, Kp is the proportional gain, Ti is the integral time constant and Td is the derivative time constant
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