New method to find operating points for multi-PID control. Application to vehicle lateral guidance .

Abstract

This paper proposes a new approach to find operating points for gain scheduling control using PID controllers. The operating point are computed with a frequency analysis of the system that gives the number of operating points needed and their values. The PID are weighted in their operating area using continuous functions that depend on the scheduling parameter. A concrete example of an autonomous vehicle lateral guidance shows the effectiveness of the method comparing different configuration of operating points and weights.