Abstract
This paper has been invested in giving out a chosen principle for the parameters in the PID controller for an unknown affine nonlinear discrete-time systems. By dynamic linearization and contraction mapping methodology, the asymptotic convergence of tracking error and bounded input bounded output (BIBO) stable can be guaranteed, also a three-dimensional manifold of parameters is available. Similar results about the stability area of PI controller for the same unknown nonlinear systems are designed. The effectiveness of this guideline has been verified by simulation.
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