Robust Optimal PID type ILC for Linear Batch Process

Abstract

The proportional-integral-derivative (PID) controller is standard technique for controlling the industrial batch process. However, the parameter tuning and updating of PID controller has been a challenging topic for control engineers especially for the real system having initial state error, state and output disturbances. In this paper, a kind of robust optimal iterative learning control (ILC) scheme is suggested to update the PID gains for the linear system with initial state error, state and output disturbances. The quadratic performance criteria is considered, which constitute of the error and input slew rate, and the robust BIBO stability is investigated theoretically for the proposed PID type ILC scheme. In addition, the bound of the tracking error has been calculated by using Lyapunov composite energy function. Simulation examples are also given to demonstrate the effectiveness of the proposed scheme in term of its ability to deal with linear as well as nonlinear system