Self-Tuning Predictive PID Controller Using a Time-Varying Proportional Gain

Abstract

This paper proposes a new design method of adaptive GPC-based PID controller. The proportional gain of a PID controller is time-varying, and the PID controller is designed based on strongly stable GPC that is extended by using coprime factorization. Hence, a GPC law can be approximated by the PID controller finely. Finally, the system parameters are updated in real-time to resist to disturbance, by using the RLS method. Simulation examples show the effectiveness of the proposed method.