Abstract
Abstract This paper proposes a new design scheme for a self-tuning PID controller. Expressions to calculate PID parameters from the identified plant coefficients are given. These expressions are derived by approximating the PID controller to the generalized minimum variance control (GMVC) law. To obtain a better approximation, the PID controller has a time-varying proportional gain. The PID control law approximates the strongly stable GMVC resulting in a stable closed-loop system and a stable control law. Using a numerical example, the control performance of the proposed method is compared with those of PID controllers designed by other schemes.
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