Abstract
This paper considers the problem of real-time control for uncertain systems. The control algorithm by combining nonlinear PID control with binary control is given. And simulation results are also shown. It is the use of nonlinear tracking-differentiator in nonlinear PID controller that the method has rather good results for trcaking signals even the signals are undifferentiable or discontinuous or contain random noise. It is the introduction of binary control that the design parameters can also be reduced greatly. Simulations show the efficiency of the method.
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