제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A frequency domain adaptive PID controller based on non-parametric plant model representation

  • Egashira, Toyokazu (Department of Mechanical Engineering and Materials Science, Kumamoto University) ;
  • Iwai, Zenta (Department of Mechanical Engineering and Materials Science, Kumamoto University) ;
  • Hino, Mitsushi (Department of Mechanical Engineering and Materials Science, Kumamoto University) ;
  • Takeyama, Yoshikazu (Department of Mechanical Engineering and Materials Science, Kumamoto University) ;
  • Ono, Taisuke (Department of Mechanical Engineering and Materials Science, Kumamoto University)
  • Published : 1996.10.01
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Abstract

In this paper, we propose a design method of PID adaptive controller based on frequency domain analysis. The method is based on the estimation of a nonparametric process model in the frequency domain and the determination of the PID controller parameters by achieving partial model matching so as to minimize a performance function concerning to relative model error between the loop transfer function of the control system and the desired system. In the design method the process is represented only by a discrete set of points on the Nyquist curve of the process. Therefore it is not necessary to estimate a full order parameterized process model.

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