면역 피드백 메카니즘과 경사감소학습에 기초한 비선형 적응 PID 제어기 설계

Nonlinear Adaptive PID Controller Desist based on an Immune Feedback Mechanism and a Gradient Descent Learning

PID controllers, which have been widely used in industry, have a simple structure and robustness to modeling error. But it is difficult to have uniformly good control performance in system parameters variation or different velocity command. In this paper, we propose a nonlinear adaptive PR controller based on an Immune feedback mechanism and a gradient descent teaming. This algorithm has a simple structure and robustness to system parameters variation. To verify performances of the proposed nonlinear adaptive PID controller, the speed control of nonlinear DC motor Is peformed. The simulation results show that the proposed control systems are effective in tracking a command velocity under system parameters variation