Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A self tuning PID controller with minimum variance

최소분산 자기동조 PID제어기

  • Jo, Won-Cheol (Dept.of Electronics Electrical Engineering, Kyungpook National University) ;
  • Jeon, Gi-Jun (Dept.of Electronics Electrical Engineering, Kyungpook National University)
  • 조원철 (경북대학교 전자.전기공학부) ;
  • 전기준 (경북대학교 전자.전기공학부, 제어계측신기술연구센터)
  • Published : 1996.03.01
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Abstract

This paper presents a self tuning method of a velocity type PID controller for minimum or non-minimum phase systems with time delays. The velocity type PID control structure is determined in the process of minimizing the variance of the auxilliary output, and self tuning effect is achieved through the recursive least square algorithm at the parameter estimation stage and also through the Robbins-Monro algorithm at the stage of optimizing a design parameter. This method is simple and effective compared with other existing methods[1,2]. Numerical examples are included to illustrate the procedure and to show the performance of the control system.

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