제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)
- 제2권1호
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- Pages.14-20
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- 1996
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- 1976-5622(pISSN)
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- 2233-4335(eISSN)
최소분산 자기동조 PID제어기
A self tuning PID controller with minimum variance
- Jo, Won-Cheol (Dept.of Electronics Electrical Engineering, Kyungpook National University) ;
- Jeon, Gi-Jun (Dept.of Electronics Electrical Engineering, Kyungpook National University)
- 발행 : 1996.03.01
초록
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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