Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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A Learning Method of PID Controller by Jacobian in Multi Variable System

다변수 시스템에서 자코비안을 이용한 PID 제어기 학습법

  • Published : 2003.02.01
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Abstract

Generally, PID controller is not suitable to control multi variable system because it is very difficult to tune the PID gains. However, this paper shows that it is not hard to tune the PID gains if we can find a Jacobian matrix of the system. The Jacobian matrix expresses the ratio of output variations according to input variations. It is possible to adjust the input values in order to reduce the output error using the Jacobian. When the colt function is composed of error related terms, the gradient approach can tune the PID gains to minimize the function. In simulation, a hydrofoil catamaran with two inputs and two outputs is applied as a multi variable system. We can easily get the multi variable PID controller by the proposed teaming method. When the controller is compared with LQR controller, the performance is as good as that of LQR controller with a modeling equation.

Keywords

References

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