TY - GEN
T1 - Auto-tuning method of expanded PID control for MIMO systems
AU - Tamura, Kenichi
AU - Ohmori, Hiromitsu
PY - 2006/12/1
Y1 - 2006/12/1
N2 - This paper is concerned with auto-tuning of the expanded PID control for general MIMO linear system (r-input, m-output, nth-order). The purpose is to give an adaptive law of time-varying PID parameter matrices so as to asymptotically stabilize the closed-loop system using expanded PID control for the regulation problem. The proposed method is derived from satisfying the Lyapunov's stability theorem. For its execution it is necessary for a certain hypothetical system to satisfy almost strictly positive real (ASPR) property. So we also propose the method letting its hypothetical system be ASPR. In our method, since it is not necessary for the controlled MIMO system to be stable and/or minimum phase, it is useful for large class systems. The effectiveness of the proposed method is confirmed with unstable MIMO system by a numerical simulations.
AB - This paper is concerned with auto-tuning of the expanded PID control for general MIMO linear system (r-input, m-output, nth-order). The purpose is to give an adaptive law of time-varying PID parameter matrices so as to asymptotically stabilize the closed-loop system using expanded PID control for the regulation problem. The proposed method is derived from satisfying the Lyapunov's stability theorem. For its execution it is necessary for a certain hypothetical system to satisfy almost strictly positive real (ASPR) property. So we also propose the method letting its hypothetical system be ASPR. In our method, since it is not necessary for the controlled MIMO system to be stable and/or minimum phase, it is useful for large class systems. The effectiveness of the proposed method is confirmed with unstable MIMO system by a numerical simulations.
KW - Almost strictly positive real (ASPR)
KW - Auto-tuning
KW - MIMO linear system
KW - PID control
UR - http://www.scopus.com/inward/record.url?scp=34250707333&partnerID=8YFLogxK
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U2 - 10.1109/SICE.2006.314919
DO - 10.1109/SICE.2006.314919
M3 - Conference contribution
AN - SCOPUS:34250707333
SN - 8995003855
SN - 9788995003855
T3 - 2006 SICE-ICASE International Joint Conference
SP - 3270
EP - 3275
BT - 2006 SICE-ICASE International Joint Conference
T2 - 2006 SICE-ICASE International Joint Conference
Y2 - 18 October 2006 through 21 October 2006
ER -