TY - GEN
T1 - Adaptive PID control for perfect tracking problem of MIMO systems
AU - Tamura, Kenichi
AU - Ohmori, Hiromitsu
PY - 2007/12/1
Y1 - 2007/12/1
N2 - This paper is concerned with an adaptive PID control for the output model tracking ploblem of MIMO systems {A, B, C}. We propose the new adaptive PID control that has the constant matrices gain and the time-varying gain matrices. The proposed design method is derived from satisfying Lyapunov's stability theorem under some assumptions that the controlled system's zero-dynamics is asymptotically stable, some rank conditions concerning the controlled system and the reference model matrices and CB = 0 CAB > 0 or CB > 0. In our method, the asymptotical perfect output model tracking can be guaranteed even if there exist unknown system parameters and unknown step disturbances. Finally, the effectiveness of the proposed method is confirmed with the simulation result.
AB - This paper is concerned with an adaptive PID control for the output model tracking ploblem of MIMO systems {A, B, C}. We propose the new adaptive PID control that has the constant matrices gain and the time-varying gain matrices. The proposed design method is derived from satisfying Lyapunov's stability theorem under some assumptions that the controlled system's zero-dynamics is asymptotically stable, some rank conditions concerning the controlled system and the reference model matrices and CB = 0 CAB > 0 or CB > 0. In our method, the asymptotical perfect output model tracking can be guaranteed even if there exist unknown system parameters and unknown step disturbances. Finally, the effectiveness of the proposed method is confirmed with the simulation result.
KW - Adaptive control
KW - Auto-tuning
KW - MIMO linear system
KW - PID control
KW - Tracking problem
UR - http://www.scopus.com/inward/record.url?scp=50249177508&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=50249177508&partnerID=8YFLogxK
U2 - 10.1109/SICE.2007.4421025
DO - 10.1109/SICE.2007.4421025
M3 - Conference contribution
AN - SCOPUS:50249177508
SN - 4907764286
SN - 9784907764289
T3 - Proceedings of the SICE Annual Conference
SP - 446
EP - 453
BT - SICE Annual Conference, SICE 2007
T2 - SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
Y2 - 17 September 2007 through 20 September 2007
ER -