Adaptive PID control of systems with unknown time delay

A new algorithm for the adaptive control of systems with unknown time delay is presented in which the underlying control law has the familiar PID structure. The design is based on a continuous-time approach. This algorithm can be applied to a class of high-order systems which can be modelled by either a second-order system with time delay or a first-order system with time delay. The parameters of the system including time delay are estimated recursively by a derivative-free least-squares algorithm. The controller settings are selected according to a set of analytical formulae derived from mean-square error criteria. The algorithm is tested on simulated examples as well as a laboratory-scale coupled-tank apparatus.

[1]  B. Porter,et al.  Design of adaptive digital set-point tracking PID controllers incorporating recursive step-response matrix identifiers for multivariable plants , 1987 .

[2]  L. B. Koppel,et al.  Feedback Time-Optimum Process Controllers , 1968 .

[3]  L. Keviczky,et al.  Direct Methods for Self-Tuning PID Regulators , 1982 .

[4]  Michael J. Ashworth.  Feedback Design of Systems with Significant Uncertainty , 1982 .

[5]  Yoshikazu Nishikawa,et al.  A method for auto-tuning of PID control parameters , 1981, Autom..

[6]  H. H. Rosenbrock,et al.  Computer Aided Control System Design , 1974, IEEE Transactions on Systems, Man, and Cybernetics.

[7]  Chester L. Nachtigal,et al.  Adaptive Controller Simulated Process Results: Foxboro EXACT and ASEA Novatune , 1986, 1986 American Control Conference.

[8]  K. Warwick.  Simplified algorithms for self tuning control , 1988 .

[9]  E. Bristol.  On a new measure of interaction for multivariable process control , 1966 .

[10]  B. Porter.  Design of tunable set-point tracking controllers for linear multivariable plants , 1982 .

[11]  P. Falb,et al.  Decoupling in the design and synthesis of multivariable control systems , 1967, IEEE Transactions on Automatic Control.

[12]  Heikki N. Koivo,et al.  Multivariable tuning regulators for unknown systems , 1980, Autom..

[13]  John C. Friedly,et al.  Approximate Dynamic Modeling of Large Staged Systems , 1974 .

[14]  R. Kelly,et al.  PID Self-Tuners: Some Theoretical and Practical Aspects , 1984, IEEE Transactions on Industrial Electronics.

[15]  Thomas J. McAvoy,et al.  Linear Feedback vs. Time Optimal Control. I. The Servo Problem , 1976 .

[16]  Tore Hägglund,et al.  Automatic tuning of simple regulators with specifications on phase and amplitude margins , 1984, Autom..

[17]  J. G. Ziegler,et al.  Optimum Settings for Automatic Controllers , 1942, Journal of Fluids Engineering.

[18]  L. B. Koppel,et al.  A General Process Controller , 1969 .

[19]  P. Gawthrop.  Self-tuning PID controllers: Algorithms and implementation , 1986 .