Adaptive PID Controller with Parallel Feedforward Compensator for MIMO Systems

With the classical PID controller, good performance can be obtained, if all the model parameters and operating conditions are known. In case which some of the system parameters or operating conditions are uncertain or unknown, an adaptive PID (APID) learning controller (which consists of a set of learning rules for PID gain tuning) is used. To guarantee the stability of APID controller, the controlled system must be Almost Strict Positive Real (ASPR). Because not all the actual MIMO systems can satisfy that condition and to make the APID controller design applicable on more general systems, an auxiliary subsystem called parallel feedforward compensator (PFC) is added in parallel with the controlled system. Computer simulations are given to demonstrate the effectiveness of the overall system applying different shapes of input signals.

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