An NN-based approach for tuning servocontrollers

Neural networks (NN) are used in this paper to tune PI controllers for unknown plants, which may be nonlinear or open-loop unstable. A simple algorithm, which requires only knowledge of the plant output response direction, is used for training an NN controller, by employing the error between the reference and the plant output. Once this controller achieves good performance, its input-output behavior is approximated by a controller with PI structure, thereby enabling the computation of proportional and integral gains. These gains are familiar to process engineers and can be directly inserted into most existing softwares for process control in industry. Computer simulations on an unstable nonlinear plant and experimental results on a thermal plant are presented to illustrate the usefulness of the proposed approach.