The Adaptive Robust PID Controller

Abstract The paper describes the adaptive PID controller. its designing procedure and convergence analysis, The concept includes an explicit. identification with recursive parameter estimation and a regulator design formula. A plant is assumed to be a SISO second order dead-time lag. The regulator is based on plant poles direct cancelation. so the plant must be stable. In order to improve robustness of estimation the model of a plant. is chosen to have equal degrees of numerator and denominator polynomials. Then the estimates are used to design the regulator settings through solving the nonlinear equations. The method of the regulator parameters selection ensures reliable stability i.e required phase and amplitude margins and also trap conditions to be satisfied. This technic combined with constrained parameters estimation ensuring that the estimates lie inside desired region leads to assymptotically reliably stable adaptive controller.