Unfalsified parameter space design of PID controllers for nonlinear plants

We present a parameter space design method of PID controllers for a mixed sensitivity control problem of nonlinear plants. The input output data are directly used for falsifying the PID gains without constructing the mathematical model. Falsified regions can be drawn for each input output data on the PID gain plane, and the unfalsified gains are used for control. The success of this method depends on how efficiently the gains can be falsified. We examine this problem by a numerical example of a plant with friction and by a cart positioning control experiment.

[1]  Emmanuel G. Collins,et al.  Automated PI tuning for a weigh belt feeder via unfalsified control , 1999, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304).

[2]  Masami Saeki,et al.  Design Method of Robust PID Controller and CAD System , 1997 .

[3]  Michael G. Safonov,et al.  The unfalsified control concept and learning , 1997 .

[4]  Masami Saeki,et al.  PID controller optimization forH? control by linear programming , 2000 .

[5]  R. Kosut,et al.  Direct unfalsified controller design-solution via convex optimization , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[6]  Masami Saeki,et al.  Parameter Space Design Method of PID Controller for H∞ Control Problem , 1998 .

[7]  Michael G. Safonov,et al.  Automatic PID tuning: an application of unfalsified control , 1999, Proceedings of the 1999 IEEE International Symposium on Computer Aided Control System Design (Cat. No.99TH8404).

[8]  Masami Saeki.  Unfalsified control approach to parameter space design of PID controllers , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[9]  Michael G. Safonov,et al.  Direct Adaptive Control of a Two-Link Robot Arm* , 1999 .