TY - GEN
T1 - Auto-tuning method of expanded PID control for MIMO systems
AU - Tamura, Kenichi
AU - Ohmori, Hiromitsu
PY - 2007/12/1
Y1 - 2007/12/1
N2 - This paper is concerned with auto-tuning of the expanded PID control for MIMO linear system (r-input, m-output, nth-order). The purpose is to give an adaptive law of time-varying PID parameter matrices so as to asymptotically stabilize the closed-loop system using expanded PID control for the regulation problem. The proposed method is derived from satisfying the Lyapunov's stability theorem. For its execution it is necessary for a certain hypothetical system to satisfy almost strictly positive real (ASPR) property. So we also propose the method letting its hypothetical system be ASPR. In our method, since it is not necessary for the controlled MIMO system to be stable and/or minimum phase, it is useful for large class systems. The effectiveness of the proposed method is confirmed with unstable MIMO system by a numerical simulations.
AB - This paper is concerned with auto-tuning of the expanded PID control for MIMO linear system (r-input, m-output, nth-order). The purpose is to give an adaptive law of time-varying PID parameter matrices so as to asymptotically stabilize the closed-loop system using expanded PID control for the regulation problem. The proposed method is derived from satisfying the Lyapunov's stability theorem. For its execution it is necessary for a certain hypothetical system to satisfy almost strictly positive real (ASPR) property. So we also propose the method letting its hypothetical system be ASPR. In our method, since it is not necessary for the controlled MIMO system to be stable and/or minimum phase, it is useful for large class systems. The effectiveness of the proposed method is confirmed with unstable MIMO system by a numerical simulations.
KW - Almost strictly positive real (ASPR)
KW - Auto-tuning
KW - Expanded PID control
KW - MIMO linear system
UR - http://www.scopus.com/inward/record.url?scp=79961081846&partnerID=8YFLogxK
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M3 - Conference contribution
AN - SCOPUS:79961081846
SN - 9783902661296
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 98
EP - 103
BT - 9th IFAC Workshop "Adaptation and Learning in Control and Signal Processing", ALCOSP'2007 - Final Program and Abstracts
T2 - 9th IFAC Workshop "Adaptation and Learning in Control and Signal Processing", ALCOSP'2007
Y2 - 29 August 2007 through 31 August 2007
ER -