Auto-tuning method of expanded PID control for MIMO systems

Kenichi Tamura, Hiromitsu Ohmori

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication9th IFAC Workshop "Adaptation and Learning in Control and Signal Processing", ALCOSP'2007 - Final Program and Abstracts
Pages98-103
Number of pages6
EditionPART 1
Publication statusPublished - 2007 Dec 1
Event9th IFAC Workshop "Adaptation and Learning in Control and Signal Processing", ALCOSP'2007 - Saint Petersburg, Russian Federation
Duration: 2007 Aug 292007 Aug 31

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume9
ISSN (Print)1474-6670

Other

Other9th IFAC Workshop "Adaptation and Learning in Control and Signal Processing", ALCOSP'2007
CountryRussian Federation
CitySaint Petersburg
Period07/8/2907/8/31

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Keywords

  • Almost strictly positive real (ASPR)
  • Auto-tuning
  • Expanded PID control
  • MIMO linear system

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Tamura, K., & Ohmori, H. (2007). Auto-tuning method of expanded PID control for MIMO systems. In 9th IFAC Workshop "Adaptation and Learning in Control and Signal Processing", ALCOSP'2007 - Final Program and Abstracts (PART 1 ed., pp. 98-103). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 9, No. PART 1).