Design of digital PID controller with gain planning based on CMAC

Presents the development of a proportional integral derivative (PID) digital controller with gain planning based on the (CMAC) cerebellar model articulation controller. This digital controller operates in closed loop and has a dynamic gain adjustment. The control strategy uses an algorithm that calculates the proportional, integral and derivative parcels. This algorithm provides the soft start requirements. Both, the gain planning and the soft start requirements, uses auxiliary variables to determine an appropriate and dynamic setup of the digital controller. These auxiliary variables impose several restrictions on the digital controller and this one must have adaptive characteristics. The artificial neural network is used to estimate these auxiliary variables. The learning process depends on the data acquisition or the mathematical model simulations. The digital controller can operate in real-time conditions and the sample frequency can reach 10 kHz