Identification and self-tuning control of electro-pneumatic actuator system with control valve

In this paper, a mathematical modeling of pneumatic actuator system is developed by using RLS algorithm. An ARX model is chosen for the model structure. In order to cater the time-varying parameter of pneumatic system, a self-tuning controller is implemented based on the pole-assignment controller. An online RLS algorithm update the parameter estimation at every sample interval. The pole-assignment control parameter is then updated accordingly to the changes of the system parameters. Result of the system performance is compared with the conventional PID controller optimized by PSO algorithm. It is observed that the self-tuning controller performed well with almost zero error at steady state condition and overshoot less than 1%.