Discrete Output-Prediction based Proportional Switching controller

This paper introduces a novel control law that is generic in nature and stabilizes linear and a class of non-linear systems. The parameters of the proposed controller give the same flexibility of tuning the transient response of a system as the standard PID does. The superiority of the output-prediction based proportional switching (OPPS) controller lies in the fact that it addresses the fundamental implementation problems of the PID such as integrator windup, high frequency gain of the derivative term and especially sacrifice of rise-time as system damping is further enhanced using the derivative term. Extensive simulation results are presented implementing OPPS on different linear and non-linear systems that show its generic nature and strength. Finally OPPS is implemented to stabilize a 2-DOF platform stabilization scheme and results are compared with those of a PID.