The auto-tuning PID controller using the parameter estimation

Author

Cha, Inhyuk ; Han, Changsoo

Author_Institution

Dept. of Mech. Eng., Hanyang Univ., Seoul, South Korea

Volume

1

fYear

1999

fDate

1999

Firstpage

46

Abstract

This paper suggests an improved PID control algorithm, which could adjust the control gains automatically. The extended Kalman filter (EKF) which based on the singular value decomposition (SVD) is used for the estimation of an unknown or a time-varying parameter: The EKF is being used as an observer and the control gains are tuned through it. A controller using the EKF has the advantages that the EKF works as an observer and noise filter concurrently The performance of a proposed control algorithm is verified through the simulation and experiment with a servo motor system. The suggested controller will be useful in tracking control of a system with time-varying or unknown parameters

Keywords

Kalman filters; adaptive control; filtering theory; noise; observers; parameter estimation; self-adjusting systems; singular value decomposition; three-term control; EKF; SVD; auto-tuning PID controller; extended Kalman filter; noise filter; observer; servo motor system; singular value decomposition; time-varying parameter estimation; tracking control; unknown parameter estimation; Automatic control; Control systems; Induction motors; Kalman filters; Parameter estimation; Process control; Servomotors; Singular value decomposition; Three-term control; Time varying systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on

Conference_Location

Kyongju

Print_ISBN

0-7803-5184-3

Type

conf

DOI

10.1109/IROS.1999.812979

Filename

812979