Design and experimental evaluation of a predictive PID controller

PID control schemes have been widely used in most process industries. Since the control performance strongly depends on PID parameters, it is important to suitably choose a set of these parameters. Especially, it is difficult to determine these parameters in the case where the time-delay is unknown and/or large. On the other hand, it is well-known that the generalized predictive control(GPC) design method effectively works for such systems. Then, a new PID tuning scheme(GPC-PID) which is derived from the relationship between the GPC and the PID control laws is explained in this paper. The GPC-PID controller has a user-specified parameter, and it is adjusted from the viewpoint of the robust stability. The effectiveness of the GPC-PID controller is verified by application to a temperature control system whose time-delay can be changed to test the control scheme.