Title :
Adaptive PID controller for systems with time delay
Author :
Machacek, J. ; Bobal, V.
Author_Institution :
Dept. of Process Control & Comput. Tech., Univ. of Pardubice, Pardubice, Czech Republic
fDate :
Aug. 31 1999-Sept. 3 1999
Abstract :
A digital self-tuning controller algorithm for systems with time delay is presented in this paper. The controller parameter design is derived from the ultimate gain and ultimate period of the system. The main part of the paper consists in deriving the simple algebraic expressions for the ultimate values computation. It is performed for a first-order model with time delay on the basis of condition that poles of the closed loop with ultimate gain lie on the stability boundary. This procedure can be implemented on various types of controller design based on the knowledge of the ultimate values, such as the well-known Ziegler-Nichols method.
Keywords :
adaptive control; closed loop systems; control system synthesis; delays; stability; three-term control; Ziegler-Nichols method; adaptive PID controller; algebraic expressions; closed loop system; controller parameter design; digital self-tuning controller algorithm; first-order model; stability boundary; time delay; ultimate values computation; Computational modeling; Delay effects; Function approximation; Least squares approximations; Mathematical model; Transfer functions; Adaptive control; PID controllers; identification; time delay;
Conference_Titel :
Control Conference (ECC), 1999 European
Conference_Location :
Karlsruhe
Print_ISBN :
978-3-9524173-5-5
