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

fYear

1999

fDate

Aug. 31 1999-Sept. 3 1999

Firstpage

1423

Lastpage

1427

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 1999 European

Conference_Location

Karlsruhe

Print_ISBN

978-3-9524173-5-5

Type

conf

Filename

7099511