A self-tuning PID control for a class of nonlinear systems based on the Lyapunov approach

被引：142

作者：

Chang, WD

Hwang, RC ^{[1
]}

Hsieh, JG

机构：

[1] I Shou Univ, Dept Elect Engn, Kaohsiung 840, Taiwan

[2] Natl Sun Yat Sen Univ, Dept Elect Engn, Kaohsiung 804, Taiwan

来源：

JOURNAL OF PROCESS CONTROL | 2002年 / 12卷 / 02期

关键词：

PID control system; direct adaptive control; Lyapunov approach;

D O I：

10.1016/S0959-1524(01)00041-5

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we will propose a self-tuning method for a class of nonlinear PID control systems based on Lyapunov approach. The three PID control gains are adjustable parameters and will be updated online with a stable adaptation mechanism such that the PID control law tracks certain feedback linearization control, which is previously designed. The stability of closed-loop nonlinear PID control system is analyzed and guaranteed by introducing a supervisory control and a modified adaptation law with projection. Finally, a tracking control of an inverted pendulum system is illustrated to demonstrate the control performance by using the proposed method, (C) 2002 Elsevier Science Ltd. All rights reserved.

引用

页码：233 / 242

页数：10

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