Nonlinear PID predictive controller

Gribble, J.J., Chen, W.-H. and Ballance, D.J. (1999) Nonlinear PID predictive controller. IEE Proceedings: Control Theory and Applications, 146(6), pp. 6103-611.

Abstract

A new class of nonlinear PID controllers are derived for nonlinear systems using a nonlinear generalised predictive control (NGPC) approach. First, the disturbance decoupling ability of the NGPC is discussed. For a nonlinear system where the disturbance cannot be decoupled, a nonlinear observer is designed to estimate the offset. By selecting the nonlinear gain function in the observer, it is shown that the closed-loop system under optimal generalised predictive control with the nonlinear observer is asymptotically stable. It is pointed out that this composite controller is equivalent to a nonlinear controller with integral action. As a special case, for a nonlinear system with a low relative degree, the proposed nonlinear controller reduces to a nonlinear PI or PID predictive controller, which consists of a nonlinear PI or PID controller and a prediction controller. The design method is illustrated by an example nonlinear mechanical system

• Item Type: Articles
• Keywords: non linear, PID, controller
• Status: Published
• Refereed: Yes
• Glasgow Author(s) Enlighten ID: Ballance, Dr Donald
• Authors: Gribble, J.J., Chen, W.-H., and Ballance, D.J.
• Subjects: T Technology > TJ Mechanical engineering and machinery
• College/School: College of Science and Engineering > School of Engineering > Systems Power and Energy
• Research Group: Systems and Control engineering
• Journal Name: IEE Proceedings: Control Theory and Applications
• ISSN: 1350-2379
• First Published: IEE