Design of a robust internal model control PID controller based on linear quadratic gaussian tuning strategy

2014 ◽  
Vol 92 (7) ◽  
pp. 1260-1270 ◽  
Author(s):  
Qi-bing Jin ◽  
Li-ye Liu
Keyword(s):  
Pid Controller ◽  
Internal Model ◽  
Internal Model Control ◽  
Linear Quadratic ◽  
Linear Quadratic Gaussian ◽  
Model Control ◽  
Tuning Strategy

Improved IMC-filter design and IMC-PI equivalence: Application to quadrotor under gust of wind

2020 ◽  
Vol 234 (9) ◽  
pp. 1060-1072
Author(s):  
Yasser Bouzid ◽  
Houria Siguerdidjane ◽  
Elmehdi Zareb
Keyword(s):  
Internal Model ◽  
Filter Design ◽  
Autonomous Vehicle ◽  
Tracking Error ◽  
Experimental Tests ◽  
Pi Controller ◽  
Internal Model Control ◽  
Model Control ◽  
Tuning Strategy ◽  
The Mathematical Model

As known, internal model control is equivalent to a PI or a PID controller provided that the mathematical model associated to the process to be controlled is of first or second order respectively. So, to go beyond these particular cases and to make an extension in bringing more theoretical results, the article proposes a method to reach the equivalence between an internal model control and a PI controller regardless of the model order. To this end, the key idea consists of using a specific filter that exhibits superior robustness level compared to the classical filter and further leads to get a structure of a PI controller whatever the order of the model is. The developed procedure constitutes the main contribution of this article. To meet given set of specifications, the controller parameters are tuned through a straightforward analytic way using the dynamics of the tracking error. The proposed tuning strategy constitutes another contribution of the article. Furthermore, to evaluate the efficiency level of this procedure, an application to control an autonomous vehicle is described and the simulation results are shown to be satisfactory confirmed by a series of experimental tests.

Robust and Effective PID Controller Identification for Delay Dominant Systems

2014 ◽  
Vol 625 ◽  
pp. 478-481
Author(s):  
Lemma Dendena Tufa ◽  
Marappagounder Ramasamy
Keyword(s):  
Time Delay ◽  
Time Constant ◽  
Pid Controller ◽  
Internal Model ◽  
Control Structure ◽  
Internal Model Control ◽  
Controller Tuning ◽  
Model Control ◽  
Pid Controller Tuning ◽  
Improved Performance

A novel PID controller identification method based on internal model control structure is proposed. The proposed method avoids the necessity of approximating the time delay for designing the PID controller. It results in a robust and effective PID controller tuning. The method is effective for both time constant and time delay dominant systems, with much improved performance for the latter case.

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