Adaptive PID control of systems with unknown time delay
Adaptive PID control of systems with unknown time delay
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DOI：
10.1080/00207729508929056
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发表时间：
1995-03
影响因子：
4.3
通讯作者：
A. Rad;W. Lo
中科院分区：
文献类型：
--
作者：
A. Rad;W. Lo
提出了一种用于未知时滞系统自适应控制的新算法，其中基本控制律具有熟悉的PID结构。该设计基于连续时间方法。该算法适用于一类高阶系统，该系统既可以用时滞二阶系统建模，也可以用时滞一阶系统建模。通过无导数最小二乘算法递归估计包括时延在内的系统参数。控制器设置是根据一组从均方误差标准导出的分析公式来选择的。该算法在模拟示例以及实验室规模的耦合罐装置上进行了测试。
A new algorithm for the adaptive control of systems with unknown time delay is presented in which the underlying control law has the familiar PID structure. The design is based on a continuous-time approach. This algorithm can be applied to a class of high-order systems which can be modelled by either a second-order system with time delay or a first-order system with time delay. The parameters of the system including time delay are estimated recursively by a derivative-free least-squares algorithm. The controller settings are selected according to a set of analytical formulae derived from mean-square error criteria. The algorithm is tested on simulated examples as well as a laboratory-scale coupled-tank apparatus.