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The Design of an Improved PID Controller by Using the Kalman Filter

칼만 필터를 이용한 개선된 PID 제어기 설계

  • Published : 2000.01.01

Abstract

This paper suggests an auto-tuning I'll) control algorithm that uses the advantage of PID controller and improves the system performance. The PID gains being designed by th- conventional method are tuned through the plant parameter estimation. The Extended Kalman Filter is used for the estimation. It works as an observer and noise filter. Moreover, as the plant state and the uncertain parameter could be estimated simultaneously, the proposed algorithm is very useful in the tracking control of a system with uncertain parameter. The auto-tuning I'll) controller could maintain the system performance in the case that the plant parameters are uncertain or varying. The proposed control algorithm requires a correct estimation of the plant parameter. The controller stability and the performance is considered through the stability criteria and a servo motor model. The Kalman filter estimates the most sensitive plant parameter, which is determined by the sensitivity analysis.

Keywords

Kalman Filter;Parameter Sensitivity;Improved PID Controller;Parameter Estimation

References

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