An Adaptive PID Controller Design based on a Gradient Descent Learning

경사 감소 학습에 기초한 적응 PID 제어기 설계

  • 박진현 (진주산업대학교 메카트로닉스공학과) ;
  • 김현덕 (진주산업대학교 전자공학과) ;
  • 최영규 (부산대학교 전자전기정보컴퓨터공학부)
  • Published : 2006.02.01

Abstract

PID controller has been widely used in industry. Because it has a simple structure and robustness to modeling error. But it is difficult to have uniformly good control performance in system parameters variation or different velocity command. In this paper, we propose an adaptive PID controller based on a gradient descent learning. This algorithm has a simple structure like conventional PID controller and a robustness to system parameters variation and different velocity command. To verify performances of the proposed adaptive PID controller, the speed control of nonlinear DC motor is performed. The simulation results show that the proposed control systems are effective in tracking a command velocity under system parameters variation.

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