Indirect Adaptive Pole Assignment PID Controllers for Unknown Systems with time varying delay

시변 지연시간을 가지는 미지의 시스템에 대한 간접 극배치 적응 PID 제어기

Indirect adaptive pole assignment PID controllers for unknown systems with time varying delay, is proposed. Unknown system parameters are estimated by recursive least square method, and time varying delay is estimated using indirect predictors. Since the order of parameter vectors didn't increase, the computational burden is not largely increased in spite of using indirect adaptive control method with time varying delay estimation. Computer simulation is performed to illustrate the efficiency of the proposed method.