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Nonlinear PID Predictive Controller

IEE Proceedings - Control Theory and Applications1999Vol. 146(6), pp. 603–611

Citations Over TimeTop 10% of 1999 papers

Wen‐Hua Chen, D.J. Ballance, P.J. Gawthrop, J.J. Gribble, J. O’Reilly

Abstract

A new class of nonlinear PID controllers are derived for nonlinear systems using a nonlinear generalised predictive control (NGPC) approach. First, the disturbance decoupling ability of the NGPC is discussed. For a nonlinear system where the disturbance cannot be decoupled, a nonlinear observer is designed to estimate the offset. By selecting the nonlinear gain function in the observer, it is shown that the closed-loop system under optimal generalised predictive control with the nonlinear observer is asymptotically stable. It is pointed out that this composite controller is equivalent to a nonlinear controller with integral action. As a special case, for a nonlinear system with a low relative degree, the proposed nonlinear controller reduces to a nonlinear PI or PID predictive controller, which consists of a nonlinear PI or PID controller and a prediction controller. The design method is illustrated by an example nonlinear mechanical system.

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