2 DOF Adaptive PID Control with a Parallel Feedforward Compensator for Nonlinear Systems
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概要
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In this paper, we propose a design method of an adaptive PID controller based on output feedback for nonlinear systems with a higher order relative degree and disturbances. To realize an adaptive PID control system, we introduce a PFC for a nonlinear system which does not satisfy OFEP (Output Feedback Exponentially Passive) conditions and design an adaptive feedforward input with a structure of RBF (Radial Basis Function) neural networks in order to remove the steady-state bias error from the PFC output. The proposed method can design a robust adaptive PID controller with higher accuracy on tracking control.
- 2009-03-26