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Title: Non-linear PID predictive controller
Authors: Chen, Wen-Hua
Ballance, Donald J.
Gawthrop, Peter J.
Gribble, Jenny J.
O'Reilly, John
Keywords: Optimal Control
Nonlinear Systems
Predictive Control
Computational Delay
PID Controller
Nonlinear Generalised Predictive Control
Issue Date: 1999
Publisher: © Institution of Electrical Engineers
Citation: CHEN, W-H. ...et al, 1999. Non-linear PID predictive controller. IEE Proceedings: control theory and applications, 146 (6), pp. 603-611
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 nonlinear generalised predictive controller 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.
Description: This is a journal article. It was published in the journal, IEE proceedings: control theory and applications and is subject to Institution of Engineering and Technology copyright: http://www.ietdl.org/journals/doc/IEEDRL-home/info/support/copyinf.jsp. The definitive version of the paper is available at IET Digital Library.
URI: https://dspace.lboro.ac.uk/2134/3856
ISSN: 1350-2379
Appears in Collections:Published Articles (Aeronautical and Automotive Engineering)

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