Gain Scheduled PID Controller Design by Data-Driven Loop-Shaping Method

Abstract

In this paper, a gain scheduled PID control system is constructed for a nonlinear plant whose steady state changes by the setpoint change. Our data-driven loop shaping method is applied to the direct design of PID gains using the plant input output response measured at several setpoints. The reference input is used for the scheduling parameter. Usefulness of our method is shown by simulation for a Hammerstein model.