Predictive Functional Controlを用いたモデルフリー制御器の設計

抄録

Intelligent-PID (i-PID) control proposed by Fliess is a simple control algorithm. The controller is designed based on ultra-local model, and consisted of PID type controller and derivatives of reference signal and controlled variables. Authors have considered discrete i-PID controller and its properties, and one of the result was that PD controller was sufficient in discrete time domain. In discrete i-PID controller, PD type controller is still required to ensure convergence of controlled error to zero, and PD type parameters affects convergence property, fast-response property and stability. In this paper, predictive functional control (PFC) based on an ultra-local model is proposed. By introducing of PFC, controlled variable converge to reference value without PD type controller. User-specified parameters of the proposed controller is smaller than the conventional i-PID controller. Characteristics of the proposed controller are compared with discrete i-PID controller by numerical examples.