Abstract
PID control schemes still continue to be widely used for most industrial control systems. This is mainly because PID controllers have simple control structures, and are simple to maintain and tune. However, it is difficult to find a set of suitable control parameters in the case of time-varying and/or nonlinear systems. In this paper, a new gain scheduled PD controller design scheme and self-tuning PD controller design scheme are proposed. The PD parameters are calculated on-line based on the relationship between the PD control law and pole-assignment control law. The proposed schemes are numerically evaluated on sway control system of a lifted load for a mobile crane. Numerical results illustrate the effectiveness of these new schemes.
