ディスクリプタ形式に基づくＰＩＤ制御系設計

抄録

In this paper we revisit the PID control design in terms of descriptor expression. Based on the descriptor expression of the derivative action in the PID controller, we consider PID control design utilizing standard nonlinear optimal control problem. Therefore, although the resultant control problem includes mixed constraint conditions with states and inputs, the real time optimization tool (MPC, for instance) can be applicable as one of the most powerful methods for tuning of PID parameters. Finally, some simulations are given to illustrate the effectiveness of the proposed approach.