1992 Volume 28 Issue 4 Pages 484-491
Self-tuning control methods have been developed for the system with unknown parameters up to now. Furthermore, the rapid progress of the digital computers enables us to control a number of real plants based on digital control strategies. However, PID and I-PD control methods have been used for the real plants since the control parameters are specified by the proportional, integral and differential actions. It is easily to understand the physical meaning of the control system by these PID gains. Therefore, it is necessary to consider control methods that the control parameters are specified by the PID gains only.
In this paper, we construct a multivariable self-tuning controller with two-degree-of-freedom PID structure for the discrete-time systems. First, we construct a two-degree-of-freedom PID controller based on the model matching method. Next, we consider a self-tuning method of PID gain matrices. Many control strategies have been reported for auto-tuning and self-tuning PID controllers. However, there are not any design methods for the multivariable systems. Furthermore, we propose a design method of desired reference model matrices since the control performance depends on it. Finally, we illustrate a numerical simulation result to show the effectiveness of the proposed control algorithm.
