This paper describes a gain adjustment method of I-PD control systems using a neural network.
PID or I-PD controller has been used for several control systems. It is important to decide the gains of PID or I-PD controller, because the control performance of the system depends on such gains. Recently, many studies have been performed to apply neural networks to identification and control of dynamical systems.
In this paper, we propose a new method to automatically adjust the gains of the I-PD control system using a neural network. The neural network used here consists of three layers. Coupling coefficients of the network are regarded as gains of the I-PD controller. The coupling coefficients are adjusted to minimize the error between the controlled value and the target value, that is, the output value of a model.
Firstly, we try simulation experiment and show that the controlled value nearly equals the target value. Next, we experiment on a DC servomotor system and confirm that the proposed method is effective for a real control system.
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