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Performance Evaluation of Adaptive PID Controllers

Taghizadeh, Saeed | 2017

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 50096 (06)
  4. University: Sharif University of Technology
  5. Department: Chemical and Petroleum Engineering
  6. Advisor(s): Shahrokhi, Mohammad; Vafa, Ehsan
  7. Abstract:
  8. The PID controller has been widely used in the industry for many years because of its simple structure and satisfactory performance. If the process is time-varying or has a nonlinear dynamic, the PID controller with constant parameters can not control the process in a wide range of operation and adaptive PID controller should be used. In this thesis, two adaptive controllers proposed in the literature, one for multi-input multi-output (MIMO) affine nonlinear systems and another for single-input single-output (SISO) non-affine nonlinear systems both in the normal form that both of them are extended in to the general form. The latter extended controller includes the MIMO systems. The main objective is designing adaptive PID controller such that the tracking error remains bounded and converges to the neighborhood of the origin. The stability of the closed loop system has been established and it has been shown that all signals remain bounded. To evaluate the performance of the controller designed for affine nonlinear systems, it has been utilized for controlling the level of interconnected tanks, outlet concentration of a biochemical reactor and synchronization of two chaotic systems subjected to external disturbances. The controller designed for non-affine nonlinear systems, has been used for controlling the level of interconnected tanks and two other nonlinear systems. The simulation results indicate that the designed controllers have acceptable performances for both affine and non-affine nonlinear systems
  9. Keywords:
  10. Adaptive Control ; Proportional-Integral-Derivative (PID)Controller ; Lyapunov Stability ; Multiple Input Multiple Output (MIMO)System ; Nonlinear Affine System ; Nonlinear Nonaffine System

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