Nonlinearly Parameterized Adaptive PID Control for Parallel and Series Realization

In this paper, a methodology for Lyapunov-based adaptive PID control for different nonlinearlyparameterized series and parallel PID realizations presented using simple first and second order dominant plants. The corresponding designs are based on using only the tracking error, its derivative, its integral, and the current value of the adaptive gains in order to update the PID gains. The conventional independent parallel realization, which most existing adaptive designs have used, yields a linearly parameterized adaptive control problem. Whereas, other parallel as well as series realizations yield nonlinearly parameterized adaptive systems allowing for coupled adaptation of the PID gains and further design flexibility. These coupled architectures promise to yield better adaptation and learning as they reflect the inherently coupled nature of PID tuning. Case study simulations are provided to demonstrate the capabilities of the developed algorithms. 2009 American Control Conference This work may not be copied or reproduced in whole or in part for any commercial purpose. Permission to copy in whole or in part without payment of fee is granted for nonprofit educational and research purposes provided that all such whole or partial copies include the following: a notice that such copying is by permission of Mitsubishi Electric Research Laboratories, Inc.; an acknowledgment of the authors and individual contributions to the work; and all applicable portions of the copyright notice. Copying, reproduction, or republishing for any other purpose shall require a license with payment of fee to Mitsubishi Electric Research Laboratories, Inc. All rights reserved. Copyright c ©Mitsubishi Electric Research Laboratories, Inc., 2009 201 Broadway, Cambridge, Massachusetts 02139