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详细说明：先进PID控制，通俗易懂延展推广，使人对PID控制的算法理解更上一层NTECH
OPEN ACCESS
PUBLISHER
NTECH open
free online editions of intech
Books and Journals can be found at
www.intechopen.com
Contents
Preface IX
Part 1 Advanced PID Control Techniques
Chapter 1 Predictive PID Control of Non-Minimum Phase Systems 3
Kenny Uren and George van Schoor
Chapter 2 Adaptive PID Control System Design
Based on ASPR Property of Systems 23
Ikuro mizumoto and Zenta lwai
Chapter 3 Analysis via Passivity Theory of a Class of
Nonlinear PID Global Regulators for Robot Manipulators 43
Jose luis meza, Victor Santibanez, Rogelio soto
Jose perez and joel perez
Chapter 4 A PI-D Feedback Control Type for Second Order Systems 65
America Morales Diaz and Alejandro rodriguez-Angeles
Chapter 5 From Basic to Advanced pl controllers
A Complexity VS Performance Comparison 85
Aldo balestrino Andrea caiti. Vincenzo calabro
Emanuele crisostomi and alberto land
Chapter 6 Adaptive Gain PID Control for Mechanical Systems 101
Ricardo guerra salvador gonzalez and roberto reyes
Chapter 7 Pl/PID Control for Nonlinear Systems
via Singular perturbation Technique 113
alery D. Yurkevich
Chapter 8 High-Speed and high-Precision Position
Control Using a Nonlinear Compensator 143
Kazuhiro Tsuruta, Kazuya Sato and Takashi Fujimoto
VI Contents
Chapter 9 PID Tuning: Robust and Intelligent
Multi-objective Approaches 167
Hassan bevrani and hossein bevrani
Part 2 Implementation and PID Control Applications 187
Chapter 10 Pole-Zero-Cancellation Technique for dc-DC Converter 189
Seiya abe, toshiyuki Zaitsu, Satoshi obata
Masahito shoyama and tamotsu ninomiya
Chapter 1 1 Air-Conditioning PID Control System with
Adjustable Reset to Offset Thermal Loads Upsets 209
Takanori Yamazaki, Yuji Yamakawa
Kazuyuki Kamimura and shigeru kurosu
Chapter 12 Remote-Tuning-Case Study of Pl Controller
for the first-Order-Plus-Dead- Time Systems 229
Dennis brandao nunzio torrisi and renato f. fernandes jr
Chapter 13 PID Application: RTLs 251
Jae Ho Hwang and Jae Moung Kim
Chapter 14 PID Controller Using FPGA Technology 259
Abdesselem Trimeche, Anis Sakly,
Abdelatif mtibaa and mohamed benrejeb
Preface
Since the foundation and up to the current state-of-the-art in control engineering, the
problems of PID control steadily attract great attention of numerous researchers and
remain inexhaustible source of new ideas for process of control system design and
industrial applications. PID control effectiveness is usually caused by the nature of
dynamical processes, conditioned that the majority of the industrial dynamical
processes are well described by simple dynamic model of the first or second order. The
efficacy of PId controllers vastly falls in case of complicated dynamics, nonlinearities,
and varying parameters of the plant. This gives a pulse to further researches in the
field of PID control. Consequently, the problems of advanced PID control system
design methodologies, rules of adaptive PID control, self-tuning procedures, and
particularly robustness and transient performance for nonlinear systems, still remain
as the areas of the lively interests for many scientists and researchers at the present
time. The recent research results presented in this book provide new ideas for
improved performance of PID control applications
The brief outline of the book"advances in pid control" is as follows
In Chapter 1 the predictive control methods for non-minimum phase systems are
considered. In particular the classical approach is discussed where smith predictor
ind internal model control structures are used to derive the predictive PID control
constants. Then a modern approach to predictive PID control is treated and a
eneralized predictive control algorithm is considered where the model predictive
controller is reduced to the same structure as a pid controller for second-order
systems
In Chapter 2 an adaptive PID control system design approach based on the almost
strictly positive real (AsPR) property for linear continuous-time systems is presented
It has been shown that the presented approach guarantees the asymptotic stability of
the resulting pid control system. In order to overcome the difficulties caused b
absence of AsPr conditions a robust parallel feedforward compensator(pfc design
method is proposed, which render the resulting augmented system with the PFC in
parallel ASPR system. As an example, the proposed method is applied to
unsaturated highly accelerated stress test system
X Preface
n Chapter 3 the authors discuss sufficient conditions for global asymptotic stability of
a class of nonlinear PId type controllers for rigid robot manipulators. By using a
passivity approach, the asymptotic stability analysis based on the energy shaping
methodology is presented for the systems composed by the feedback interconnection
of a state strictly passive system with a passive system. Simulation results are included
in the chapter and demonstrate that the proposed class of nonlinear pid type
controllers for rigid robot manipulators have good precision and also possess better
robustness. The performance of the proposed nonlinear PID type controllers has been
verified on a two degree of freedom direct drive robot arm
In Chapter 4 some class of nonlinear second order systems is considered. The
proposed controller is a version of the classical PID controller, where an extra feedback
signal and integral term are added. The authors show based on simulation results for
simple pendulum and 2 dof planar robot, that the proposed Pl2D controller yields
better performance and convergence properties than the classical PId controller. The
stability analysis is provided via Lyapunov function method and conditions for gain
tuning are presented which guarantee asymptotic convergence of the closed loop
tem
Chapter 5 is devoted to the comparison between the conventional PI controller tuned
according to Zhuang-Atherton rules with other PI-like controllers such as PI controller
ith variable integral component, an adaptive PI controller, and a fuzzy adaptive Pl
controller. The comparison and conclusions concern the control performance are made
by authors based on simulation results including simulations for a 3 dof model of a
low-speed marine vessel
In Chapter 6 an extension to the traditional pid controller for mechanical system has
been presented that incorporates an adaptive gain. The asymptotic stability of the
closed-loop system is analyzed based on Lyapunov function method. The tuning rules
for controller gains are derived
In Chapter 7 an approach to continuous as well as digital PI/PID control system design
via singular perturbation technique is discussed that allows to guarantee the desired
output transient performances in the presence of nonlinear plant parameter variations
and unknown external disturbances. The tuning rules for controller parameters are
derived. Numerical examples with simulation results are included in the chapter to
demonstrate the efficacy of the proposed approach
In Chapter 8 a new PID control method is proposed that includes a nonlinear
compensator. The algorithm of the nonlinear compensator is based on sliding mode
control with chattering compensation. The effect of the proposed control method is
evaluated for single-axis slide systems experimentally
In Chapter g robust and intelligent multi-objective approaches are discussed for tuning
of PId controllers to improve the performance of the closed-loop systems where the
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