A stochastic PID controller for a class of MIMO systems

Saab, Samer S.

A stochastic PID controller for a class of MIMO systems

Saab, Samer S.

URI: http://hdl.handle.net/10725/11133

URL: https://www.tandfonline.com/doi/full/10.1080/00207179.2016.1183176

DOI: https://doi.org/10.1080/00207179.2016.1183176

Date: 2019-07-24

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Abstract:

This paper deals with the design of a controller possessing tracking capability of any realisable reference trajectory while rejecting measurement noise. We consider discrete-time-varying multi-input multi-output stable linear systems and a proportional-integral-derivative (PID) controller. A novel recursive algorithm estimating the time-varying PID gains is proposed. The development of the proposed algorithm is based on minimising a stochastic performance index. The implementation of the proposed algorithm is described and boundedness of trajectories and convergence characteristics are presented for a discretised continuous-time model. Simulation results are included to illustrate the performance capabilities of the proposed algorithm.