A new class of nonlinear PID controllers is derived for nonlinear systems using a nonlinear generalised predictive control (NGPC) approach. First, the disturbance decoupling ability of the NGPC is discussed. For a nonlinear system where the disturbance cannot be decoupled, a nonlinear observer is designed to estimate the offset. By selecting the nonlinear gain function in the observer, it is shown that the closed-loop system under optimal generalised predictive control with the nonlinear observer is asymptotically stable. It is pointed out that this composite controller is equivalent to a nonlinear controller with integral action. As a special case, for a nonlinear system with a low relative degree, the proposed nonlinear controller reduces to a nonlinear PI or PID predictive controller, which consists of a nonlinear PI or PID controller and a prediction controller. The design method is illustrated by an example nonlinear mechanical system. © IEE, 1999.
CITATION STYLE
Chen, W. H., Ballance, D. J., Gawthrop, P. J., Gribble, J. J., & O’Reilly, J. (1999). Nonlinear PID predictive controller. IEE Proceedings: Control Theory and Applications, 146(6), 603–610. https://doi.org/10.1049/ip-cta:19990744
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