Adaptive Pid Control for Nonlinear Systems with a Parallel Feedforward Compensator
نویسندگان
چکیده
In this paper, we propose a design method of an adaptive PID controller based on output feedback for nonlinear systems with a higher order relative degree and disturbances. To realize an adaptive PID control system, we introduce a PFC for a nonlinear system which does not satisfy OFEP(Output Feedback Exponentially Passive) conditions and design an adaptive feedforward input with a structure of RBF (Radial Basis Function) neural networks in order to remove the steady-state bias error from the PFC output. The proposed method has a structure of two degree of freedom and can design a robust adaptive PID control system with higher accuracy on tracking control.
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