A New Implicit Self-Tuning PID Pole-Placement Control Incorporating Feed-Forward/Feedback Compensator

This paper presents the derivation of a new computationally efficient self-tuning controller with a proportional plus integral plus derivative (PID) structure which incorporate the effectiveness the Feed forward Feedback (FF-FB) control. The main feature of the proposed design is a combination of the advantages of implicit self-tuning property, in which the controller parameters tuned automatically on-line, with those of PID and Pole placement control. It is an implicit algorithm, in the sense that the Dr Ali S. Zayed and et. al. ــــــــــــــــــــــــــــــ ـــــــــــــــــــــــــــــــــــ ــــــــ ــــــــــــ ــــ ـــ ـــــــــــــــــــــــــ University Bulletin – ISSUE No.18Vol. (1) – January 2016. 139 controller step is trivial and avoids solving simultaneous equations (as is the case in the most of the adaptive pole-placement controllers which involve solving a Diophantine Equations at each sampling step). It tracks set-point changes with the desired speed of response. Additionally, at steady state, the controller has the ability to regulate the measured disturbance to zero. Example simulation results using simulated real plant model (Liquid Temperature Control in a Stirred Tank System) demonstrate the effectiveness of the proposed controller compared to conventional PID controller.