Nonlinear Pid Control of Linear Plants for Improved Disturbance Rejection
نویسندگان
چکیده
A nonlinear PID (NPID) controller for a class of linear plants with output feedback is studied. The controller gains are modulated by the control error and error rate to yield a closed-loop system for improved disturbance rejection. An optimization problem involving constraints written as linear matrix inequalities (LMIs) is solved to compute the controller parameters. A hard disk drive (HDD) control application shows that the NPID outperforms the conventional PID by 9% in disturbance rejection along with a consequent reduction by 20% in settling time while the stability robustness is maintained. Copyright c © 2005 IFAC
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