The Auto-tuning PID Controller Using the Parameter Estimation

Abstract

This paper suggests an improved PID control algorithm, which could adjust the control gains automatically. The extended Kalman filter (EKF) which based on the singular value decomposition (SVD) is used for the estimation of an unknown or a time-varying parameter: The EKF is being used as an observer and the control gains are tuned through it. A controller using the EKF has the advantages that the EKF works as an observer and noise filter concurrently The performance of a proposed control algorithm is verified through the simulation and experiment with a servo motor system. The suggested controller will be useful in tracking control of a system with time-varying or unknown parameters.