PID Tuning with reference tracking and plant uncertainty along with disturbance rejection

Abstract

Today’s world is now more interested in the robustness and automation of machines, robots, and vehicles for accurate performance in the events of external disturbances and uncertainties in the system parameters. For that purpose, a Proportional–Integral–Derivative (PID) control has found many applications in every field of industry and academics. Many methods can be used for tuning of PID, however, these methods suffer from continual variations of parameters and exterior disturbances. Therefore, a PID controller is needed that is robust to external disturbances and possess auto-tuning feature according to varying process conditions. The main motivation of this paper is to present a PID controller that is robust, continuously auto-tuned by considering uncertainties of the plant, optimize the response by minimizing the overshoot in reference tracking, and achieve stability in minimum settling time by rejecting disturbance. The earlier models can only do two tasks, tuning and optimization but this paper is proposing a contribution to such models by rejecting external disturbances and making sure the smooth running of the system. In this paper, we have done the simulation work to demonstrate the desired behaviour of the system and evaluate the effectiveness of the proposed model and a brief analysis is done by discussing the comparison between the previous work in literature and the proposed work.

Keywords

• pid tuning
• reference tracking
• disturbance rejection
• response optimization
• plant uncertainty