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Adaptive PID Controller Using PC Matlab

Alireza Rahrooh, Bahman Motlagh, & Walter Buchanan University of Central Florida/Northeastern University

Session topics: Effective Uses of Technology to Teach Engineering

Abstract

The speed and accuracy of microprocessors has extensively changed the way control systems are designed. Process controllers can be “taught” to adjust themselves without any operator intervention. These self-tuning or adaptive controllers are programmed to provide a stable system response under various disturbance conditions.

This paper presents a fluid level system to be modeled and controlled utilizing an adaptive PID controller to improve the output response to a step input. The digital controller will provide the required output with variations in a single plant parameter. A fully adaptive controller will then be implemented using PC Matlab to allow for any of the plant parameters to vary and still maintain a suitable output. This concept is used in our Senior Design Project Course as well as in Master Program in Engineering Technology.

The popularity of the PID controller and the increased use of microprocessors has led to a digital version of the algorithm for use in computer control applications. The first part of this paper will look at the output response of the specified plant to a step input. Some of the plant parameters will be adjusted to obtain the best results. The next part will show how the system response is improved by adding a PID controller. A digital PID1 controller will be used so that the controller parameters can be adjusted on-line to account for variations in one of the plant values. Pole placement technique will be used in the design. One of the plant parameters that can be externally adjusted will be varied. It will be shown that the system response will remain the same over the entire range of adjustment. The last part will show how an adaptive controller will allow any of the plant parameters to vary without greatly changing the system response. The least-squares algorithm2 will be used to update the controller values during every sampling period.

I. INTRODUCTION

The most widely used industrial process controller is the PID controller3. It is a combination of three distinct components and is used in closed loop feedback systems. In most cases, the input is the error signal, which is the difference between the system set point value and the system output. The controller output signal is Proportional to: the error, the Integral of the error, and the Derivative of the error. The PID has the following form3:

“Proceedings of the 2005 American Society for Engineering Education Annual Conference &Exposition Copyright©2005, American Society for Engineering Education”

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Motlagh, B., & Buchanan, W., & Rahrooh, A. (2005, June), Adaptive Pid Controller Using Pc Matlab Paper presented at 2005 Annual Conference, Portland, Oregon. 10.18260/1-2--15038