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VARIABLE PID GAIN DESIGN DEVICE AND METHOD FOR CONTROLLING MULTI-VARIABLE NONLINEAR SYSTEM
VARIABLE PID GAIN DESIGN DEVICE AND METHOD FOR CONTROLLING MULTI-VARIABLE NONLINEAR SYSTEM
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机译：用于控制多变量非线性系统的变量PID增益设计装置和方法
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摘要
The present invention relates to a variable PID gain design device and method. A variable PID gain design device according to the present invention includes: a parameter setting unit for setting a natural frequency, a damping ratio, sampling time and a nonlinear damping factor (hereinafter, referred to as "parameters"), which enable establishment of an error dynamics required for controlling an object to be controlled; a PID gain induction unit for inducing a PID gain, using the correlation between a PID control and a back-stepping control, the PID control controlling, using the set parameters, the object to be controlled, the back-stepping control using time delay estimation and nonlinear damping; and a PID gain calculation unit for calculating a gain of a PID controller by adjusting a BCTND control gain on the basis of the induced PID gain. According to the present invention, when an abrupt change occurs in the dynamics in a system, the PID controller can exhibit robust control characteristics due to the variable PID gain by the system feedback.
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