ROBUST ADAPTIVE PID CONTROL DESIGN FOR MIMO SYSTEMS WITH UNKNOWN SYSTEM PARAMETERS AND UNKNOWN DISTURBANCES

In this paper, we consider robust adaptive PID control for the asymptotic output tracking problem of MIMO systems with unknown system parameters under existence of unknown disturbances. The proposed PID controller has constant gain matrices and adjustable gain matrices. The proposed adaptive tuning laws of the gain matrices are derived by using Lyapunov theorem. That is a Lyapunov function based on characteristics of the proposed PID controller is constructed. This method guarantees the asymptotic output tracking even if the controlled MIMO system is unstable and has uncertainties and unknown constant disturbances. Finally, the effectiveness of the proposed method is confirmed with simulation results for the 8-state, 2-input and 2-output missile control system and the 4-state, 2-input and 2-output unstable system

Keywords:

Robust Adaptive control , PID controller , Lyapunov function , MIMO system , Disturbance