Mojtaba Kazemi - Islamic Azad University- South Tehran Branch Tehran, Iran
Mohammad Sadegh Nazari - Malek- Ashtar University of Technology Tehran, Iran
Mohammad Ali Nekoui - Khajeh Nasir Toosi University of Technology Tehran, Iran

In this paper, a new version of constraint predictivePID controller is proposed. Because of problems for tuning ofPID controller in non-minimum phase and high order systems,this method is mixed by predictive control method. Generalizedincremental predictive controller (GIPC) has ability to be used innon-minimum phase and unstable high order systems. The GIPCalgorithm is more robust than the standard GPC method.Furthermore, the constrained GIPC controller algorithm usingthe quadratic programming removes instabilities caused byactuator saturation. Implementation of GIPC is too difficult andto overcome the limitations of the GIPC and PID, PID-GIPCmethod is proposed. Computational burden of predictive PIDcontroller is less than GIPC controller. This paper is based on theidea of the constraint PID controller signal matching withconstraint GIPC control signal. In this paper Predictive PIDcontroller is implemented for pitch control system of a flyingvehicle. It is demonstrated that proposed constraint PredictivePID controller is more robust than standard PID controller inpresence of uncertainty and has better performance. The resultsof this method with other control methods such as PID & GIPC iscompared.

constrained GIPC, GIPC-PID, Incremental predictive controller