基于变结构控制的二阶自抗扰控制

结合变结构控制器抗扰性能强，调节速度快和结构简单的特点，提出一种基于变结构控制器的二阶自抗扰控制器。首先，设计了系统的相轨迹和一种变结构控制律，使得系统具有更强抗扰能力和更快的调节速度。在带宽近似不变的情况下，可以通过调节参数改变系统的抗扰性和调节时间。证明了系统的稳定性，研究了变结构控制器的参数选取问题，考虑扩张状态观测器的观测误差，分析了参数选取对系统抗扰性的影响。最后，采用仿真实验测试了控制器的性能，实验结果表明，相比基于PD控制的标准自抗扰控制控制器，该控制器在调节时间、抗扰性及参数整定上均更优。     

几种不稳定滞后对象的预测PID 控制

针对几种不稳定滞后过程，给出一种预测PID控制器的结构形式．该控制器具有内环和外环两种控制器：内环控制器主要用于稳定系统；外环控制器具有预测PID控制的结构形式，主要用于消除输入干扰的影响和改善控制系统的动态性能．这种控制器结构简单，可调参数少，且参数的调节方便、直观．仿真结果表明，在干扰和模型失配的情况下，此类预测PID控制器仍具有良好的控制性能和鲁棒稳定性能．     

一种自组织模糊神经网络控制器

采用一种具有结构和参数学习能力的自组织模糊神经网络控制器设计方法。这种控制器无需事先确定模糊控制规则，能在控制过程中通过神经网络的结构及参数学习在线调整模糊神经网络的结构、产生模糊控制规则、调整规则的参数。仿真表明该控制器能用于一定纯滞后时变对象的控制，具有良好的控制性能。     

一种用于过程控制的神经网络自适应控制器的研究

针对复杂工业过程对象可能存在结构和参数变化的特点，提出了一种基于神经网络控制器，利用改进的算法在线修正权值。该控制器不依赖于对象的数学模型，可适用于变阶、变结构参数、多变量等场合。仿真结果显示，该控制器具有良好的控制特性和鲁棒性，并且可对多变量系统进行有效的解耦和控制，且控制器结构简单，易于实现，具有明显的工程应用价值。     

一种基于闭环响应的加权PID参数自整定方法

在工业控制中，应用最广泛的仍然是结构简单、稳定性好的PID控制器。本文采用加权PID控制器，不但具有普通PID的特点，而且可以灵活考虑操作人员对控制器参数的修正经验。仿真表明，整定出的控制器参数与理论值非常接近，控制效果较好。     

基于互质分解的同时镇定控制器参数化

本文基于稳定互质分解介绍了所有分散镇定控制器的参数化方法，给出一种同时镇定控制器的参数化方法，并得到同时镇定问题的解的参数化结果，即由一广义对象的控制器的分散和同时结构约束导出了参数需满足的一系列二次方程的约束条件。     

非晶制带钢水液位的模糊滑模变结构控制

应用模糊滑模变结构控制器，提出一种非晶制带钢水液位控制的新策略，模糊控制器有于调整滑模变结构控制器的参数，应用该方法，系统具有较快的响应速度，对参数摄动和外部扰动的鲁棒性较强而且输出抖动被大大削弱。仿真结果证明，该方法控制简单，容易实现，具有良好的动态特性。     

一种改进的针对线性时不变单输入单输出系统的PID控制器

本文提出了一种提高PID控制器的稳定范围和控制精度的改进方法，即通过改变PID控制器的积分项结构，并给出了二阶系统控制对象达到渐进稳定时的相关参数方程。最后采用Ziegler-Nichols参数整定法对改进后的PID控制器和常规PID控制器进行了仿真，仿真结果表明控制效果明显提高。     

七种控制作用力的逻辑控制器

基于智能控制的思想，在九点控制器结构的基础上，提出了七种控制作用控制器的概念及控制策略．通过分析自身各参数的实际意义和控制过程7种控制作用的性能，提出了应用该控制器的3个相关命题．     

参数摄动机械臂鲁棒控制器的演化设

对于存在参数区间摄动的机械臂，提出了一种利用遗传算法进行鲁棒控制器演化设计的方法．将具有给定结构的控制器的参数编码后作为控制器种群，将机械臂的摄动参数编码后作为受控对象种群；对两个种群进行双向演化操作，得到对区间摄动系统具有足够鲁棒性的控制器和最差控制性能所对应的受控对象模型．对存在参数摄动的二自由度机械臂进行鲁棒控制器设计的结果表明，所提出的方法是有效的．     

积分加纯滞后系统的双预测PI控制及其应用

Smith预估控制器控制积分加大纯滞后过程时,鲁棒稳定性差,输出存在静态余差,无实际应用价值.提出了一类基于该过程的双预测PI控制器:具有内环和外环两种预测PI控制器.内环将系统稳定,外环消除输入干扰的影响和改善控制系统的动态性能.这种控制器结构简单,可调参数少,参数的调节方便、直观.仿真和实际应用表明:在干扰和模型失配的情况下,此类控制器仍然具有良好的控制性能和鲁棒稳定性能,是一种值得在实际工程中推广应用的新型控制器.     

An alternative structure for next generation regulatory controllers. Part II: Stability analysis,tuning rules and experimental validation

We recently developed, as an alternative to the PID controller, a novel 4-mode control scheme that takes full advantage of modern electronic hardware components, and whose tuning parameters are directly related to controller performance attributes (robustness, set-point tracking, and disturbance rejection); its achievable performance is better than that of the PID controller, and it can be designed and implemented much more directly and transparently. In this companion paper we present robust stability results for the proposed controller, for any given plant/model mismatch; these results are then used to generate simple tuning rules for the controller. The effect of noise on controller performance is explicitly considered and modified tuning rules are proposed for excessively noisy processes. The controller tuning results and procedure are then illustrated via experimental testing and validation. First, water level control in a simple laboratory scale process is used to illustrate the design, tuning, and implementation of the RTDA controller. We use this process primarily to evaluate the controller performance and illustrate how the tuning parameters influence, directly and independently, the controller performance attributes. The controller is then implemented on a pilot-scale physical vapor deposition process to demonstrate its performance on a more complicated process that is prototypical of 21st century manufacturing. We demonstrate that the proposed controller achieves improved performance with minimal tuning effort.     

基于衰减频率特性的PID参数优化整定研究

用衰减频率特性法整定PID控制器可使闭环系统获得要求的衰减比,但是求得的整定参数的解是不确定的,因而难以确定最佳整定参数。就此,将基于衰减频率特性的PID控制器整定问题转换成带衰减比约束的控制器参数优化问题,首先用Matlab计算出整定参数的解曲线或解曲面,然后利用Simulink在仿真环境下寻优,获得期望性能下的最佳整定参数。仿真结果表明所提出的整定方法有效,且控制器具有良好的抗干扰能力。     

Adaptive backstepping sliding mode control with tuning functions for nonlinear uncertain systems

An adaptive backstepping tuning functions sliding mode controller is proposed for a class of strict-feedback nonlinear uncertain systems. In this control design, adaptive backstepping is used to deal with unknown or uncertain parameters and the matching condition restricting the Lyapunov based design. The main drawback of the Lyapunov based adaptive backstepping which is the overparametrisation is eliminated by the tuning functions. The adaptive backstepping tuning functions design is combined with the sliding mode control in order to overcome quickly varying parametric and unstructured uncertainties, and to obtain chattering free control. The proposed controller not only provides robustness property against uncertainty but also copes with the overparametrisation problem. Experimental results of the proposed controller are compared with those of the standard sliding mode controller. The proposed controller exhibits satisfactory transient performance, good estimates of the uncertain parameters, and less chattering.     

基于调节/观测时间的自抗扰控制器参数整定

受带宽自抗扰控制器(ADRC)参数整定方法启发,给出一种基于系统调节时间/观测时间的ADRC参数整定方法.利用调节时间与控制器带宽之间的关系,给出基于调节时间整定非线性控制器参数$k_p$及$k_d$的方法;同时,利用所定义的观测时间概念,给出一种扩张状态观测器(ESO)参数整定策略.这两种ADRC参数整定方法简化了基于带宽方法的参数整定过程,拓展了其应用范围.仿真结果表明了所提出方法的有效性.     

PID参数整定法的仿真

PID调节器的控制品质,主要取决于调节器的参数整定.计算量大是用理论计算方法整定PID调节器参数要解决的难题之一.针对PID调节器参数整定过程中计算复杂、计算量大的问题,提出了一种基于Matlab的调节器参数衰减频率特性整定法.该方法以Matlab为工具,将理论计算与仿真分析结合起来,根据控制要求计算并绘制出控制器整定参数关系曲线,对计算结果进行仿真,分析整定参数在解平面上变化时闭环系统的响应,从而确定出最佳的调节器整定参数.结果表明,对于不同的被控对象参数或不同的整定要求,该方法都能方便地求得最佳的调节器整定参数,使得采用理论计算法整定调节器参数具有了工程实用价值.     

Tuning and analysis of a fuzzy PI controller based on gain andphase margins

The nonlinearity of the simplest fuzzy PI controller with different inference methods has been discussed and it shows that Mamdani's minimum inference method is the most general inference method for the fuzzy PI controller. In addition, a novel tuning method based on gain and phase margins has been proposed to determine the weighting coefficients of the fuzzy PI controllers. With the proposed tuning formula, the nature of the fuzzy PI controller has been analyzed and it shows the desired characteristics in terms of gain and phase margins when controlling linear plants. Numerical simulations are presented to show the validity of the proposed tuning method     

On-line PI control of stable processes

A relay based on-line automatic tuning method for PI controllers for stable processes is presented. In the proposed method, prior to controller re-tuning a relay in tandem with the controller and plant induces limit cycle oscillations. Based on the limit cycle measurements, a first order plus dead time (FOPDT) model of the process dynamics is obtained. Simple tuning rules based on ISTE performance criterion and the first order model are developed. The controller settings may be re-tuned non-iteratively to achieve enhanced performance without disrupting closed loop control. A number of simulation examples are given to illustrate the potential advantages of the proposed on-line tuning method.     

Simultaneous automatic tuning of cascade control systems from closed-loop step response data

This study presents a novel automatic tuning method for cascade control systems in which both primary and secondary controllers are tuned simultaneously using a single closed-loop step test. The proposed technique identifies the required process information with the help of B-spline series representation for the step responses. The two proportional–integral–derivative (PID) controllers are then tuned using an internal model control (IMC) approach. Considering the rationale of cascade control, the secondary controller is designed for faster disturbance attenuation. Without requiring an additional experiment, the primary controller is designed based on an identified process model that accurately accounts for inner loop dynamics. Finally, this study includes robustness considerations in the controller tuning process, and develops explicit guidelines for the selection of the IMC tuning parameters, completing the automatic tuning procedure for cascade control systems. The proposed method is robust to measurement noise because of the filtering property of the B-splines, and can provide superior control performance for both set-point tracking and disturbance rejection. Simulation examples demonstrate the effectiveness of the proposed automatic tuning method.     

A unified approach to design dead-time compensators for stable andintegrative processes with dead-time

Proposes a unified 2 degrees of freedom robust dead-time compensator, for both stable and integrative plants. Using the performance and robustness as closed loop specifications simple and effective tuning rules are derived for the proposed controller. A comparative analysis with some structures of dead-time compensators that have been proposed in literature is presented. The analysis is made using the two most typical models of processes with delay that are found in the process industry. The comparative analysis shows that for the cases studied the proposed controller gives better or at least the same performance as the others. It is also shown that the tuning of this structure is simple because the tuning parameters have the usual physical meaning. Some simulation and experimental results illustrate the good performance of the controller