PID controller synthesis for second-order nonlinear objects
G. A. Frantsuzova, A. S. Vostrikov
Novosibirsk State Technical University, Novosibirsk, Russia
Keywords: нелинейный объект второго порядка, ПИД-регулятор, система стабилизации, разнотемповые процессы, разделение движений, second-order nonlinear object, PID controller, stabilization system, multi-rate processes, separation of motions
Abstract
A procedure for designing PID controllers for the class of second-order nonlinear non-stationary objects is proposed. To reduce possible control jumps, its proportional differential components are transferred to the system feedback channel. It is shown that the presence of a special fast response differentiating device in the system generates fast processes against the background of slow operating processes, which are identified using the technique of separation of movements. The controller designed on this basis ensures invariance of the system under external uncontrolled disturbances as well as under a change in the parameters of the object. The results of numerical simulation of the system in MATLAB illustrate its basic properties.
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