Local Linear PID Controllers for Nonlinear Control

J. Lan, J. Cho, D. Erdogmus, J.C. Principe, M.A. Motter, and J. Xu


PID controller, local linear model, selforganizing maps, Gaussian mixture


Nonlinear PID design is difficult if one approaches the problem from a global design perspective. The authors propose coalescing the adaptive local linear modelling approach with traditional linear PID controller design techniques to arrive at a principled, intuitive, and simple nonlinear PID controller design methodology. The article, in particular, discusses two local linear modelling approaches, one based on competitive linear models attached to a self-organizing map and one based on cooperative linear models attached to the modes of a Gaussian mixture model. The system identification and closed-loop tracking performances of the proposed PID controller design methodology are demonstrated to be better than inverse and PID controllers for a global nonlinear system identifier and a global linear model, respectively.

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