MRAC based intelligent PID controller design technique for a class of dynamical systems

Abstract

Model-Free Control (MFC) is used to control a complex system by designing a simple representation of the system, known as ultralocal model. This MFC continuously updates the input-output behavior with the help of ultralocal model. The combination of MFC with standard Proportional Integral Derivative (PID) controller develops Intelligent Proportional Integral Derivative (i-PID) controller. The i-PID controller is basically a class of robust control technique in the field of PID controller. In this methodology, the tuning is quite straightforward for extremely nonlinear and/or time varying plants, without consideration of any modeling procedure. In Model Reference Adaptive Controller (MRAC)-PID controller principle, PID parameters are updated/tuned in accordance with control technique based on MRAC-Massachusetts Institute of Technology (MIT) rule, such that the plant is efficient to follow the reference model. The main objective of this paper is to implement MRAC based Intelligent PID controller for a class of dynamical systems using Model-Free Control technique, where the prior knowledge about the system dynamic is not essential and moreover complex parameter tuning is not necessary.