The two parallel PID controllers with their output-weighting adaptation

This paper aims to establish an innovative scheme for compensating the dynamics of the benchmark plant by employing especially two parallel PID controllers and their output-weighting method. These PID controllers are fitted by different tuning-rules and the multipliers for their output-weighting are on-line adapted so that the error of the closed-loop response disappears more rapidly than the cases of using each single PID controller alone. Simulation results confirm feasibility and effectiveness of the proposed methodology.