A multivariable self-tuning PID controller

Abstract

A multivariable self-tuning controller with a proportional plus integral plus derivative (PID) structure is derived. The algorithm features a combination of the self-tuning property, in which the controller parameters are tuned automatically on-line, and also the structure of a multivariable PID controller, making it more favourable to be used in industry. A stability proof of the algorithm is also presented here. Comparison of the performance of the algorithm with a fixed, tuned, multivariable PID controller in the simulation examples demonstrates the effectiveness of the proposed algorithm.