A self-tuning controller with a PID structure

Abstract

Some self-tuning controllers are proposed which have the same structure as conventional PID controllers. The new self-tuning PID controllers are based on a modified version of the design method of Clarke and Gawthrop (1975, 1979). Experimental and simulation studies for a stirred-tank heating system indicate that the new self-tuners perform well and can be easily adjusted on-line.