OUTPUT CONTROL WITH ADAPTIVE-PROPORTIONAL DIFFERENTIAL CONTROLLER

Abstract

The goal of this articl is to improve acсuracy and stability margine for system with proportional differential (PD)-controllers and parameters unsertaity by means of adaptation. The adaptive controller must produce the accuraсy improving by encreasing the proportional gain of controller, when the error is non zero. Consequently, the error decrease, adaptation become less intensive, and the system maintain the stability. The is provided by the correctly constructed Lapunov function. The method of parametric synthesis for adaptive PD-controller is developed based on roots location on complex plane. The numerical example of synthesis is presented with simulation results, which demonstrate the correctness of developed method. The adaptive PD-controller allow accuracy improuving with stability retaining, i. e. the adaptivity is able to replace the integrator by proportional gain tuning. The adaptive PD-controller is especially helpful for systems, working with inputs variability, and when the exponential dynamic is of importance. In cases, when diturbances are restricted, the adaptive PD-controller provides the stability and accuracy, but slowly operation.