PERFORMANCE COMPARISON OF TWO
CONTROLLERS ON A NONLINEAR SYSTEM
Kenneth O.M. Mapoka1,Dr Tranos Zuva2,Howard Masebu3 and Keneilwe
Zuva4
1,3,4 Department of Agricultural Engineering and Land Planning,
Botswana College of Agriculture, Gaborone, Botswana
2Department of Computer Science, University of
Tshwane, Pretoria, South Africa
ABSTRACT
Various
systems and instrumentation use auto tuning techniques in their operations. For
example, audio processors, designed to control pitch in vocal and instrumental
operations. The main aim of auto tuning is to conceal off-key errors, and
allowing artists to perform genuinely despite slight deviation off-key. In this
paper two Auto tuning control strategies are proposed. These are Proportional,
Integral and Derivative (PID) control and Model Predictive Control (MPC). The
PID and MPC controller’s algorithms amalgamate the auto tuning method. These
control strategies ascertains stability, effective and efficient performance on
a nonlinear system. The paper test and compare the efficacy of each control
strategy. This paper generously provides systematic tuning techniques for the
PID controller than the MPC controller. Therefore in essence the PID has to
give effective and efficient performance compared to the MPC. The PID depends
mainly on three terms, the P ( ) gain, I ( ) gain and lastly D ( ) gain for
control each playing unique role while the MPC has more information used to
predict and control a system.
KEYWORDS
Auto Tuning, Nonlinear
system, Control law, PID & MPC
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