|A New Adaptive Partially Decentralized PID Controller for Non-square Discrete-time Linear Parameter Varying Systems
Ibtissem Malouche* and Faouzi Bouani
International Journal of Control, Automation, and Systems, vol. 16, no. 4, pp.1670-1680, 2018
Abstract : "In this paper, a novel partially decentralized adaptive control strategy is presented to deal with a class
of Multi Inputs Multi Outputs (MIMO) non-square, Linear Parameter Varying (LPV) systems. The key idea is
the design of Proportional Integral Derivative (PID) regulator based on online pairing and tuning of its parameters
using the Dynamic Relative Gain Array (DRGA) matrix. The proposed adaptive partially decoupled control scheme
operates in a straightforward and systematic way. The convergence of the proposed controller is guaranteed by
theoretical analysis, numerical simulations and experimental tests carried out on a non-holonomic two Wheeled
Mobile Robot (WMR). Studies of the proposed regulator robustness against additive disturbance and stability over
the whole parameter range are given to illustrate the effectiveness of the proposed PID scheme."
"Adaptive partially decentralized regulation, discrete-time state-space linear parameter varying models, dynamic relative gain array, embedded C code generation, microcontrollers, stability analysis."