PID filter-shaped optimal PI tracker, state estimator, and EID estimator for continuous-time systems

Jason Sheng Hong Tsai, Ya Chiu Hsu, Hung Jen Chen, Shu Mei Guo, Leang-San Shieh and Jose I. Canelon

International Journal of Systems Science, 2020, vol. 51, issue 9, 1556-1577

Abstract: This paper proposes a proportional–integral-differential (PID) filter-shaped optimal PI tracker for on-line robust optimal tracking control of a system with unknown disturbances. The proposed optimal PI tracker consists of both a modified state estimator and the newly modified equivalent input disturbance (EID) estimator. The main contributions of this paper are: (1) The conventional EID estimator is significantly modified to improve the tracking performances of a system with unknown disturbances; and (2) The improved EID estimator can be simply regarded as a plug-in component of the compensator, to perform on-line optimal tracking control of square/non-square servo systems with unknown disturbances.

Date: 2020
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DOI: 10.1080/00207721.2020.1766154

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