Hybrid Intelligent PID Control for MIMO System

  • Jih-Gau Juang
  • Kai-Ti Tu
  • Wen-Kai Liu
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4234)


This paper presents a new approach using switching grey prediction PID controller to an experimental propeller setup which is called the twin rotor multi-input multi-output system (TRMS). The goal of this study is to stabilize the TRMS in significant cross coupling condition and to experiment with set-point control and trajectory tracking. The proposed scheme enhances the grey prediction method of difference equation, which is a single variable second order grey model (DGM(2,1) model). It is performed by real-value genetic algorithm (RGA) with system performance index as fitness function. We apply the integral of time multiplied by the square error criterion (ITSE) to form a suitable fitness function in RGA. Simulation results show that the proposed design can successfully adapt system nonlinearity and complex coupling condition.


MIMO System Grey Model Grey System Main Rotor Tail Rotor 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Jih-Gau Juang
    • 1
  • Kai-Ti Tu
    • 1
  • Wen-Kai Liu
    • 1
  1. 1.Department of Communications and Guidance EngineeringNational Taiwan Ocean UniversityKeelungTaiwan,ROC

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