Design of a CMAC-Based PID Controller Using Operating Data

  • Shin Wakitani
  • Yoshihiro Ohnishi
  • Toru Yamamoto
Part of the Advances in Intelligent and Soft Computing book series (AINSC, volume 151)


In industrial processes, PID control strategy is still applied in a lot of plants. However, real process systems are nonlinear, thus it is difficult to obtain the desired control performance using fixed PID parameters. Cerebellar model articulation controller (CMAC) is attractive as an artificial neural network in designing control systems for nonlinear systems. The learning cost is drastically reduced when compared with other multi-layered neural networks. On the other hand, theories which directly calculate control parameters without system parameters represented by Virtual Reference Feedback Tuning (VRFT) or Fictitious Reference Iterative Tuning (FRIT) have received much attention in the last few years. These methods can calculate control parameters using closed-loop data and are expected to reduce time and economic costs. In this paper, an offline-learning scheme of CMAC is newly proposed. According to the proposed scheme, CMAC is able to learn PID parameters by using a set of closed-loop data. The effectiveness of the proposed method is evaluated by a numerical example.


Operating Data Reference Signal Control Result Hammerstein Model Weight Table 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Shin Wakitani
    • 1
  • Yoshihiro Ohnishi
    • 2
  • Toru Yamamoto
    • 3
  1. 1.Graduate School of EngineeringHiroshima UniversityHiroshimaJapan
  2. 2.Faculty of EducationEhime UniversityEhimeJapan
  3. 3.Faculty of EngineeringHiroshima UniversityHiroshimaJapan

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