Symbolic computing aided design of nonlinear PID controllers
In this paper we introduce a symbolic computing tool, denoted by NLPID in the sequel, for the automatic design of linear and nonlinear PID controllers for nth order nonlinear control systems. The nonlinear design algorithm is based upon Rugh's Extended Linearization Technique, and it was implemented using Mathematica® as symbolic computing platform. At its present stage of development NLPID uses Ziegler-Nichols tables to synthesize linear PID controllers, and therefore its ability to deal with first and second order plants could be limited.
KeywordsNonlinear PID Controllers Jacobian and Extended Linearization Symbolic Computing
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