Adaptive Robust PID Controller Design Based on a Sliding Mode for Uncertain Chaotic Systems

Volume 4, Issue 1, pp 71--80 http://dx.doi.org/10.22436/jmcs.04.01.10

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Authors

Yaghoub Heidari - Department of Electrical, Nour Branch, Islamic Azad University, Nour, Iran Rashin Nimaeeb Rad - Department of Mathematics, Nour Branch, Islamic Azad University, Nour, Iran

Abstract

A robust adaptive PID controller design motivated from the sliding mode control is proposed for a class of uncertain chaotic systems in this paper. Three PID control gains, \(K_p, K_i\), and \(K_d\), are adjustable parameters and will be updated online with an adequate adaptation mechanism to minimize a previously designed sliding condition. By introducing a supervisory controller, the stability of the closed-loop PID control system under with the plant uncertainty and external disturbance can be guaranteed. Finally, a well-known Vanderpol oscillator is used as an illustrative to show the efectiveness of the proposed robust a PID controller.

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Keywords

• Robust
• PID
• Adaptive
• Vanderpol
• Chaos

MSC

•  93B51
•  37D45
•  37N35

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