PID control schemes based on the classical control theory, have been widely used for various real control systems. However, in practice, since it is considerably difficult to determine the PID parameters suitably, lots of researches have been reported with respect to tuning schemes of PID parameters. Furthermore, several self-tuning and auto-tuning techniques in the PID control have been reported for systems with unknown or slowly time-varying parameters. On the other hand, so-called a generalized predictive control (GPC) scheme has been reported as a useful self-tuning control technique for unknown and/or time variant delay systems. In this paper, a new self-tuning predictive PID control algorithm based on a GPC criterion is proposed.

Lots of self-tuning control schemes have been proposed for tuning the parameters of control systems. Among them, pole-assignment schemes have been widely used for tuning the parameters of control systems with unknown time delays. They are usually classified into two methods, the implicit and the explicit methods according to how to identify the parameters. The latter has an advantage to design a control scheme by taking account of the stability margin and control performance. However, it involves a considerably computational burden to solve a Diophantine equation. A simple scheme is proposed in this paper, which can construct a multivariable self-tuning pole-assignment control system, while taking account of the stability margin and control performance without solving a Diophantine equation.

This paper presents a new method for the selftuning control of nonminimum phase discrete-time stochastic systems using approximate inverse systems obtained from the leastsquares approximation. Using this approximate inverse system the gain response of the system can be made approximately unit and phase response exactly zero. We show how unstable polezero cancellations can be avoided. This approximate inverse system can be used in the same manner for both minimum and nonminimum phase systems. Moreover, the degrees of the controller polynomials do not depend on the approximate inverse system. We just need an extra FIR filter in the feedforward path.

We present a new method for the self-tuning control (STC) of nonminimum phase continuous-time systems based on the pole-zero placement. The long division method is used to decompose a polynomial into a stable and unstable polynomials. It is also shown that the effect of unstable zeros on the magnitude of the desired output can be cancelled. Finally, the results of computer simulation are presented to illustrate the effectiveness of the proposed method.