Explicit PID self tuning control for systems with unknown time delay

Abstract

An explicit self tuning control algorithm is proposed where the underlying control law is the celebrated PID algorithm. The design is based on a continuous time approach. This algorithm can be applied to a class of systems which can be modelled by a second order system with time delay. The parameters of the system including time delay are estimated recursively by a derivative free least squares algorithm. The controller settings can then be selected based on the information obtained from the identification part.