%0 Journal Article
%T Design, Implementation and Validation of a Self-Tuning PID Controller
%A Leonardo F. Lozano-Valencia
%A Luis F. Rodr¨ªguez-Garc¨ªa
%A D¨ªdier Giraldo-Buitrago
%J Tecno L¨®gicas
%D 2012
%I Instituto Tecnologico Metropolitano
%X In this paper the design and the implementation of a self-tuning PID controller is presented. The proposed methodology uses a least squares method with covariance resetting and a pole placement design for the calculation of controller parameters. The proposed design is implemented on stable and unstable systems simulated in a COMDYNA GP-6 analog computer, and a comparison of the performance of the self-tuning controller and a classic PID controller is presented in terms of root mean square error. The obtained results show that controllers of adaptive parameters have a better response than controllers of fixed parameters with respect to parameter variations that may affect the conditions of the system.
%K PID control
%K automatic tuning
%K online estimation
%K pole placement
%K parameter variation.
%U http://itmojs.itm.edu.co/index.php/tecnologicas/article/view/203/204