Convergence analysis of learning-enhanced PID control system
学习增强型PID控制系统的收敛性分析

Using the repeatability of controlled systems, a learning-enhanced PID control method is presented for a general discrete-time nonlinear system and a rigorous convergence is proved. The effectiveness and advantage of the proposed learning-enhanced PID method is demonstrated through simulations of freeway traffic system. Since this method is of modularize design, in its implementation we need only add a complementary iterative-learning-controller(ILC) to the existing PID feedback control loop, without the need of any system reconfiguration or system redesign.