PID Posicast Control for Uncertain Oscillatory Systems: A Practical Experiment

Half-cycle Posicast Control is currently used in a vast range of applications. Although the proved benefits of this technique, one of its major disadvantages concerns model uncertainties. This has motivated the development and integration of robust methods to overcome this issue. In this paper, a practical experiment for auto-tuning of a two degrees of freedom control configuration using a Half-Cycle Posicast pre-filter (or input-shaping), and a PID controller under parametric variations is presented. The proposed method requires using an oscillatory system model in an auto-tuning control structure. The error derivative among the model and system output is used to trigger both the identification and retuning procedure. The proposed method is flexible for choosing identification plus optimization methods. Practical results obtained for electronic filter plants suggest improved performance for the considered cases.