PARAMETERS SELF-TUNING OF ROBUST PID CONTROLLER FOR CONTINUOUS STIRRED TANK REACTOR

Abstract

In this paper, a design method about parameters K, I, ,  self tuning unit of robust PID controller for continuous stirred tank reactor is proposed. Robust PID controller parameters are obtained by proposed equations using boundary of uncertainties and external disturbances. System convergence is proven basing on the Lyapunov stability theory. Change parameters of Robust PID controller are controlled online based on the error of reference signal with output signal of system referring fuzzy rules. The performance of the proposed controller is compared with conventional PID. Simulation results show that when the system of nonlinear has a process of big change, the proposed controller has better performances than the conventional PID controller.