摘要：AbstractThis study proposes a self-tuning PID controller design method based on a Kalman filter. Recently, data-driven controller tuning methods that can directly tune control parameters by closed-loop data without system models have been received much attention as convenient tuning approaches. On the other hand, in parameter estimation problems, the Kalman filter that can obtain high-precision estimation results has been applied in many research/industrial area. In this paper, a data-driven PID parameters tuning problem that is derived based on a PID control law is resolved as a Kalman filtering problem, and a self-tuning PID controller based on the Kalman filter is proposed. The effectiveness of the proposed method is evaluated by simulation and experimental examples.
