title: An adaptive I-PD controller based on frequency domain system identification
abstract: This paper presents an approach to auto-tune an I-PD controller for plants with long time delays such as pneumatic cylinders. The proposed control scheme estimates the frequency response of a plant using the sliding discrete Fourier transform (DFT) and employs a modified Smith predictor to reduce the effect of time delay. Controller gains are determined so as to minimize the error between the open-loop frequency response of the reference model and that of the actual system.
authors.affiliation: Department of Electronics and Communication, Meiji University, Kawasaki, Japan.
authors.initials: T
authors.lastname: Hashimoto
authors.initials: Y
authors.lastname: Ishida