文章基本信息

标题：On the Improved Nonlinear Tracking Differentiator based Nonlinear PID Controller Design
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作者：Ibraheem Kasim Ibraheem ; Wameedh Riyadh Abdul-Adheem
期刊名称：International Journal of Advanced Computer Science and Applications(IJACSA)
印刷版ISSN：2158-107X
电子版ISSN：2156-5570
出版年度：2016
卷号：7
期号：10
DOI：10.14569/IJACSA.2016.071032
出版社：Science and Information Society (SAI)
摘要：This paper presents a new improved nonlinear tracking differentiator (INTD) with hyperbolic tangent function in the state-space system. The stability and convergence of the INTD are thoroughly investigated and proved. Through the error analysis, the proposed INTD can extract differentiation of any piecewise smooth nonlinear signal to reach a high accuracy. The improved tracking differentiator (INTD) has the required filtering features and can cope with the nonlinearities caused by the noise. Through simulations, the INTD is implemented as a signal’s derivative generator for the closed-loop feedback control system with a nonlinear PID controller for the nonlinear Mass-Spring-Damper system and showed that it could achieve the signal tracking and differentiation faster with a minimum mean square error.
关键词：thesai; IJACSA Volume 7 Issue 10; Nonlinear tracking differentiator; PID; Nonlinear mass-spring-damper; Lyapunov theory; Measurement noise