constant.pdf (227.96 kB)

Non-linear PID predictive controller

Download (227.96 kB)
journal contribution
posted on 03.11.2008, 16:21 by Wen-Hua Chen, Donald J. Ballance, Peter J. Gawthrop, Jenny J. Gribble, John O'Reilly
A new class of nonlinear PID controllers are derived for nonlinear systems using a Nonlinear Generalised Predictive Control (NGPC) approach. First the disturbance decoupling ability of the nonlinear generalised predictive controller is discussed. For a nonlinear system where the disturbance cannot be decoupled, a nonlinear observer is designed to estimate the offset. By selecting the nonlinear gain function in the observer, it is shown that the closed-loop system under optimal generalised predictive control with the nonlinear observer is asymptotically stable. It is pointed out that this composite controller is equivalent to a nonlinear controller with integral action. As a special case, for a nonlinear system with a low relative degree, the proposed nonlinear controller reduces to a nonlinear PI or PID predictive controller, which consists of a nonlinear PI or PID controller and a prediction controller. The design method is illustrated by an example nonlinear mechanical system.



  • Aeronautical, Automotive, Chemical and Materials Engineering


  • Aeronautical and Automotive Engineering


CHEN, W-H. al, 1999. Non-linear PID predictive controller. IEE Proceedings: control theory and applications, 146 (6), pp. 603-611


© Institution of Electrical Engineers

Publication date



This is a journal article. It was published in the journal, IEE proceedings: control theory and applications and is subject to Institution of Engineering and Technology copyright: The definitive version of the paper is available at IET Digital Library.