PID CONTROLLER WITH VARIABLE ARGUMENTS

This paper presents a PID controller with variable arguments (shortened as VAPID), in which the nonlinear functions are employed to change the PID parameters on-line according to the system error. Three kinds of VAPID, of which the performance is all better than that of the ordinary PID controller, are provided. It also shows better performance of disturbance-rejecting and robustness, and can be applied to the non-minimal phase system.