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조현철,이영진,이권순 동아대학교 공과대학부설 생산기술연구소 1997 生産技術硏究所硏究論文集 Vol.2 No.2
In this paper, we applied self-tuning controller with I-PD type to process with time delays. Process parameters are estimated by the recursive least squares algorithm, and optimal gains are obtained. Although self-tuning controller is more flexible and provides a more systemic way of dealing with uncertainties, nonlinearities, and time varying plant parameter, its applications in the process control industries are still not very encouraging. This paper shows self-tuning controller with I-PD type performs better than that of general PID type for the nonlinear system with sudden change of set-points.