| NOVEL OFF-LINE SELF-TUNING CONTROLLER WITH
GUARANTEED STABILITY |
| Ali Soltani Sharif Abadi 1, Andrew Ordys 1, Barbara Pierscionek 2 |
1Institute of Automatic Control and Robotics, Faculty of Mechatronics, Warsaw University of Technology
2Faculty of Health, Education, Medicine and Social Care, Medical Technology Research Centre, Anglia Ruskin University, Chelmsford Campus |
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| ABSTRACT |
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Tuning control parameters is an essential task for the controller in all practical applications. This paper
presents a new Lyapunov-based off-line self-tuning control (OSTC). method. The OSTC is a nonlinear controller with
applications to nonlinear systems. The OSTC uses the settling point and settling time to tune the control parameters. The
presented algorithm tested 150,000 simulations to formulate the control parameters. The tuning task is based on the integral
of the absolute error (IAE). and integral of time multiplied by absolute error (ITAE). performance criteria.
Simulink/MATLAB was employed to test the OSTC method by defining two regulation and tracking control problems. For
each control problem, six practices are considered, and the proposed algorithm is validated by comparing the formulated
Equations of the control parameters. |
| Key Words:
Nonlinear systems, Self-tuning, Lyapunov stability, Control methods |
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Corresponding Author.
Ali Soltani Sharif Abadi , Email. 
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