Cascade self-coupling PID control of input-limited second-order nonaffine nonlinear uncertain systems
Aiming at the control problem of a class of input-limited second-order nonaffine nonlinear uncertain systems,a cascade self-coupling PID control method is proposed.Under the premise of considering the limited system input saturation,the second-order system is divided into the outer generalized displacement loop and the inner generalized velocity loop,and the self-coupling PD and self-coupling PI algorithms are used to realize the cascade control strategy.It solves the shortcomings of the design transition process when the in-put signal is a step signal for self-coupling PID control;The cascade self-coupling speed factor is designed,the adjustable parameters of the inner and outer rings are coupled,the difficulty of parameter adjustment is re-duced,and the rationality and stability of cascade self-coupling PID control are analyzed and proved.Simula-tion results show that the proposed control method not only has faster response speed,good robustness,but al-so has strong anti-interference ability than self-coupling PID.
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