Adaptive PID Controller¶

This controller corresponds to the ideal PID controller, type I, whereby the specified parameters K, TV and TN can be modified during simulation by control input signals. The parameter control can be multiplicative or additive. Thus, the actual parameter values are:

for multiplicative parameter control

K = K0 * dK

TN = TNO * dTN

TV = TV0 * dTV

for additive parameter control

K = K0 + dK

TN = TNO + dTN

TV = TV0 + dTV

With open control inputs (unconnected) the associated parameters keep their default values

The limits can also be multiplicatively changed by the input signal at node m:
Ymin = Ymin0 * dYL
Ymax = Ymax0 * dYL
If the input node is open the limits are unchanged.