Implementation of a Discrete Prescribed Performance Controller (DPPC) based on a Discrete PID Scheme on a DC Motor System

Abstract

The Proportional, Integral, Derivative controller, or PID is the most widely used controller in industry today; A relatively simple controller with little parameters to tune but capable achieving great performance, provided with proper tuning. A fairly recent development is the Prescribed Performance Controller (PPC) by Bechlioulis and Rovithakis; an innovative controller that limits error propagation to within a pre-defined boundary region which is described by a performance function. This paper proposes a new controller that integrates the PPC solution into the current PID scheme in an attempt to achieve improved control performance compared to the original PID scheme, aptly named the DPPCPID controller. Further improvements is also analysed through the implementation of an anti-windup function and a fuzzy logic gain scheduling system. A DC motor system is used to verify the capabilities of the proposed controller. Preliminary testing concluded that the proposed DPPCPID controller, as well as its subsequent iterations implementing the additional improvement functions in various combinations, does indeed have the capabilities to provide performance benefits over the standard PID scheme, in addition to other benefits.