Entropy-Guided Adaptive PID Control for Nonlinear Benchmark
DOI:
https://doi.org/10.65419/albahit.v5i1.97Keywords:
Entropy-guided control, Adaptive PID, Nonlinear benchmark systems, Lyapunov stability, Robust control, Performance improvementAbstract
This paper proposes an entropy-guided adaptive PID control approach for nonlinear benchmark systems operating under disturbances and parametric uncertainties. Unlike conventional adaptive PID methods that rely solely on instantaneous tracking error, the proposed strategy employs an online entropy measure to quantify the degree of dynamical irregularity in the system response. The entropy information is used to continuously adjust the proportional, integral, and derivative gains in a bounded and smooth manner. A Lyapunov-based stability analysis is developed to guarantee uniform boundedness of all closed-loop signals and asymptotic convergence of the tracking error. The effectiveness of the proposed controller is demonstrated through numerical simulations on standard nonlinear benchmark models, showing improved transient performance and enhanced robustness compared to classical PID and conventional adaptive PID controllers [1], [6], [8].
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