Closed-loop Identification based PID Tuning without External Excitation

Identification based PID tuning is studied in this work. A method is proposed to achieve the informativity of the closed-loop system. The basic idea is shifting the PID parameters appropriately according to the amplitude of the feedback error. In this way, not only the closed-loop system can be identified accurately without using test signals, but also the control performance can be improved during the data collection period. An internal model control (IMC) design method is applied to tune the PID parameters. The effectiveness of the proposed approach is illustrated by simulations.