PID and adaptive controller design for nonlinear systems

Includes bibliographical references (pages [106]-108)This thesis presents PID controller design techniques for nonlinear systems. It first introduces Lyapunov's linearization theorem, and then applies it to some nonlinear systems, each at an operation point. After the linearized models are obtained, PID controllers can be designed for the linearized models and these controllers can then be applied to the original nonlinear counterparts at the operation points. Some findings have been discussed on the availability of linearization methods within specific range of operation points. It has also been discussed in some depth the multiloop control configurations for controlling hard nonlinearities. Adaptive control strategies are investigated for the systems running at a group of different operation points. Prescheduled adaptive control is effective in controlling the system whose input range and model parameters at different operation points are known, while the model reference adaptive control is a powerful tool for the system whose model is changing in different environmental conditions.M.S. (Master of Science