Self-tuning PID/I controller

A self-tuning controller based on the method of frequency identification and intended for controlling plants with time-varying parameters under arbitrary bounded exogenous disturbances was proposed. The impact of the harmonic frequencies of the test signal on the results of identification over a prescribed time was studied. Methods to choose frequencies and an algorithm to adjust the amplitudes of the harmonics of the test signal were proposed. The duration of the identification parameters of the plant model is determined automatically depending on the intensity of the exogenous disturbance and the desired relative accuracy of identification. The results of experimental studies of the proposed controller demonstrating its efficiency were presented.