TY  - JOUR
TI  - Sliding Mode Based Self-Tuning PID Controller for Second Order Systems
AB  - In this paper, a sliding mode based self-tuning PID controller is proposed for uncertain second order systems. While developing the controller, it is assumed that the system model has a part which contains nonlinear terms similar to PID structure which is a new approach in the literature. The controller and update rules for controller parameters are obtained from Lyapunov stability analysis. The proposed controller with update rule is experienced on an experimental 2-DOF helicopter which is also known as Twin-Rotor Multi-Input Multi-Output System (TRMS). From experiments, it was seen that the PID parameter update rules run satisfactorily and, in parallel with this, the controller achieved the control objective by providing the system track the desired trajectory.
AU  - BAYRAK, Alper
DO  - 10.19113/sdufbed.07565
PY  - 2017
JO  - Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi
VL  - 21
IS  - 3
SN  - 1300-7688
SP  - 866
EP  - 872
DB  - TRDizin
UR  - http://search/yayin/detay/287680
ER  -