Adaptive/self-tuning PID control by frequency loop-shaping

E. Grassi, Konstantinos Tsakalis, S. Dash, S. V. Gaikwad, G. Stein

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations


This paper addresses issues arising in the on-line adaptation of PID controller parameters. With frequency loop-shaping principles as the underlaying controller design approach, the PID parameter adaptation can be performed directly by minimizing a suitable estimation error with standard lest-squares algorithms. A variant of such an algorithm is also proposed in an effort to approximate the minimizing of the H-infinity norm of the error operator. A numerical example is used to illustrate the implementation of the algorithm.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Number of pages3
StatePublished - 2000
Event39th IEEE Confernce on Decision and Control - Sydney, NSW, Australia
Duration: Dec 12 2000Dec 15 2000


Other39th IEEE Confernce on Decision and Control
CitySydney, NSW

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality


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