Nonlinear multiple models adaptive decoupling PID control based on generalized predictive control

A nonlinear multivariable adaptive decoupling PID control strategy based on multiple models and neural network is proposed for a class of uncertain discrete time nonlinear dynamical systems. The adaptive decoupling PID controller is composed of a linear adaptive PID decoupling controller, a neural network nonlinear adaptive PID decoupling controller and a switch mechanism. The PID parameters of such controller are determined by multivariable generalized predictive control law. The linear adaptive PID controller can ensure the boundedness of the input and output signals in the closed-loop system and the nonlinear adaptive PID controller can improve the performance of the system. Stability and convergence analysis of the proposed adaptive method are given. Finally, simulation examples are included to demonstrate the effectiveness of the proposed method.