유한 알파벳 PID제어기 설계

초록

When a controller is implemented by a one-chip processor with fixed-point operations, the finite alphabet problem usually occurs since parameters and signals should be taken in a finite set of values. This paper formulates the finite alphabet PID control problem which combines the PID controller with the finite alphabet problem. We will propose a PID parameter tuning method based on an optimization algorithm under the finite alphabet condition. The PID parameters can be represented by a fixed-point representation, and then the problem is formulated as an optimization with constraints that parameters are taken in the finite set. Some simulation are to be performed to exemplify the performance of the PID paramater tuning method proposed in this paper.