Nonlinear pid controllers

An algorithm to design simple gain scheduled nonlinear PID controllers for nonlinearplants is investigated. Design information is obtained from measurements of the non linearplant about selected equilibrium points.Simulations are performed on two different nonlinear CSTR models. The firstsimulation produced an unexpected result: that linear output feedback performed betterthan state feedback for the particular model. The second simulation showed that thenonlinear PID controller performed as well as a complex nonlinear controller.A literature search for similar nonlinear controllers concluded that the nonlinear PIDcontroller presented in this thesis did not provide a unified framework for previous work.