A PID Controller Tuning Method Applied to a Dinamic Positioning System Under Constraints Using Bilinear Optimization
PID Controller, Actuator Saturation, Invariant Sets, Dynamic Positioning System, Inverse Kinematics, Bilinear Optimization.
This work proposes a method for tuning PID controllers for linear discrete-time systems subject to constraints on the output variable and actuator saturation. Polytopic saturation modeling and invariant set theory are the theoretical tools used. The PID controller parameters and an associated invariant set are obtained by solving a bilinear optimization problem. The method, initially proposed for SISO systems, should be extended to MIMO systems and applied to a Dynamic Positioning (DP) of ships problem. To this end, a model with three degrees of freedom of the vessel (advance, drift and heading) will be used. The efficiency of the proposed method will be evaluated from numerical simulation results.