A New Adaptive Partially Decentralized PID Controller for Non-square Discrete-time Linear Parameter Varying Systems

In this paper, a novel partially decentralized adaptive control strategy is presented to deal with a class of Multi Inputs Multi Outputs (MIMO) non-square, Linear Parameter Varying (LPV) systems. The key idea is the design of Proportional Integral Derivative (PID) regulator based on online pairing and tuning of its parameters using the Dynamic Relative Gain Array (DRGA) matrix. The proposed adaptive partially decoupled control scheme operates in a straightforward and systematic way. The convergence of the proposed controller is guaranteed by theoretical analysis, numerical simulations and experimental tests carried out on a non-holonomic two Wheeled Mobile Robot (WMR). Studies of the proposed regulator robustness against additive disturbance and stability over the whole parameter range are given to illustrate the effectiveness of the proposed PID scheme.