Robust Adaptive PID Controller for a Class of Uncertain Nonlinear Systems: An Application for Speed Tracking Control of an SI Engine

The sliding mode control (SMC) technique with a first-order low-pass filter (LPF) is incorporated with a new adaptive PID controller. It is proposed for tracking control of an uncertain nonlinear system. In the proposed control scheme, the adaptation law is able to update the PID controller online during the control process within a short period. The chattering phenomenon of the SMC can be alleviated by incorporation of a first-order LPF, while the robustness of the control system is similar to that of the sliding mode. In the closed-loop control analysis, the convergence condition in the reaching phase and the existence condition of the sliding mode were analyzed. The stability of the closed-loop control is guaranteed in the sense of Lyapunov's direct method. The simulations and experimental applications of a speed tracking control of a spark ignition (SI) engine via electronic throttle valve control architecture are provided to verify the effectiveness and the feasibility of the proposed control scheme.