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An Auto-Tuning Scheme of PID Controller Based on a Partial Model Matching Method for an IP Network-based Small DC Motor Speed Control System

Kenshi Matsuo

In Internet Protocol (IP) network-based control systems, the control performance is degraded owing to time delays and its jitter over the networks. Hence schemes to overcome the issue are required. In this paper, the author proposes an auto-tuning scheme based on a partial model matching method that tunes PID controllers for speed control of a small DC motor through IP networks with varying time delays. For confirming the effectiveness, speed control experiments are done after the controller of the system is auto-tuned by the proposed scheme under several emulated IP network conditions. As a result, the responses obtained by the experiments show that the proposed scheme is effective for the systems.