Nonlinear stable PID controller design using local model networks

This paper addresses PID controller design using local model networks. The proposed method uses a common quadratic Lyapunov function to guarantee stability of the closed loop. To solve the resulting bilinear matrix inequalities (BMI) an iterative procedure is introduced which is based on state of the art linear matrix inequalities solvers (iLMI). Due to the fact that the Lyapunov approach requires a state-space model a suitable closed-loop state-space system is introduced. An example demonstrates the effectiveness of the proposed method.