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Experimental Validation of the KC Autotuner on a Highly Nonlinear Vertical Take-Off and Landing (VTOL) Process

Robin De Keyser 1, Isabela R. Birs 2, and Cristina I. Muresan 2
1. DySC Research Group on Dynamical Systems and Control, Ghent University, Ghent, Belgium
2. Automation Department, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

Abstract—The paper focuses on a novel PID (proportional integral derivative) autotuner based on a single experi-mental sine test. The Kiss Circle (KC) autotuner design and validation are targeted on a vertical take-off and landing platform which exhibits a highly oscillatory non-linear motion with time delay. An additional autotuner fit for time delay processes such as the well-known Ziegler-Nichols method is used to determine a PID controller for the Vertical Take-Off and Landing (VTOL) process. The experimental results obtained with the two different experimental tuning methods under several operating conditions are compared, illustrating the superiority of the KC autotuner.

 
Index Terms—KC autotuner, PID control, PID autotuning, nonlinear process

Cite: Robin De Keyser, Isabela R. Birs, and Cristina I. Muresan, "Experimental Validation of the KC Autotuner on a Highly Nonlinear Vertical Take-Off and Landing (VTOL) Process," International Journal of Electrical and Electronic Engineering & Telecommunications, Vol. 9, No. 1, pp. 43-48, January 2020. Doi: 10.18178/ijeetc.9.1.43-48

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