An intelligent controller inspired by bi-cooperative modulation mechanism

Based on the bi-cooperative modulation mechanism in the human body, we present an enhanced and inhibited intelligent controller (EIIC), and provide its control algorithm in this paper. Corresponding to the related physiological system, we first design the structure of EIIC, which includes a super management unit (SMU), an enhanced control unit (ECU), an inhibited control unit (ICU), and an auxiliary control unit (ACU). When a set-point changes or a large error appears, the ECU will take effect. And then the ECU outputs a rapid step action with an inertial filter according to different control action directions, which can accelerate the rise time of the control system. After a set time, the ICU will be enabled and outputs a reverse step action with another filter related to the output of the ECU, which may avoid big overshoot or oscillation. The final comprehensive output result of the ECU and the ICU is the stable control output of the EIIC in future. When the control system gets a stable status or the control time exceeds a set limit, the ACU will take a work and eliminate the control error with the conventional PI schedule to improve control accuracy. All the cooperated work among the ECU, ICU, and ACU are carried out by the SMU. To examine the control performance of the EIIC, we use a non-minimal phase linear model with a time delay as control plants in our simulation experiments, which include basic control ability, control robustness, and noise control. The simulation results indicate that the EIIC has better control performance than the conventional PID control algorithm and internal model control.