Implementation of Different Wavelets in an Auto-Tuning Wavenet PID Controller and Its Application to a DC Motor

This paper shows the results obtained experimentally by controlling the speed of a DC motor using different wavelets (Morlet, RASP1, RASP2, RASPS, POLY- WOG1, POLYWOG3, POLYWOG4 and Shannon) in an auto-tuning wavenet PID controller. Such controller tunes online the proportional, integral and derivative gains of a classical discrete PID controller, through the identification of the plant using a radial basis neural network with different daughters wavelet activation functions, in cascade with an infinite impulse response filter.