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This study presents a robust proportional integral derivative (RPID) control system for chaotic systems. This RPID control system comprises a self-tuning PID (SPID) controller and a robust controller. The gradient descent method and Hinfin control technique are utilized to derive on-line tuning laws of SPID controller and the robust controller, so that the robust tracking performance of the system can be yielded. In order to achieve the best solution for SPID controller, the particle swarm optimization (PSO) algorithm is adopted to select the optimal learning rates of SPID controller. Finally, simulation results show that the proposed control system can achieve favorable tracking performance.