Real-time PID controller tuning via unfalsified control

In this paper, we present a real-time PID controller tuning technique via unfalsified control. The algorithm consists of 1. Switching of an active controller in a set of candidate controllers and 2. Optimization of the controller set. A key point of this work is at how to compute a fictitious error signal that reliably detects instability of a non-active controller. Simulation results are demonstrated for a continuous stirred tank reactor (CSTR) model with a non-minimum phase behavior.