Adaptive self-tuning PID control of submarine periscope

In this paper, a self-tuning PID controller with low pass filter is applied to deal with the trajectory tracking of periscope in the presence of disturbances. The theory develops a simple way to perform gradient descent to adjust PID parameters. This method is especially true if the plant is a nonlinear system with changing operation points. Case study simulations are provided to demonstrate the capabilities of the proposed method.