Two-degree-of-freedom PID controller design with Kalman filter for wind tunnel centrosome system

A two-degree of freedom PID (2DOF-PID) control method with Kalman filter is proposed for wind tunnel centrosome system with input disturbance and output noise, which can not only reject the influence of input disturbance on the system, but also ensure the accurate tracking performance of the system set point. A compensator is designed to transform the nonlinear system with input backlash into an equivalent generalized linear system which is easy to control. The designed two degrees of freedom PID controller consists of a disturbance rejection controller and a tracking controller. The parameters of the disturbance rejection controller are adjusted by Ziegler-Nichols method. The set point tracker is tuned by intelligent particle swarm optimization (PSO), and its fitness function is composed of integral absolute error to ensure good tracking performance. Besides, Kalman filter algorithm is used to process the output noise. Finally, compared with the existing algorithms, the feasibility and superiority of the proposed algorithm are verified by experiments test.