DiffLoop: Tuning PID controllers by differentiating through the feedback loop

Athindran Ramesh Kumar, Peter J. Ramadge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Since most industrial control applications use PID controllers, PID tuning and anti-windup measures are significant problems. This paper investigates tuning the feedback gains of a PID controller via back-calculation and automatic differentiation tools. In particular, we episodically use a cost function to generate gradients and perform gradient descent to improve controller performance. We provide a theoretical framework for analyzing this non-convex optimization and establish a relationship between back-calculation and disturbance feedback policies. We include numerical experiments on linear systems with actuator saturation to show the efficacy of this approach.

Original languageEnglish (US)
Title of host publication2021 55th Annual Conference on Information Sciences and Systems, CISS 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665412681
DOIs
StatePublished - Mar 24 2021
Event55th Annual Conference on Information Sciences and Systems, CISS 2021 - Baltimore, United States
Duration: Mar 24 2021Mar 26 2021

Publication series

Name2021 55th Annual Conference on Information Sciences and Systems, CISS 2021

Conference

Conference55th Annual Conference on Information Sciences and Systems, CISS 2021
Country/TerritoryUnited States
CityBaltimore
Period3/24/213/26/21

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Networks and Communications
  • Computer Science Applications
  • Information Systems
  • Information Systems and Management

Keywords

  • Anti-windup
  • Automatic differentiation
  • Disturbance feedback
  • Machine learning
  • Non-convex optimization

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