@inproceedings{2ead36ba0da941e0ba18a90018c4c0db,
title = "DiffLoop: Tuning PID controllers by differentiating through the feedback loop",
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.",
keywords = "Anti-windup, Automatic differentiation, Disturbance feedback, Machine learning, Non-convex optimization",
author = "Kumar, {Athindran Ramesh} and Ramadge, {Peter J.}",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 55th Annual Conference on Information Sciences and Systems, CISS 2021 ; Conference date: 24-03-2021 Through 26-03-2021",
year = "2021",
month = mar,
day = "24",
doi = "10.1109/CISS50987.2021.9400299",
language = "English (US)",
series = "2021 55th Annual Conference on Information Sciences and Systems, CISS 2021",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "2021 55th Annual Conference on Information Sciences and Systems, CISS 2021",
address = "United States",
}