2DOF-PID Adaptive Gain-Scheduling Control for Nonlinear Process with Dominant Delay

This paper presents an adaptive PID with two degrees-of-freedom (2DOF-PID) controller with gain scheduling for a non-linear mixing process with a dominant delay. The adaptive controller is compared to a classical PID and other improved PID schemes. A tracking task with external disturbances is carried out for a mixing tank with variable parameters and dominant dead time as a benchmark of a single-input and single-output (SISO) system through Simulink. The results indicate that the adaptive controller shows better conditions in the control challenge against other PID schemes. The efficacy of the controllers was studied by analyzing their tracking and regulatory responses.