An Adaptive 2DOF-Nonlinear PID Controller for Nonlinear Processes with Dominant Delay

This proposal introduces an adaptive nonlinear 2DOF PI+D controller to enhance traditional control systems. It operates on the concept of a PI+D controller. Incorporating Dahlin's PID tuning method enables automatic parameter adjustment based on error changes between the setpoint and the actual output, ensuring dynamic tuning to minimize disturbances and improve system stability and performance. The results demonstrate significant improvements, with a 92.94% reduction in Integral Squared Error (ISE) and a 10.33% decrease in Integral of Squared Controller Output (ISCO) compared to classic PID, evaluated under worst-case conditions.