Adaptive actual pid control with an adjustable identification interval

A method of design for an adaptive PID controller in an “actual” form is developed. The controller is expressed as an ideal PID controller with a low-pass filter. The parameters of the controller are determined by using the ITAE criterion based on a first-order plus dead time model which is directly obtained from an identified second-order model. In comparison with the ideal PID controller, the actual one gives better results especially for systems with noises.