Position Control of Pneumatic Actuator Using Self-Regulation Nonlinear PID

Table 2

Parameters of the controller.

Control strategies	Control parameters
	Name of parameter	Abbreviation	Value
PID	Proportional gain	𝐾𝑝	2.099
	Integral gain	𝐾𝑖	9.56 × 10^−3
	Derivative gain	𝐾𝑑	0.035
	Filter	𝑁	12.207
SN-function	Param 1	𝛿	129.51
	Param 2	𝛽	248.53
	Variation of error	𝑒max	2
Dead-zone compensator	Control value in the range of desired 𝑒ss	𝑢𝑒0	0.01
	+ve dead-zone compensation	𝑢𝑝	0.5
	−ve dead-zone compensation	𝑢𝑛	−0.65
	Desired 𝑒ss	𝑒𝑑	0.005