Design and Simulation of PI-Improve Funnel Controller

This paper introduces a novel controller, the PI-Improve Funnel, which combines two controllers, the Improved Funnel controller from [2] with a proportional-integral (PI) controller. The PI-Improve Funnel controller is designed to achieve two key objectives: ensuring “tracking error develops inside a specified performance funnel” and enhancing “steady state accuracy” through the integration of the PI controller. The effectiveness of this new controller is demonstrated through simulations of an example on a mechanical system with a higher relative degree, such as “a mass-spring system mounted on a car” [1]. Comparative analysis with other control strategies validates the superior performance and efficiency of the proposed PI-Improve Funnel controller.