The Principle of ACPID Control Without Overshoot

To address the contradictory issue between the rapidity and strong anti-disturbance of the control system, and the overshoot which is caused by integral saturation respectively, the auto-coupling proportional-integral-derivative (ACPID) control method based on command filtering is proposed in this article. The method first establishes a control system model according to the ACPID control force, then, based on this model, a command filter is designed to make the ACPID control system based on command filtering become an overshoot-free critically damped system, thereby eliminating the overshoot problem caused by integral saturation. Finally, the anti-disturbance robustness and finitetime tracking performance of the control system are analyzed. Both research results and simulation experiments show that the proposed control method is an advanced control method with high speed, high precision and no overshoot. Its characteristic is that the PID parameters and filter parameters can be tuned by tuning a minimum speed factor, which is simple and practical, and has broad application prospects in the fields of complex system control.