If proportion gain kP of PI controller is big, rising time
is short, overshoot is big and stability time is long and if
kP of PI controller is small, rising time is long,
overshoot is small and stability time is short. Thus
although PI controller adjusted the gain coefficient,
performance of drive can not more improved.
To satisfaction performance of drive, adaptive is
researched.[4] Adaptive control can be obtained more
excellent performance than existing PI controller.
Adaptive control technique is based on mathematical
modeling and is very complicated because of numerous