Since most industrial control applications use PID controllers, PID tuning and anti-windup measures are significant problems. This paper investigates tuning the feedback gains of a PID controller via back-calculation and automatic differentiation tools. In particular, we episodically use a cost function to generate gradients and perform gradient descent to improve controller performance. We provide a theoretical framework for analyzing this non-convex optimization and establish a relationship between back-calculation and disturbance feedback policies. We include numerical experiments on linear systems with actuator saturation to show the efficacy of this approach.

中文翻译：

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DiffLoop：通过反馈回路进行微分来调整 PID 控制器

由于大多数工业控制应用使用 PID 控制器，因此 PID 整定和抗饱和措施是重大问题。本文研究了通过反算和自动微分工具调整 PID 控制器的反馈增益。特别是，我们偶尔使用成本函数来生成梯度并执行梯度下降以提高控制器性能。我们为分析这种非凸优化提供了一个理论框架，并建立了反向计算和扰动反馈策略之间的关系。我们在具有致动器饱和的线性系统上进行了数值实验，以展示这种方法的有效性。