General tuning procedure for the nonlinear balance-based adaptive controller

This paper presents the intuitive and ready-to-use, general procedure for tuning the balance-based adaptive controller (B-BAC) based on its equivalence to the controller with PI term and with additional improvements shown for the linearised approximation of the dynamics of the nonlinear controlled process. The simple formulas are suggested to calculate the B-BAC tunings based on the PI tunings determined by any PI tuning procedure chosen accordingly to the desired closed-loop performance. This methodology is verified by comparing the closed-loop performance of the equivalently tuned B-BAC and PI/PI+feedforward controllers under the same scenario, both by the simulation and practical experiments.