Intelligent-PID (i-PID) control proposed by Fliess is a simple control algorithm. The controller is designed based on ultra-local model, and consisted of PID type controller and derivatives of reference signal and controlled variables. Authors have considered discrete i-PID controller and its properties, and one of the result was that PD controller was sufficient in discrete time domain. In discrete i-PID controller, PD type controller is still required to ensure convergence of controlled error to zero, and PD type parameters affects convergence property, fast-response property and stability. In this paper, predictive functional control (PFC) based on an ultra-local model is proposed. By introducing of PFC, controlled variable converge to reference value without PD type controller. User-specified parameters of the proposed controller is smaller than the conventional i-PID controller. Characteristics of the proposed controller are compared with discrete i-PID controller by numerical examples.

中文翻译：

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基于预测函数控制的无模型控制器设计

Fliess提出的智能PID（i-PID）控制是一种简单的控制算法。该控制器基于超局部模型设计，由PID型控制器以及参考信号和被控变量的导数组成。作者考虑了离散 i-PID 控制器及其特性，结果之一是 PD 控制器在离散时域中是足够的。在离散i-PID控制器中，仍然需要PD型控制器来保证控制误差收敛到零，而PD型参数影响收敛性、快速响应性和稳定性。本文提出了基于超局部模型的预测功能控制（PFC）。通过引入PFC，控制量收敛到参考值，无需PD型控制器。该控制器的用户指定参数比传统的 i-PID 控制器小。通过数值例子将所提出的控制器的特性与离散 i-PID 控制器进行了比较。