Open Access Open Access  Restricted Access Subscription or Fee Access

Design of a Robust Nonlinear PID Controller: Simulation and Experimental Validation for a Computer Aided Aerothermic System

(*) Corresponding author

Authors' affiliations



In this paper, a new structure of the nonlinear proportional-integral-derivative (NPID) controller is proposed to control the air temperature at the outlet of the Computer-Aided Aerothermic System (CAAS). This technique is based on the main structure of the classical PID controller, in which the gains of the proportional, integral, and derivative actions vary at runtime according to the instantaneous error. The particularity of this method is to introduce a nonlinear function with each term of the classical PID controller. The objective of the proposed method is to stabilize the air temperature of the aerothermic system with a minimum of overshoot despite the presence of disturbances. Moreover, the proposed method is simple for practical implementation. The performance of the proposed controller (NPID) is evaluated, in terms of overshoot, settling time, and other performance indexes namely Integrated Absolute Error (IAE) and Integrated Squared Error (ISE). The simulation results are encouraging for practical implementation. The effectiveness of the proposed NPID controller is tested on a real laboratory system (CAAS). The experimental results obtained, in terms of tracking the input trajectory variation and rejecting the injected disturbance, show that the proposed technique has better performance and it is more suitable to control the system. In order to show the advantage of the new method over the others, a comparison between a conventional PID controller, a fuzzy logic controller (FLC), and the proposed controller (NPID) has been made. The results obtained indicate that the proposed technique is more effective in controlling the system (CAAS).
Copyright © 2022 Praise Worthy Prize - All rights reserved.


PID Controller; Nonlinear PID Controller; System (CAAS); Air Temperature

Full Text:



Espinel Blanco, E., Romero Garcia, G., Florez Solano, E., PID Control System Applied to a Hybrid Electric Power Generation System with Hydrogen, (2020) International Review of Automatic Control (IREACO), 13 (4), pp. 182-190.

Lahlouh, I., El Akkary, A., Sefiani, N., PID/Multi-Loop Control Strategy for Poultry House System Using Multi-Objective Ant Colony Optimization, (2018) International Review of Automatic Control (IREACO), 11 (5), pp. 273-280.

Fattahi, F., Lahlouh, I., Elakkary, A., Sefiani, N., Grey Wolf Optimizer Based PID/Multi-Loop Controller for the Egg Incubator System, (2021) International Review of Automatic Control (IREACO), 14 (4), pp. 233-241.

I. Lahlouh, F. Rerhrhaye, A. Elakkary, N. Sefiani, and A. Bybi, A combined static output feedback-PID control for TITO process based particle swarm optimization: simulation and practical implementation for the poultry house system, Int. J. Dyn. Control, Jan. 2022.

Prakash, J., and Srinivasan, K., Design of Nonlinear PID Controller and Nonlinear Model Predictive Controller for a Continuous Stirred tank Reactor, ISA Trans., vol. 48, no. 3, pp. 273-282, 2009.

Ramzi, M., Bennis, N., Haloua, M., and Youlal, H., Decentralized PI-D Controller Applied to an Aerothermic Process, Int. J. Smart Sens. Intell. Syst., vol. 5, no. 4, pp. 1003-1018, 2012

Bennis, N., Ramzi, M., Haloua, M., and Youlal, H., LMI Solutions for H-two and H-Infinity Decentralized Controllers Applied to an Aerothermic Process, J. Control Theory Appl., vol. 11, no. 2, pp. 247-254, 2013.

Khouili, D., and Ramzi, M., GPC and PI Controllers Applied to an Aerothermic Process, Int. J. Electr. Eng. Informatics, vol. 12, no. 4, pp. 708-719, 2020.

Shamseldin, M., Ghany, M. A., and Hendawey, Y., Optimal Nonlinear PID Speed Control Based on Harmony Search for An Electric Vehicle Optimal Nonlinear PID Speed Control Based on Harmony Search for An Electric, Futur. Eng. J., vol. 2, no. 1, 2021.

Salim, S. N. S., Rahmat, M. F., Athif M. Faudzi, A., and Ismail, Z. H., Position Control of Pneumatic Actuator using an Enhancement of NPID Controller Based on the Characteristic of rate Variation Nonlinear Gain, Int. J. Adv. Manuf. Technol., vol. 75, no. 1-4, pp. 181-195, 2014.

J. P. Wilkinson. Nonlinear Resonant Circuit Devices, U.S. Patent 362412, July 1990. (Patent style)

Ali, H., Mhmood, A., Nonlinear H-Infinity Model Reference Controller Design, (2021) International Review of Automatic Control (IREACO), 14 (1), pp. 39-50.

Massaq, Z., Chbirik, G., Abounada, A., Brahmi, A., Ramzi, M., Control of Photovoltaic Water Pumping System Employing Non-Linear Predictive Control and Fuzzy Logic Control, (2020) International Review on Modelling and Simulations (IREMOS), 13 (6), pp. 373-382.

Armstrong, B., Neevel, D., and Kusik, T., New Results in NPID Control: Tracking, Integral Control, Friction Compensation and Experimental Results, IEEE Trans. Control Syst. Technol., vol. 9, no. 2, pp. 399-406, 2001.

Kler, D., Rana, K. P. S., and Kumar, V., A Nonlinear PID Controller Based Novel Maximum Power Point Tracker for PV Systems, J. Franklin Inst., vol. 355, no. 16, pp. 7827-7864, 2018..

Su,Y. X., Sun, D., and Duan, B. Y., Design of an Enhanced Nonlinear PID Controller, Mechatronics, vol. 15, no. 8, pp. 1005-1024, 2005.

Anang, JN. A., et al., Tracking Performance of NPID Controller for Cutting Force Disturbance of ball Screw Drive, J. Mech. Eng. Sci., vol. 11, no. 4, pp. 3227-3239, 2017.

Tahir, T., Al-Samarraie, S., The Application of Extremum Seeking Algorithms in PID Tuning for Continuous Stirred Tank Reactor, (2021) International Review of Automatic Control (IREACO), 14 (1), pp. 28-38.

Haimo, V. T., Finite Time Controllers., SIAM J. Control Optim., vol. 24, no. 4, pp. 760-770, 1986.

Sanposh, P., Chinthaned, N., Handling Torque Input Constraints Under Robust Nonlinear Regulation Control of Robotic Systems with Parametric Uncertainties, (2020) International Review of Automatic Control (IREACO), 13 (3), pp. 117-127.

Jin, G. G., and Son, Y. D., Design of a nonlinear PID Controller and Tuning Rules for First-order plus Time Delay Models, Stud. Informatics Control, vol. 28, no. 2, pp. 157-166, 2019.

Mekuria, S., Belete, M., and Niguse, B., Fixed Wing Unmanned Aerial Vehicle Control by Using a Non-linear PID Controller, Journal of Electrical Engineering, Electronics, Control and Computer Science, vol. 7, no. 24, pp. 39-46, 2021.

Najm, A. A., and Ibraheem, I. K., Nonlinear PID Controller Design for a 6-DOF UAV Quadrotor System, Eng. Sci. Technol. an Int. J., vol. 22, no. 4, pp. 1087-1097, 2019.

Armstrong, B., Wade, B. A., and Wade, B. A., Control with Partial State Knowledge, 2008.

Mokhtari, F., Sicard, P., and Hazzab, A., Decentralized Nonlinear Control Strategies for Disturbance Rejection in Winding Systems, IEEE Int. Electr. Mach. Drives Conf. (IEMDC 2011), 2011, pp. 230-235.

Wang, W., Technological Developments in Education and Automation, Technol. Dev. Educ. Autom., no. 59, pp. 10-11, 2010.


  • There are currently no refbacks.

Please send any question about this web site to
Copyright © 2005-2024 Praise Worthy Prize