Implementation of Different Wavelets in an Auto-Tuning Wavenet PID Controller and Its Application to a DC Motor


This paper shows the results obtained experimentally by controlling the speed of a DC motor using different wavelets (Morlet, RASP1, RASP2, RASP3, POLY-WOG1, POLYWOG3, POLYWOG4 and Shannon) in an auto-tuning wavenet PID controller. Such controller tunes online the proportional, integral and derivative gains of a classical discrete PID controller, through the identification of the plant using a radial basis neu-ral network with different daughters wavelet activation functions, in cascade with an infinite impulse response filter.

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