Robust Adaptive PID Controller for a Class of Uncertain Nonlinear Systems: An Application for Speed Tracking Control of an SI Engine

Table 1

Experimental technical data.

Item	Value
SI engine (4 cylinders, 900 cc, gasoline type)	Test range 600–3000 rpm
Speed sensor (rpm)	Sampling speed: approximately 5000 t/s.
Throttle position sensor	Measurement range 0–80°
ADC/DAC	−10 to 10 VDC, 20 mA
COMPUTER	Core2Duo: 2.93 GHz, 4 GB RAM
DC motor	4.8–6 V
Fuel type (experiments)	Ethanol-gasoline blended (E20)