Non-linear PID control method with feed-forward in smart car

This paper discusses the design of a non-linear feed-forward PID controller based on the control system design of smart cars. The resulting design effectively solves the contradiction between speed and stability of the linear PID controller. A simulation about traditional PID, non-linear PID and non-linear feed-forward PID is given to show that the non-linear feed-forward PID dramatically enhances both the dynamic performance and stability. Actual results also indicate that the smart car controlled by the non-linear feed-forward PID controller has a good performance in both stability and speed.