PID control

In situations where robots share their workspace with humans, and where physical human-robot interaction is possible or even necessary, safety is of paramount importance. Low weight and passive compliance are often considered important aspects contributing to robot safety. In this paper, the role of passive compliance is investigated with respect to the safety of a 2-DOF pneumatically actuated arm. By combining measurements and impact simulations, the safety of the system is evaluated for a wide range of joint stiffnesses. It turns out that passive compliance plays a double role: it improves safety in some impact situations, but its capacity to store energy can also be dangerous.

Electroactive polymers (EAP) are an emerging class of actuation materials. Their large electrically induced strains (longitudinal or bending), low density, mechanical flexibility, and ease of processing offer advantages over traditional electroactive materials. However, before the benefits of these materials can be exploited, their electrical and mechanical behavior must be properly quantified. Two general types of EAP can be identified. The first class is ionic EAP, which requires relatively low voltages (<10V) to achieve large bending deflections. This class usually needs to be hydrated and electrochemical reactions may occur. The second class is Electronic-EAP and it involves piezoelectric, electrostrictive and/or Maxwell stresses. These materials can require large electric fields (>100MV/m) to achieve longitudinal deformations at the range from 4 -360%. Some of the difficulties in characterizing EAP include: nonlinear properties, large compliance (large mismatch with metal electrodes), nonhomogeneity (resulting from processing) and hysteresis. To support the need for reliable data, the authors are developing characterization techniques to quantify the electroactive responses and material properties of EAP materials. The emphasis of the current study is on addressing electromechanical issues related to the ion-exchange type EAP also known as IPMC. The analysis, experiments and test results are discussed in this paper.

Inverted pendulum which consists of a straight pole and a horizontally moving cart has been one of the most widely researched systems and is considered a classical problem in the area of control engineering. Main objective of the system is to control and stabilize both the angle of the pendulum and position of the cart. In this study, an example of such type of system was designed, implemented and controlled. Stabilization and control objective of the system was successfully achieved by using a Proportional-integral-derivative (PID) controller and graphs of input and outputs of the system was obtained in MATLAB environment.

Industrial heating systems play a crucial role in numerous manufacturing processes, from plastic transformation to food service equipment. As energy costs and sustainability concerns grow, the need for intelligent control strategies and energy efficient solutions becomes increasingly relevant. This article presents a practical overview of electric heating applications, with a focus on conveyor ovens and boilertype systems. Drawing from over a decade of field experience, the author discusses effective approaches to resistance sizing, control logic, and thermal optimization. The paper also outlines key trends such as predictive maintenance, IoT integration, and modular control strategies aimed at improving operational performance and reducing energy waste. The goal is to bridge the gap between academic theory and industrial reality, providing students and professionals with actionable insights into smart industrial heating systems.

Godina je 1545. Umire Martin Luther i počinje Tridentski sabor, a Svetim Rimskim Carstvom vlada Karlo V. u čijem carstvu sunce nikad ne zalazi. Europu uskomešanu politički i duhovno, potresaju sukobi protestanata i katolika. U Hrvatskoj, svedenoj na ostatke ostataka, vode se očajničke borbe u obrani od navale Turaka, kojima je na čelu Sulejman Veličanstveni. Medutim, te godine zbio se još jedan dogadaj od iznimne važnosti. U Italiji, u kojoj je renesansa u punom cvatu, izašla je jedna izuzetna knjiga. U njoj su objavljeni najznačajniji razultati algebre od vremena Babilona do tadašnjih dana. I sam autor je izuzetna ličnost, možda najneobičnija u povijesti znanosti. Knjiga, već prema običaju tog vremena, nema skroman naziv. Zove se Veliko umijeće ili Ars magna (punim naslovom Knjiga o velikom umijeću ili o pravilima algebre odnosno Artis magnae sive de regulis algebraicis liber unus). Autor te knjige je Girolamo Cardano, matematičar, liječnik, astrolog i izumitelj. Knjiga će izazvati jedan od najvećih prijepora u povijesti matematike 2 . O čemu je zapravo riječ i zašto je ta knjiga izazvala nezapamćenu buru? Tko su bili glavni protagonisti tih dogadaja? O tome ćemo sada govoriti. Vratimo se još malo dalje u povijest. Dugo je vremena rješavanje kubne jednadžbe bio zamršen problem i tvrd orah mnogim matematičarima. Primjeri zadataka koji se svode na kubne jednadžbe nalaze se još na babilonskim pločicama. Jedan od triju poznatih zadataka starogrčke matematike je i Delski problem, nalaženje brida kocke čiji je obujam dvostruko veći od obujma zadane kocke. Druga dva problema su kvadratura kruga i trisekcija kuta. Rješavanje tih zadaća bilo je ograničeno načelom grčkih matematičara koji te zadatke nisu rješavali algebarski već su ih nastojali, naravno neuspješno, riješiti geometrijskim konstrukcijama pomoću ravnala i šestara. I arapski matematičari, primjerice Bhâskara i Omar Khayyam, rješavali su pojedinačne probleme koji se svode na kubne jednadžbe, ali nisu uspjeli otkriti opći postupak. Stoga ne čudi da je fratar Luca Pacioli u traktatu Summa de arithmetica, geometrica, proportioni et proportionalita, objavljenom 1494. tvrdio da se kubne jednadžbe ne mogu riješiti algebarski. Zbog ugleda autora i utjecaja koji je ta knjiga imala, zacijelo su se talijanski matematičari tog doba slagali s njegovim mišljenjem. No, bilo je i iznimaka. Tu dolazimo do jednog od junaka naše priče. Scipione dal Ferro je roden 1465. u Bologni, gdje je vjerojatno i studirao. Od 1496. pa sve do smrti 1526. predavao je aritmetiku i geometriju na Sveučilištu u Bologni. Potkraj

One of the important classes of MIMO processes is that of serial processes. We propose a combined control technique of PID control and disturbance observer for the temperature control of a deionized (DI) water heater that has the structure of a serial process. The results of both simulation and actual equipment experiment verify that the proposed method enables us not only to use fewer temperature sensors than the conventional system but also to solve the offset problem that is typical for the serial processes.

This technical report compares the performance of a novel control method called "B Control," developed at ÉTS, with the traditional PID control when applied to a rigid antenna system. The results, based on simulations, show that B Control achieves faster stabilization and better robustness than PID in both speed and position loops.

Modern process plants are highly integrated and as a result, decentralized PID control loops are often strongly interactive. The iterative SISO tuning approach currently used in industry is not only time consuming, but does also not achieve optimal performance of the inherently multivariable control system. This paper describes a method and a software tool that allows control engineers/technicians to calculate optimal PID controller settings for multi-loop process systems. It requires the identification of a full dynamic model of the multivariable system, and uses constrained nonlinear optimization techniques to find the controller parameters. The solution is tailored to the specific control system and PID algorithm to be used. The methodology has been successfully applied in many industrial advanced control projects. The tuning results that have been achieved for interacting PID control loops in the stabilizing section of an industrial Gasoline Treatment Unit as well as a Diesel Desulfurization plant are presented.

In comparison to PI and PID controllers, a higher order "advanced" controller is shown to improve the performance of an experimental robot for speed and position control applications. The advanced controller attains a higher bandwidth, lower settling time and better disturbance rejection, while the increased performance costs little in sensor noise amplification.

An event-based method to perform the set-point following task for second order processes with time delay (SOPTD) is investigated in this work. The aim of the research is to extend an event-based controller that has been tested previously in processes responding to the first-order with time delay (FOPTD) model. The controller is based on feedforward and feedback actions to do the two main tasks of a controller, set-point following and disturbances rejection, with an event triggered paradigm. This work is mainly focused on the feedforward part of the controller, with the goal of establishing a method to calculate the control signal and the conditions that must be satisfied to update it.

The problem of controlling the p-model induction motor with magnetic saturation is considered in this paper. The motor parameters such that stator resistance Rs, rotor resistance Rr and load torque TL can be varied during the operation, many techniques are used for online identification of the motor parameters. In this paper, the authors use a new technique which is the Adaptive Neuro Fuzzy Inference Systems (ANFIS) technique for online identification of the motor parameters. A simulation study is illustrated using MATLAB/Simulink depending on stator currents and speed measurements. All the unknown parameters are assumed constant or slowly varying and are estimated online by the controller. The proposed technique shows promising results.

Most research on fuzzy regulators has focused on the integrating rules in intelligent control systems. This paper evaluates a fuzzy helicopter regulator for a single-rotor PZL Kania helicopter. Unlike other models which only match stable flight ability, the model presented in this paper attempts to match the links between disturbances and hover conditions. Two simulations were performed to validate the model. In the first simulation, a helicopter was evaluated in a fixed hover position. In the second simulation, model robustness was validated by introducing wind gust. Results, both with the initial and with the modified model demonstrated the viability of the proposed regulator.

This paper proposes a constrained control scheme for the control of the depth of hypnosis during induction phase in clinical anesthesia. In contrast with existing control schemes for propofol delivery, the proposed scheme guarantees overdosing prevention while ensuring good performance. The core idea is to reformulate overdosing prevention as a constraint, and then use the recently introduced Explicit Reference Governor to enforce the constraint satisfaction at all times. The proposed scheme is evaluated in comparison with a robust PID controller on a simulated surgical procedure for 44 patients whose Pharmacokinetic-Pharmacodynamic models have been identified using clinical data. The results demonstrate that the proposed constrained control scheme can deliver propofol to yield good induction phase response while preventing overdosing in patients; whereas other existing schemes might cause overdosing in some patients. Simulations show that mean rise time, mean settling time, and mean overshoot of less than 5 [min], 8 [min], and 10%, respectively, are achieved, which meet typical anesthesiologists' response specifications.

The main disadvantage of pneumatic artificial muscles (PAMs) is that their dynamic behaviour is highly nonlinear, consequently, PAMs are difficult to control so a fast and robust control necessary to achieve the desired motion. This paper presents accurate and robust motion control of a spring returned muscle (SRM) using the sliding-mode approach.

This article presents the new control structure for a Direct Current Motor (DC Motor) using the flatness-control principle. Basic on the mathematical model of DC Motors, the author demonstrates the application ability of the fatness-control theory to control the DC Motor, and then calculates the parameters and proposes the structure of the flatness-controller. The proposed structure is built and ran on Matlab-Simulink software to verify the system efficiency. The simulation results show that the quality of the control system is very good, especially in case of the flatness controller combined with PID controller to eliminate static error when the parameters of the DC Motor have been not known accurately.

El artículo presenta el diseño de un controlador lineal cuadrático gaussiano (LQG) para regular los ángulos de cabeceo, elevación y viaje de un prototipo de un helicóptero de tres grados de libertad (3 DOF). El controlador LQG se diseña a partir de un modelo lineal y se ajustan los parámetros del regulador en base a simulaciones realizadas con el modelo no lineal, evaluando la respuesta transitoria del sistema en lazo cerrado para diferentes valores de la señal de referencia, garantizando obtener la mayor variación de los ángulos alrededor del punto de equilibrio. La validación experimental de la estrategia de control se realiza sobre un prototipo construido por los autores, la respuesta transitoria de los datos simulados se compara con los datos experimentales, para los tres grados de libertad del helicóptero, observando que el modelo matemático se ajusta a la dinámica del prototipo y se cumplen las condiciones de diseño.

A loop-shaping approach for tuning Proportional-Integral-Derivative (PID) controllers is presented. A Glover-McFarlane controller is used to determine a target loop-shape that is approximated by a PID structure via the use of an LMI optimization method. If the approximation error from the minimization satisfies a standard small gain condition, then the tuned PID controller also shares the attractive robustness properties of the controllers. The entire design process is carried out in discrete-time assuming a discrete plant is available. Typical test cases are used to show the implementation of this method and the quality of the resulting closed loops.

A new method for the constrained robust set-point regulation of scalar linear systems is proposed in this paper. It is based on the combined synthesis of the feedback controller and of the closed-loop command function. In particular, the controller is synthesized by solving a standard H ∞ mixed sensitivity problem and the command function is determined by solving a stable input-output inversion problem. The optimal design parameters are found by means of a genetic algorithm, so that the worst-case settling time is minimized, subject to amplitude constraints on the control variable and on the resulting undershoot and overshoot. Worked examples are given to illustrate the methodology.

In this paper, a new tuning procedure for PI controllers in Two-Degree-of-Freedom (2DOF) structure is proposed. In design procedure, First Order plus Dead Time (FOPDT) model is used. The aim is to have good set point tracking and disturbance rejection and also maximum robustness to model uncertainties. The tuning strategy is based on using analytical rules and some conceptual rules about closed loop poles and also an exhaustive search. Simulation results demonstrate the effectiveness and validity of proposed method in coping with conflicting design objectives for a wide variety of processes including minimum phase and non-minimum phase and also integrating processes.

Increasing emissions standards and fuel economy have forced engine designers to incorporate increasing numbers of degrees of control freedom into the engine. Consequently, calibration is becoming progressively more complex where the issue is most acute with diesel engines. This paper presents a project in which a closed loop controller is used in diesel engine fuel path, where no new calibration is required if any variation occurs. This is an initial investigation into diesel engine fuel path control. In order to prove that such a control technology could be developed over the whole speed and torque operating range, a high speed (2050 rpm) and the high torque (357Nm) point are chosen for investigations into control. This represents a challenging engine conditions for the application of control systems because of the limited time available for air supply and the need to complete combustion quickly. At these conditions the control authority is limited and the ability to detect for example small variations in torque and speed are quite limited owing to the high torque conditions. This paper demonstrates a closed-loop control at a high load condition and presents an architecture of controllable injection for a Caterpillar C6.6 engine using predictive control that includes exhaust temperature, of nitrogen oxides (NO x ) and particulate matters (PM) without changing the fuel quantity.

Power system modeling that captures the dynamic behavior of the different components interacting in an electric grid is useful in understanding some observed phenomena that have not been easy to reproduce by simulation. Therefore, this thesis focuses on the modeling of hydro-dominant power system to study the origin of some very low frequency oscillations (VLFOs) that have not been explained or reproduced; for example, VLFOs in the Colombian Power System have been detected in the 0.05Hz range and their origin have not been clarified. Within this work modeling guidelines for hydro-electric power plants to capture the effects of the hydraulic coupling of turbines, their control strategies, and nonlinearities in the controls and actuators will be developed. This level of modeling will enable to reproduce oscillatory observation by simulation as the ones in the Colombian system for further analysis. Finally, robust control is proposed to damp oscillatory modes to account the effect of the dynamic behavior of coupled systems and nonlinearities in their controls.

The paper offers a comparative performance evaluation of PSO-optimized PID controller and FLC methods in double-axis solar tracking systems. This is done through an extensive modeling process, including solar position estimation by the Solar Position Algorithm, estimation of effective irradiance, and modeling of the tracking system and photovoltaic (PV) module. Simulation results confirm that the PSO-optimized PID controller is better than FLC in tracking performance, energy efficiency, and system stability. The PSO-PID system minimizes both azimuthal and elevation tracking errors to obtain improved solar capture efficiency. PSO is faster in convergence speed and better in parameter adjustment compared to traditional methods through traditional Genetic Algorithm (GA) methods. The results confirm that advanced optimization methods have an imperative role in optimizing solar tracking performance to render PSO-PID an efficient next-gen solar energy system.

This paper presents investigations into the development of hybrid control schemes for anti-swaying and input tracking control of a gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, initially a collocated PD-type Fuzzy Logic control is developed for cart position control of gantry crane. This is then extended to incorporate a non-collocated PID and an input shaper control schemes for anti-swaying control of the system. The positive input shapers with the derivative effects are designed based on the properties of the system. Simulation results of the response of the gantry crane with the controllers are presented in time and frequency domains. The performances of the control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to the PD-type Fuzzy Logic control. Finally, a comparative assessment of the control techniques is presented and discussed.

Este artículo presenta un método de control PI no lineal robusto. Los objetivos planteados para el diseño son: garantizar un balance dinámico de la relación de compromiso entre la robustez y el rendimiento dentro de una región de robustez y lograr que dicho balance se realice en la trayectoria que minimiza la integral del error absoluto. La función no lineal del error empleada es una parábola combinada con no linealidades estáticas de zona muerta y saturación, la cual es sintonizada mediante optimización multiobjetivo con índices de desempeño globales. Con respecto a propuestas anteriores de control PI no lineal, esta es la primera que resuelve el objetivo planteado logrando ser simple e incrementando su funcionalidad, ajuste y aplicabilidad industrial. La eficiencia del método es demostrada a escala de simulación, evaluando su desempeño para el proceso complejo de control de nivel de acero en molde de vaciado continuo. This paper presents a robust nonlinear PI control. The dynamic balance of tradeoff between performance and robustness inside of a robustness region and to guarantee a balance's trayectory that minimize the integrated absolute error are the objectives of the design. A parabolic combined with static non linearity of dead zone and saturation is the nonlinear function used, its tuning has been formulated as a multi-objective optimization problem using global performance indices. With respect to other approaches of nonlinear PI control previously presented, the proposed tool is the first for solving the design's problem considered and is simple while increasing the performance-adjustment and the industrial applicability. A simulationt test for the complex process of mould level control in a steel continuous casting using the new robust nonlinear PI control illustrates the efficiency of this method.

The study analyzes the use of Artificial Neural Networks (ANNs) in automatic voltage regulator (AVR) systems, focusing on their better control and tuning flexibility over PID controllers. This paper explores employing ANNs in AVR systems, which offer more control flexibility than PID controllers. ANN's input, activation function, and output parameters permit more accurate control but complicate customization. An AI-based optimization technique finds the best ANN improvements to improve transient response and system stability. This ANNbased methodology is compared to other AI methods' dynamic performance to prove its usefulness. Pole/zero and Bode analyses assess stability. Finally, the optimized AVR system's resistance to significant component time constant fluctuations shows enhanced performance and stability. Based on the ANN methodology, the proposed method achieves 59.82%, 56.09%, 14.94%, 34.24%, 35.70%, 21.64%, 12.0%, 41.33%, 14.84% and 15.17% less overshoot than differential evolution (DE).

A direct current (DC) motor is used for automotive electronic throttle valves (AETV) to adjust incoming air into the engine's combustion system, which has many advantages such as smooth, fast response, and simplicity. However, high-accuracy tracking control for AETV faces various obstacles because of the nonlinear features, hard identification, and noise. In this paper, a model of the AETV with four states in the form of a state space is developed. Then, a Kalman filter is formulated to eliminate the impact of measurement noise. The Kalman filter gain is obtained via the solve the linear quadratic gaussian (LQG) equation. Next, the optimal control based linear quadratic regulation (LQR) and Kalman filter are presented in which the control gain is constructed by the Riccati equation with the assistance of MATLAB/Simulink software. Finally, simulation studies are conducted to demonstrate the efficiency of the suggested method for the AETV system with other control strategies.

T he growth medium temperature of a bioreactor, in which S.cerevisiae was produced at aerobic condition, was controlled applying adaptive PID technique. Glucose was used as an energy and carbon source in the growth medium, and an exothermic reaction took place as a result of the glucose consumption of the microorganism under aerobic condition. Then the speci c growth rate of the microorganism was inhibited by the increasing growth medium temperature. To maintain the growth medium temperature at its set point which ensures maximum yeast productivity and quality in the bioreactor, non-linear adaptive PID and linear adaptive PID control systems were employed numerically. The bioreactor in which S.cerevisiae yeast was produced under the aerobic condition was considered as a batch system with respect to mass balance. The heat balance between the cooling jacket and the growth medium in the bioreactor was considered as a continuous system with respect to energy. These approximations were taken as a basis to develop the simulation work. In the simulation studies, models for the bioprocess were developed by using mass and energy balance equations and solved by utilizing the Runge-Kutta-Felhberg method. The control algorithm developed was added to the simulated model. For the adaptive PID control system, Non-linear Auto Regressive Moving Average with eXogenous (NARMAX) and Auto Regressive Moving Average with eXogenous (ARMAX) models were used, and relevant algorithms were developed on the basis of these black box models. The coef cients of the polynomials for both type of models were estimated from the relevant identi cation method. It was observed that non-linear adaptive PID control results were better than the results of linear adaptive PID and conventional PID control systems.

Matrice su u srednjoj školi dio obveznog sadržaja jedino u programu za prirodoslovnomatematičke gimnazije te se obraduju u 2. polugodištu 3. razreda. Za navedeni program postoje dva udžbenička kompleta ([1], [2]) te smo prije sastavljanja aktivnosti proučili kako su matrice i prateći sadržaji u njima obradeni. U oba udžbenika obraduje se definicija matrice, primjeri specijalnih matrica, operacije s matricama, inverz matrice drugog i trećeg reda te matrične jednadžbe. U udžbeniku [1], nakon obrade navedenih pojmova izostaje primjena matrica, odnosno ne obraduje se rješavanje sustava Gauss-Jordanovom metodom. Tako učenici ostaju zakinuti za jednu od češćih i važnijih primjena matrica i s pravom si mogu postaviti pitanje: " Čemu matrice uopće služe?". S druge pak strane, u udžbeniku [2], pojam matrice uvodi se i prije same obrade navedenog gradiva, upravo u poglavlju gdje učenici obraduju različite metode rješavanja sustava, poput metode determinante i Gauss-Jordanove metode. Iako je upravo zapisivanje koeficijenata sustava u pravokutnu tablicu, a kasnije i rješavanje sustava koristeći tu tablicu, prikladan motivacijski zadatak u kojem učenici mogu uvidjeti potrebu i smisao uvodenja matrica, u navedenom udžbeniku nije iskorištena ta mogućnost. Naime, učenicima je direktno prezentirano na koji način koeficijente sustava zapisujemo u tablicu, a da ih se nije potaknulo na samostalno razmišljanje zašto je to tako. Iz navedenih razloga, redoslijed i gradivo pokriveno aktivnostima u ovom radu razlikuje se od onog predloženog u srednjoškolskim udžbenicima. Učenicima želimo omogućiti da se najprije upoznaju s matricom kao tablicom za organiziranje podataka, a zatim da postepeno otkrivaju njihova svojstva, što sve s matricama mogu raditi te u kojim nam područjima taj način organiziranja podataka može biti od koristi. Tako će se učenici najprije upoznati s matricama te temeljnim pojmovima vezanim uz njih, a zatim će proučavati osnovne operacije s matricama (zbrajanje, svojstva zbrajanja,

A new NPID (Nonlinear Proportional-Integral-Differential) control algorithm is applied to a class of truck ABS (Anti-lock Brake System) problems. The NPID algorithm combines the advantages of robust control and easy tuning. Simulation results at various situations using TruckSim show that NPID controller has shorter stopping distance and better velocity performance than the conventional PID controller and a loop-shaping controller.

In this paper, an on-line expert autotuner for a class of 2-input-2-output multivariable process control applications is proposed. The autotuning controller, which uses a pattern-recognition technique is designed with a view to its practice.] implementation in multivariable processes. The main ides of the autotuning methodology is to use the observed multiloop responses with reference to the single-loop responses such that proper detuning of the SISO controllers is achieved. Customized identification techniques in SISO and MIMO environments baJed on closed.loop responses are developed for this applic&tion. Simulation results for a range of 2-input.2-output multivariable processes characterized by the P.elative Gain (B.G) and the relative dynamics are used to evaluate the performance of the autotuning controller under different conditions. The time response of the autotuning controller is compared to that of Biggest Log Modulus Tuning (BLT) method with a few distillation column models proposed in the literature.

Předkládaná diplomová práce popisuje návrh a realizaci stacionární jednotky pro mazání hlavy kolejnice. Aplikací TOR maziv na temeno kolejnice dochází k redukci opotřebení a snížení hluku. Nejprve byla provedena a kriticky zhodnocena patentová rešerše, na základě které vznikly požadavky na vyvíjené zařízení – přesnost dávkování malých objemů maziva a vysoká opakovatelnost. Na základě koncepčního návrhu byla vytvořena experimentální aparatura, pomocí níž se ověřil princip nanášení maziva a identifikovaly se parametry nástřiku. Získané výsledky jsou použity při konstrukci finální aplikační jednotky včetně technického zázemí. V rámci diplomové práce vznikly dva užitné vzory.This master’s thesis describes design and realization of a wayside unit for top-of-rail lubrication (TOR). TOR lubricant application causes wear reduction and lower noise emission. Firstly, patent analysis was provided and critically evaluated according to which requirements for developed device were specified – acc...

All reported results in literature indicate that even simple topology optimization problems, such as the compliance problem, have many local optimum points. Besides numerical instabilities associated to the mesh size in the finite element model, different algorithms and initial designs lead to different topologies. This phenomenon is referred to as non-uniqueness. This paper studies the conditions under which linear and nonlinear compliance problems have a unique solution, providing practical insights on the conditions that lead to non-uniqueness. To this end, three different optimization algorithms are used: OC-SIMP, SQP, and a new control-based optimization (CBO) method. The latter one has been developed to solve for nonlinear compliance problems, but it shows its best performance when solving for problems involving uniform distribution, e.g., uniform strain energy density distribution (USEDD). The solution obtained with the USEDD criterion are approximate solutions to the ones wi...

Ever -increasing in climate changing forces to shift to friendly and clean energy alternatives such as renewable energies that their output is usually electricity. oticeable part of these air pollutions is from tailpipe of internal combustion engines. EVs could be parity by conventional Internal Combustion Engine Vehicles (ICEV) in near future. They are simplest way to replace fossil fuel powered vehicles. EVs are relatively cheap, have little environmental impact and are a technology which is available here and now. Using an electronic control board and two power boards, a high power EV drive system was designed and constructed (designed for the vehicles up to 100 kW). The controller uses power IGBT module and microcontroller technology to simultaneously control two DC series motors. The driver controls direction of motion and causes differential speeds of motors relative to steering rod and acceleration pedal position. Driver simulation in MATLAB proved that the required conditions of the problem were satisfied by PID controller; and the optimum values for the control parameters K p , K i and K d were found to be 320, 350 and 40, respectively. The result of simulation for these motors indicated that for start up a high torque is available.

This paper deals with a renewable energy conversion system based on cross-flow water turbines operating in a river stream. Two twin vertical towers, each of which is composed of four such turbines, need to meet an imposed restriction between their angular positions (synchronization) in order to achieve improved hydrodynamic performances. The synchronization is achieved by a control approach, without using any power coupling (mechanical or electrical) between the two towers. As each tower is equipped with a permanent-magnet synchronous generator which delivers electrical power to the grid through a back-to-back power electronics converter, their rotational speeds can be controlled such that to achieve angular position synchronization. Being similar to the phase-locked loop devices used in electronics, the proposed method has been tested on a power hardware-in-the-loop simulator dedicated to cross-flow water turbines and proved good potential for being easily and effectively used in practice due to its simplicity and reliability.

The TAPS is a 2 axis gimbal system designed to provide fine pointing of STS borne instruments. It features center-of-mass instrument mounting and will accommodate instruments of up to 1134 kg (2500 pounds) which fit within a 1.0 by 1.0 by 4.2 meter (40 by 40 by 166 inch) envelope. The TAPS system is controlled by a microcomputer based Control Electronics Assembly (CEA), a Power Distribution Unit (PDU), and a Servo Control Unit (SCU). A DRIRU-II inertial reference unit is used to provide incremental angles for attitude propagation. A Ball Brothers STRAP star tracker is used for attitude acquisition and update.

The TAPS is a 2 axis gimbal system designed to provide fine pointing of STS borne instruments. It features center-of-mass instrument mounting and will accommodate instruments of up to 1134 kg (2500 pounds) which fit within a 1.0 by 1.0 by 4.2 meter (40 by 40 by 166 inch) envelope. The TAPS system is controlled by a microcomputer based Control Electronics Assembly (CEA), a Power Distribution Unit (PDU), and a Servo Control Unit (SCU). A DRIRU-II inertial reference unit is used to provide incremental angles for attitude propagation. A Ball Brothers STRAP star tracker is used for attitude acquisition and update.

In this paper is presented the string definition of distributions. Next, there are defined the elementary distribution step and the composed distributions sign and window. Using this approach, there are defined two complex nonlinear characteristic controllers. The first controller is applied at DC servo drive speed control and the second at water drain process control. The proposed solutions were modeled and validated by simulation with good results. The distributions based solutions solve the proposed problems in a robust and simple manner and can be easily coded using any software or hardware design languages.

The advantages of using artificial intelligence (AI) decision support tools in synergism with low level process controllers or schedulers are investigated in this paper. The development of a modern control and management system for greenhouses used recent advances in software design, and development tools, to provide an open system for rapid program development. To effectively integrate expert system applications in a control and management system, an environment was built that supports all required interfaces between AI applications and the greenhouse management system (GMS). This environment incorporates a native fuzzy knowledge based system (KBS) and a number of procedural control functions, in the GMS, that can effectively interact. The programmable logic controller (PLC) houses all well-known control function blocks, in library form, callable to implement various control loop designs. Functions that have not been foreseen in the PLC control library can be instantly implemented using the open KBS system. The innovative addition of integral initial conditions on a proportional-integral-derivative (PID) controller, for repetitive load switching applications, is an example, demonstrated in this paper. The usefulness of other control blocks such as a self-adjusting Smith predictor is also tested for a real application of a mixing process with long dead time. Synergism of fuzzy decisions and fuzzy controllers, at the supervisory level, with low level process regulators provide adaptive systems, which can optimize both long-term objectives and the short time dynamic responses.

Purpose-This paper aims to propose a reference model based simple strategy for the design of proportional-integral-derivative (PID) controller using frequency response matching for high-order stable, integrating and unstable processes that may have time-delay and non-minimum phase zero. Design/methodology/approach-The reference sensitivity model is designed fulfilling stability conditions of the control system responses such as set-point response, load-disturbance response and noise response along with transient response criteria. The analytical controller thus designed is approximated to a PID controller using a simple formula based on a model-matching technique at low frequency. Findings-PID controllers are designed for examples with varied dynamics taken from the literature, and the performances of the designed control systems are compared with some methods prevalent in the literature to show the efficacy of the proposed work. Overall, the method gives satisfactory set-point, as well as loaddisturbance responses and controller-outputs in all the cases considered. Originality/value-The method is applicable to high-order processes of various monotonic or oscillating dynamics without requiring process reduction. The PID controller designed considering a reference model with suitable criteria ensuring stability and a modified model matching technique, which provides a stable control system for all these high-order processes.

In order for an "artificial pancreas" to become a reality for ambulatory use, a practical closed-loop control strategy must be developed and critically evaluated. In this paper, an improved PID control strategy for blood glucose control is proposed and evaluated in silico using a physiologic model of Howorka et al. . The key features of the proposed control strategy are: (i) a switching strategy for initiating PID control after a meal and insulin bolus; (ii) a novel time-varying setpoint trajectory, (iii) noise and derivative filters to reduce sensitivity to sensor noise, and (iv) a systematic controller tuning strategy. Simulation results demonstrate that proposed control strategy compares favorably to alternatives for realistic conditions that include meal challenges, incorrect carbohydrate meal estimates, changes in insulin sensitivity, and measurement noise.

This paper discusses the design and development of a quad-rotor platform for the International Aerial Robotics Competition (IARC) that is to be held in the summer of 2013. The paper is about the design of a quad-rotor that, in addition to being stable at the time of flight, is able to hover autonomously, recognize and pick objects as per its requirement. A considerable amount of research was done in order to choose methodologies and controlling techniques that would be feasible for the project. A number of achievements have been made, including the design and implementation of different parts of the quad-rotor, such as the power distribution board, controller board, sensors for attitude and height sensing, and wireless communication setups for remote control over-ride purposes. In addition, a pre-fabricated controller board is experimented on and attempts are made to control the quad-rotor wirelessly through a PC, for the sake of using this methodology as a parallel plan (Plan B) fo...

The liquid level automatic control system of a single-capacity water tank is a common industrial process control system, which is widely used in industrial production. Through simulation research, it can effectively ensure the stability of the liquid level of the water tank and meet the requirements of liquid level control in the production process. In this paper, the automatic control system model of a single-volume water tank level is established by MATLAB/Simulink, and its control system is studied and compared. Firstly, the physical modeling of the control system is carried out to obtain its transfer function, which is the basis for subsequent simulation. Then, the influence of Proportional–Integral–Derivative (PID) control parameters on the dynamic characteristic curve of the system is understood, and then the characteristics and application occasions of fuzzy PID control and Particle-Swarm-Optimization (PSO) control are deduced. Finally, the system dynamic characteristic curves of PID control, fuzzy PID control, and PSO control are compared and analyzed. The simulation results show that PID control, fuzzy PID control, and PSO control are suitable for different occasions, and appropriate control strategies can be adopted according to different control system conditions.

This paper presents the design and implementation of an inverted pendulum and cart. The platform was built by two students under a one semester curricular unit targeted on the design of electronic systems. The developed mechanical parts of the system were designed using CAD software. A PID control algorithm was implemented. Some experimental tests were performed and the corresponding results are presented. Index Terms — Design, Control Application, Inverted Pendulum, Monitoring, PID control.