LQR based PI plus PD controller to control the Non-linear process
01 Oct 2016-pp 1-4
TL;DR: The controller architecture of Linear Quadratic Regulator (LQR) based PI plus PD controller is designed and implemented for the level control in the conical tank and it is effective with very low settling time, IAE and ISE.
Abstract: In this article the controller architecture of Linear Quadratic Regulator (LQR) based PI plus PD controller is designed and implemented for the level control in the conical tank. The proposed controller have a linear quadratic regulator to tune the gain parameters k p , k i and k d . The time domain specifications, Integral Absolute Error (IAE) and Integral Square Error (ISE) of level control of nonlinear process obtained using proposed LQR based PI plus PD controller. It is compared with the response obtained with LQR PI controller. The set point tracking experimentation was done with promising results for proposed LQR based PI plus PD controller. The design of proposed controller is very simple and it is effective with very low settling time, IAE and ISE.
Citations
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TL;DR: The FOIMC is a stable controller with the advantages of fractional control such as robustness, flexibility in tuning parameters, and a wide stability margin, and is compared with state-of-the-art technique showing a 35% improvement in the rise time and 100% improved in the peak overshoot of the step response.
13 citations
01 Oct 2017
TL;DR: The objective of this work consist of combining two different control strategies, the IMC structure is used first, with SMC and then with a Linear Quadratic Regulator (LQR) to obtain two controllers.
Abstract: The objective of this work consist of combining two different control strategies. The IMC structure is used first, with SMC and then with a Linear Quadratic Regulator (LQR) to obtain two controllers. The IMC has an ideal structure to design controllers for facing processes with time delay. The combined control structures are applied over a nonlinear system having a variable delay. Finally, a feedforward controller is joined to each previous controller for improving their control performance.
6 citations
Cites methods from "LQR based PI plus PD controller to ..."
...In [7], a LQR controller was design based on combining PI and PD controllers....
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07 Dec 2020
TL;DR: In this paper, a utilizacao of an algoritmo de enxame de particulas for otimizar a sintonia of um controlador PID, aplicado a um aeropendulo, was proposed.
Abstract: Nesse artigo esta sendo proposta a utilizacao de um algoritmo de enxame de particulas para otimizar a sintonia de um controlador PID, aplicado a um aeropendulo. O problema de otimizacao e calculado iterativamente a partir do modelo nao linear do sistema, para tal, foi proposta a formulacao de uma funcao de custo como uma combinacao do criterio ITSE (Integral time Squared Error) e TV (Total Variation) ponderando assim o erro de rastreamento, assim como o esforco de controle. A sintonia resultante foi comparada com um LQR e um PID derivado deste, ambos baseados no modelo do sistema linearizado em um ponto de operacao.
3 citations
Cites background from "LQR based PI plus PD controller to ..."
...O Regulador Linear Quadrático (LQR) é um controlador ótimo clássico e possui diversas formulações para śıntese PID Argelaguet et al. (1997), e Harshavardhana Reddy et al. (2016)....
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References
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TL;DR: In this article, a robust linear quadratic regulator (LQR) was proposed to stabilize the pendulum in upright position and make the cart system to track the given reference signal even in the presence of disturbance.
138 citations
Additional excerpts
...al [4] proposed a design ofa robust LQR controller for stabilizing and trajectory tracking of inverted pendulum....
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TL;DR: The impact of fractional order (as any arbitrary real order) cost function on the LQR tuned PID control loops is highlighted in the present work, along with the achievable cost of control.
112 citations
16 Dec 1998
TL;DR: This paper presents a new optimal PI/PID controller tuning algorithms for low-order plus time delay processes via the LQR approach, which leads to the desired natural frequency and damping ratio of the closed-loop system.
Abstract: This paper presents a new optimal PI/PID controller tuning algorithms for low-order plus time delay processes via the LQR approach. A new criterion for selection of the Q and R matrices is proposed, which leads to the desired natural frequency and damping ratio of the closed-loop system. The examples with various dynamics are included to demonstrate the effectiveness of the tuning algorithms and show significant improvement over the existing PID tuning methods.
71 citations
01 Jan 2009
TL;DR: A time-optimal control for set point changes and an adaptive control for process parameter variations using neural network for a non-linear conical tank level process are proposed and the results prove the effectiveness of the proposed optimal and adaptive control schemes.
Abstract: A time-optimal control for set point changes and an adaptive control for process parameter variations using neural network for a non-linear conical tank level process are proposed in this work. Time-optimal level control was formulated using dynamic programming algorithm and basic properties of the solutions were analysed. It was found that the control is of bang-bang type and there is only one switching. In this method, a mathematical step-by-step procedure is used to obtain the optimal valve position path with one switching and is trained by neural network, based on the back-propagation algorithm. The dynamic programming procedure allows the set point to be reached as fast as possible without overshoot. An adaptive system is also designed and proved to be useful in adjusting the trained parameter of the dynamic programming based neural network for the process parameter variations. A prototype of conical tank level system has been built and implementation of dynamic programming based neural network control algorithm for set point changes and implementation of adaptive control for process parameter variations are performed. Finally, the performance is compared with conventional control. The results prove the effectiveness of the proposed optimal and adaptive control schemes.
61 citations
"LQR based PI plus PD controller to ..." refers background in this paper
...The disadvantages of the conventional controllers are having large settling time, more peak overshoot [1]....
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TL;DR: An optimal trade-off design for fractional order (FO)-PID controller is proposed with a Linear Quadratic Regulator (LQR) based technique using two conflicting time domain objectives.
Abstract: An optimal trade-off design for fractional order (FO)-PID controller is proposed with a Linear Quadratic Regulator (LQR) based technique using two conflicting time domain objectives. A class of delayed FO systems with single non-integer order element, exhibiting both sluggish and oscillatory open loop responses, have been controlled here. The FO time delay processes are handled within a multi-objective optimization (MOO) formalism of LQR based FOPID design. A comparison is made between two contemporary approaches of stabilizing time-delay systems withinLQR. The MOO control design methodology yields the Pareto optimal trade-off solutions between the tracking performance and total variation (TV) of the control signal. Tuning rules are formed for the optimal LQR-FOPID controller parameters, using median of the non-dominated Pareto solutions to handle delayed FO processes.
31 citations