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Showing papers on "PID controller published in 2008"


Journal ArticleDOI
TL;DR: In this article, a method for tuning the PI λ D μ controller is proposed to fulfill five different design specifications, including gain crossover frequency, phase margin, and iso-damping property of the system.

881 citations


01 Jan 2008
TL;DR: In this article, the authors used the Newton-Euler formalism to model the dynamic system of a quadrotor helicopter and evaluated the robustness of the control algorithms with a Matlab-Simulink simulator.
Abstract: This thesis work focused on the study of a quadrotor helicopter. The dynamic system modelling and the control algorithm evaluation were carried out. To test the results, a simulator and a real platform were developed. The Newton-Euler formalism was used to model the dynamic system. Particular attention was given to the group composed of the DC-motor, the gear box and the propeller which needed also the estimation of aerodynamic lift and torque to reach better accuracy. PID control algorithms were compared. The first stage tests were performed on a simulated model where it was easy to evaluate the performance with a mathematical approach. The second stage tests were carried out on the quadrotor platform to evaluate the behavior of the real system. A simulator based on Matlab-Simulink was developed. With this program it was possible to test the accuracy of the model and the robustness of the control algorithms. Furthermore a 3D graphic output and a joystick interface made easier the testability and the observability of the system. A quadrotor platform was developed. The electronics was composed of a Micro Control Unit (MCU) interfaced with several devices: the power supply, the receiving unit, the DC-motor power boards, the Inertial Measurement Unit (IMU), the SONAR and the IR modules. Thanks to these devices and the MCU software, both guided and autonomous flights were possible. (Less)

412 citations


Book
07 Feb 2008
TL;DR: The CtrlLAB tool as discussed by the authors is a feedback control system analysis and design tool for MATLAB functions that can be used to analyze feedback control systems. But it is not suitable for the analysis of linear control systems and does not support simulation of nonlinear systems.
Abstract: Preface 1. Introduction to feedback control 2. Mathematical models of feedback control systems 3. Analysis of Linear control systems 4. Simulation analysis of nonlinear systems 5. Model based controller design 6. PID controller design 7. Robust control systems design 8. Fractional-order controller - an introduction Appendix. CtrlLAB: a feedback control system analysis and design tool Bibliography Index of MATLAB functions Index.

370 citations


Book
01 Jan 2008
TL;DR: The design of Multi-Loop and Multivariable PID Controllers and Restricted Structure Optimal Control and Predictive PID Control are studied.
Abstract: PID Control Technology.- Some PID Control Fundamentals.- On-line Model-Free Methods.- Automatic PID Controller Tuning - the Nonparametric Approach.- Relay Experiments for Multivariable Systems.- Phase-Locked Loop Methods.- Phase-Locked Loop Methods and PID Control.- Process Reaction Curve and Relay Methods Identification and PID Tuning.- Fuzzy Logic and Genetic Algorithm Methods in PID Tuning.- Tuning PID Controllers Using Subspace Identification Methods.- Design of Multi-Loop and Multivariable PID Controllers.- Restricted Structure Optimal Control.- Predictive PID Control.

294 citations


Journal ArticleDOI
TL;DR: CCA, a novel socio‐politically inspired optimization strategy, is used to tune the parameters of a multivariable PID controller for a typical distillation column process.
Abstract: Purpose – This paper aims to describe colonial competitive algorithm (CCA), a novel socio‐politically inspired optimization strategy, and how it is used to solve real world engineering problems by applying it to the problem of designing a multivariable proportional‐integral‐derivative (PID) controller Unlike other evolutionary optimization algorithms, CCA is inspired from a socio‐political process – the competition among imperialists and colonies In this paper, CCA is used to tune the parameters of a multivariable PID controller for a typical distillation column processDesign/methodology/approach – The controller design objective was to tune the PID controller parameters so that the integral of absolute errors, overshoots and undershoots be minimized This multi‐objective optimization problem is converted to a mono‐objective one by adding up all the objective functions in which the absolute integral of errors is emphasized to be reduced as long as the overshoots and undershoots remain acceptableFindin

272 citations


Journal ArticleDOI
TL;DR: In this paper, a general impedance control scheme is adopted, which encompasses a centralized impedance control strategy aimed at conferring compliant behavior at the object level, and a decentralized impedance control, enforced at the end-effector level, aimed at avoiding large internal loading of the object.
Abstract: In this paper, the problem of impedance control of dual-arm cooperative manipulators is studied. A general impedance control scheme is adopted, which encompasses a centralized impedance control strategy, aimed at conferring a compliant behavior at the object level, and a decentralized impedance control, enforced at the end-effector level, aimed at avoiding large internal loading of the object. Remarkably, the mechanical impedance behavior is defined in terms of geometrically consistent stiffness. The overall control scheme is based on a two-loop arrangement, where a simple proportional integral derivative inner motion loop is adopted for each manipulator, while an outer loop, using force and moment measurements at the robots wrists, is aimed at imposing the desired impedance behaviors. The developed control scheme is experimentally tested on a dual-arm setup composed of two 6-DOF industrial manipulators carrying a common object. The experimental investigation concerns the four different controller configurations that can be achieved by activating/deactivating the single impedance controllers.

247 citations


Journal ArticleDOI
TL;DR: An analog fractional order PIλ controller, using a circuit element with fractional-order impedance, a Fractor (patent pending), was demonstrated in both a simple temperature control application and a more complex motor controller as discussed by the authors.
Abstract: An analog fractional order PIλ controller, using a circuit element with fractional order impedance, a Fractor (patent pending), is demonstrated in both a simple temperature control application and a more complex motor controller. The performance improvement over a standard PI controller was notable in both reduction of overshoot and decreased time to stable temperature, while retaining long term stability. In the motor controller, set point accuracy was considerably improved over conventional control. The modification of the standard controller to a fractional order controller was as simple as replacing the integrator capacitor with a Fractor. Mixing (i.e., hybridization) of digital and analog control was demonstrated.

246 citations


Journal ArticleDOI
TL;DR: This paper proposes a novel tuning strategy for robust proportional-integral-derivative (PID) controllers based on the augmented Lagrangian particle swarm optimization (ALPSO) and is evaluated by several simulation examples, which demonstrate that the proposed approach works well to obtain PID controller parameters satisfying the multiple H ∞ performance criteria.

217 citations


Journal ArticleDOI
TL;DR: In this article, a nonlinear model of an underactuated six degrees of freedom (6 DOF) quadrotor helicopter is derived on the basis of the Newton-Euler formalism.

216 citations


Journal ArticleDOI
TL;DR: In this paper, the authors proposed a proximate time-optimal digital (PTOD) controller, which is a combination of a constant-frequency PWM controller employing a linear PID compensator close to a reference point, and a linear or nonlinear switching surface controller (SSC) away from the reference, together with smooth transitions between the two.
Abstract: This paper introduces an approach to near time-optimal control for synchronous buck dc-dc converters. The proposed proximate time-optimal digital (PTOD) controller is a combination of a constant-frequency pulsewidth modulation (PWM) controller employing a linear PID compensator close to a reference point, and a linear or nonlinear switching surface controller (SSC) away from the reference, together with smooth transitions between the two. A hybrid capacitor current estimator enables switching surface evaluation and eliminates the need for current sensing. The SSC, which is implemented as a small Verilog HDL module, can be easily added to an existing digital PWM controller to construct the PTOD controller. In steady state, the controller operates exactly the same as a standard constant-frequency PWM controller with a linear PID compensator. Simulation and experimental results are shown for a 6.5 V-to-1.3 V, 10A synchronous buck converter.

211 citations


Proceedings ArticleDOI
06 Apr 2008
TL;DR: In this article, a fuzzy logic pitch angle controller is developed in which it does not need well known about the system and the mean wind speed is used to compensate the non-linear sensitivity.
Abstract: Pitch angle control is the most common means for adjusting the aerodynamic torque of the wind turbine when wind speed is above rated speed and various controlling variables may be chosen, such as wind speed, generator speed and generator power. As conventional pitch control usually use PI controller, the mathematical model of the system should be known well. A fuzzy logic pitch angle controller is developed in this paper, in which it does not need well known about the system and the mean wind speed is used to compensate the non-linear sensitivity. The fuzzy logic control strategy may have the potential when the system contains strong non-linearity, such as wind turbulence is strong, or the control objectives include fatigue loads. The design of the fuzzy logic controller and the comparisons with conversional pitch angle control strategies with various controlling variables are carried out. The simulation shows that the fuzzy logic controller can achieve better control performances than conventional pitch angle control strategies, namely lower fatigue loads, lower power peak and lower torque peak.

Journal ArticleDOI
TL;DR: 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.
Abstract: In order for an "artificial pancreas" to become a reality for ambulatory use, a practical closed-loop control strategy must be developed and validated. In this paper, an improved PID control strategy for blood glucose control is proposed and critically evaluated in silico using a physiologic model of Hovorka et al. The key features of the proposed control strategy are: 1) a switching strategy for initiating PID control after a meal and insulin bolus; 2) a novel time-varying setpoint trajectory; 3) noise and derivative filters to reduce sensitivity to sensor noise; and 4) a practical 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.

Journal ArticleDOI
TL;DR: It is shown that the complete set of stabilizing proportional-integral-derivative and first-order controllers for a finite dimensional linear time-invariant plant can be calculated directly from the frequency response (Nyquist/Bode) data P(jomega) for omega epsi [0, infin).
Abstract: The main focus of this paper is on direct data driven synthesis and design of controllers. We show that the complete set of stabilizing proportional-integral-derivative (PID) and first-order controllers for a finite dimensional linear time-invariant plant, possibly cascaded with a delay, can be calculated directly from the frequency response (Nyquist/Bode) data P(jomega) for omega epsi [0, infin) without the need of producing an identified analytical model. It is also shown that complete sets achieving guaranteed levels of performance measures such as gain margin, phase margin, and Hinfin norms can likewise be calculated directly from only Nyquist/Bode data. The solutions have important new features. For example it is not necessary to know the order of the plant or even the number of left half plane or right half plane poles or zeros. The solution also identifies, in the case of PID controllers an exact low frequency band over which the plant data must be known with accuracy and beyond which the plant information may be rough or approximate. These constitute important new guidelines for identification when the latter is to be used for control design. The model free approach to control synthesis and design developed here is an attractive complement to modern and post modern model based design methods which require complete information on the plant and generally produce a single optimal controller. A discussion is included, with illustrative example, of the sharp differences between model-free and model based approaches when computing sets of stabilizing controllers. For example, it is shown, that the identified model of a high order system can be non-PID stabilizable whereas the original data indicates it is PID stabilizable. The results given here are also a significant improvement over classical control loop-shaping approaches since we obtain complete sets of controllers achieving the design specifications. It can enhance fuzzy and neural approaches which are model free but cannot guarantee stability and performance. Finally, these results open the door to adaptive, model free, fixed order designs of real world systems.

Proceedings ArticleDOI
25 Jun 2008
TL;DR: The main tool is an online numerical differentiator, which is based on easily implementable fast estimation and identification techniques, which demonstrates the efficiency of the method when compared to more classic PID regulators.
Abstract: Intelligent PID controllers, or i-PID controllers, are PID controllers where the unknown parts of the plant, which might be highly nonlinear and/or time-varying, are taken into account without any modeling procedure. Our main tool is an online numerical differentiator, which is based on easily implementable fast estimation and identification techniques. Several numerical experiments demonstrate the efficiency of our method when compared to more classic PID regulators.

Proceedings ArticleDOI
12 Jul 2008
TL;DR: Simulation examples as well as comparisons of DE with two other state-of-the-art optimization techniques over the same problems demonstrate the superiority of the proposed approach especially for actuating fractional order plants.
Abstract: Differential Evolution (DE) has recently emerged as a simple yet very powerful technique for real parameter optimization. This article describes an application of DE for the design of Fractional-Order Proportional-Integral-Derivative (FOPID) Controllers involving fractional order integrator and fractional order differentiator. FOPID controllers' parameters are composed of the proportionality constant, integral constant, derivative constant, derivative order and integral order, and its design is more complex than that of conventional integer order PID controller. Here the controller synthesis is based on user-specified peak overshoot and rise time and has been formulated as a single objective optimization problem. In order to digitally realize the fractional order closed loop transfer function of the designed plant, Tustin operator-based CFE (continued fraction expansion) scheme was used in this work. Simulation examples as well as comparisons of DE with two other state-of-the-art optimization techniques (Particle Swarm Optimization and Bacterial Foraging Optimization Algorithm) over the same problems demonstrate the superiority of the proposed approach especially for actuating fractional order plants.

Journal ArticleDOI
01 Sep 2008
TL;DR: Computer simulations show that the proposed control scheme conquers system nonlinearities and influence between two rotors successfully and leads chromosomes to converge to optimal solutions more quickly in a complicated hyperplane.
Abstract: This correspondence presents a new approach that utilizes evolutionary computation and proportional-integral differential (PID) control to a multi-input multioutput (MIMO) nonlinear system. This approach is demonstrated through a laboratory helicopter called the twin rotor MIMO system (TRMS). The goals of control are to stabilize the TRMS in significant cross-couplings, reach a desired position, and track a specified trajectory efficiently. The proposed control scheme includes four PID controllers with independent input. In order to reduce total error and control energy, all parameters of the controller are obtained by a real-value-type genetic algorithm (RGA) with a system performance index as the fitness function. The system performance index was applied to the integral of time multiplied by the square error criterion to build a suitable fitness function in the RGA. We also investigated a new method for the RGA to solve more than ten parameters in the control scheme. The initial search range of the RGA was obtained by a nonlinear control design (NCD) technique. The NCD provided a narrow initial search range for the RGA. This new method led chromosomes to converge to optimal solutions more quickly in a complicated hyperplane. Computer simulations show that the proposed control scheme conquers system nonlinearities and influence between two rotors successfully.

Journal ArticleDOI
TL;DR: In this paper, a motion control and stability analysis of a two-wheeled vehicle (TWV) is presented, where the TWV is driven by two independent wheel motors, upon which a vehicle body is mounted.

Journal ArticleDOI
TL;DR: This communication addresses the problem of tuning a PID controller for step response using a First Order Plus Time Delay model and aims to achieve a step response specification while taking into account robustness considerations.

Journal ArticleDOI
TL;DR: An improved auto-tuning scheme is presented for Ziegler-Nichols tuned PI controllers (ZNPICs) with a view to improving the transient response, the proportional and integral gains of the proposed controller are continuously modified based on the current process trend.
Abstract: Ziegler-Nichols tuned PI and PID controllers are usually found to provide poor performances for high-order and nonlinear systems. In this study, an improved auto-tuning scheme is presented for Ziegler-Nichols tuned PI controllers (ZNPICs). With a view to improving the transient response, the proportional and integral gains of the proposed controller are continuously modified based on the current process trend. The proposed controller is tested for a number of high-order linear and nonlinear dead-time processes under both set-point change and load disturbance. It exhibits significantly improved performance compared to ZNPIC, and Refined Ziegler-Nichols tuned PI controller (RZNPIC). Robustness of the proposed scheme is established by varying the controller parameters as well as the dead-time of the process under control.

Journal ArticleDOI
TL;DR: A new model for shape memory alloy (SMA) actuators based on the physics of the process is described and control strategies using the model are developed, showing fast and accurate control of the strain in the SMA actuator.
Abstract: This brief describes a new model for shape memory alloy (SMA) actuators based on the physics of the process and develops control strategies using the model. The model consists of three equations - the temperature dynamics described by Joules heating-convectional cooling, the mole fraction distribution with temperature given by statistics to describe a two state system, and a constitutive equation relating the changes in temperature and mole fraction to the stress and strain induced in the SMA. This model is used to develop two control schemes for controlling the strain in an SMA actuator. The first control scheme describes a gain-scheduled proportional-integral (PI) controller, the gains of which are obtained by means of linear quadratic regulator (LQR) optimization. The second control scheme is an Hinfin loop-shaping controller using normalized coprime stabilization which ensures robust stability by minimizing the effect of unmodeled dynamics at high frequencies. Simulation and experimental results show fast and accurate control of the strain in the SMA actuator for both control schemes.

Journal ArticleDOI
TL;DR: In this article, a new systematic tuning method with a new structure to design a robust PID load frequency controller for multimachine power systems is presented, which is mainly based on a maximum peak resonance specification that is graphically supported by the Nichols chart.

Journal ArticleDOI
TL;DR: Experimental results show that the proposed hybrid fuzzy PID controller produces superior control performance than the conventional PID controllers, particularly in handling nonlinearities and external disturbances.
Abstract: This paper presents an integrated environment for the rapid prototyping of a robust fuzzy proportional-integral-derivative (PID) controller that allows rapid realization of novel designs. Both the design of the fuzzy PID controller and its integration with the classical PID in a global control system are developed. The architecture of the fuzzy PID controller is basically composed of three parallel fuzzy subcontrollers. Then, the parallel subcontrollers are grouped together to form the overall fuzzy PID controller. The fuzzy proportional, integral, and derivative gains are direct output from the parallel fuzzy subcontrollers and are derived in the error domain. Thus, the proposed architecture presents an alternative to control schemes employed so far. The integrated controller is formulated and implemented in real time, using the speed control of a brushless drive system as a test bed. The design, analysis, and implementation stages are carried out entirely using a dSPACE DS1104 digital-signal-processor-based real-time data acquisition control system and MATLAB/Simulink environment. Experimental results show that the proposed hybrid fuzzy PID controller produces superior control performance than the conventional PID controllers, particularly in handling nonlinearities and external disturbances.

Journal ArticleDOI
TL;DR: The experimental results suggest the likelihood of controlling untethered microdevices or robots equipped with a ferromagnetic core inside complex pathways in the human body.
Abstract: This paper shows that even a simple proportional-integral-derivative (PID) controller can be used in a clinical MRI system for real-time navigation of a ferromagnetic bead along a predefined trajectory. Although the PID controller has been validated in vivo in the artery of a living animal using a conventional clinical MRI platform, here the rectilinear navigation of a ferromagnetic bead is assessed experimentally along a two-dimensional (2D) path as well as the control of the bead in a pulsatile flow. The experimental results suggest the likelihood of controlling untethered microdevices or robots equipped with a ferromagnetic core inside complex pathways in the human body.

Proceedings ArticleDOI
12 Jul 2008
TL;DR: A new algorithm for PID controller tuning based on a combination of the foraging behavior of E coli bacteria foraging and Particle Swarm Optimization (PSO) to get better optimization values.
Abstract: Proportional integral derivative (PID) controller tuning is an area of interest for researchers in many disciplines of science and engineering. This paper presents a new algorithm for PID controller tuning based on a combination of the foraging behavior of E coli bacteria foraging and Particle Swarm Optimization (PSO). The E coli algorithm depends on random search directions which may lead to delay in reaching the global solution. The PSO algorithm may lead to possible entrapment in local minimum solutions. This paper proposed a new algorithm Bacteria Foraging oriented by PSO (BF-PSO). The new algorithm is proposed to combines both algorithms' advantages in order to get better optimization values. The proposed algorithm is applied to the problem of PID controller tuning and is compared with conveniently Bacterial Foraging algorithm and Particle swarm optimization.

Journal ArticleDOI
TL;DR: In this article, the decoupling control of a twin rotor multi-input-multi-output (MIMO) system is studied and proposed to apply robust deadbeat control technique to this nonlinear system.
Abstract: The decoupling control of a twin rotor multi-input-multi-output (MIMO) system is studied and proposed to apply robust deadbeat control technique to this nonlinear system. First, the nonlinear problem is identified and system model is developed. Then, it is shown that the system is able to be decoupled into two single-input-single-output (SISO) systems, and the cross couplings can be considered as disturbances to each other. Finally, a robust deadbeat control scheme is applied to the two SISO systems and a controller is designed for each of them. This design is evaluated in simulations, and the final result is tested in a twin rotor MIMO system. Comparing with a traditional system with two proportional, integral and derivative (PID) controllers, this method is easy to follow, and the results show that the proposed scheme has less overshoot, shorter settling time and is more robust to cross-coupling disturbances.

Posted Content
TL;DR: This paper attempts to study the behavior of fractional PID controller vis-a-vis that of its integer-order counterpart and demonstrates the superiority of the former to the latter and carries out a simulation that illustrates the effectiveness of the proposed approach especially for realizing fractional-order plants.
Abstract: Particle swarm optimization (PSO) is extensively used for real parameter optimization in diverse fields of study. This paper describes an application of PSO to the problem of designing a fractional-order proportional-integral-derivative (FOPID) controller whose parameters comprise proportionality constant, integral constant, derivative constant, integral order (lambda) and derivative order (delta). The presence of five optimizable parameters makes the task of designing a FOPID controller more challenging than conventional PID controller design. Our design method focuses on minimizing the Integral Time Absolute Error (ITAE) criterion. The digital realization of the deigned system utilizes the Tustin operator-based continued fraction expansion scheme. We carry out a simulation that illustrates the effectiveness of the proposed approach especially for realizing fractional-order plants. This paper also attempts to study the behavior of fractional PID controller vis-a-vis that of its integer order counterpart and demonstrates the superiority of the former to the latter.

Journal ArticleDOI
TL;DR: In this paper, an analytical design for a PID controller cascaded with a first order lead/lag filter is proposed for integrating and first order unstable processes with time delay, which has a single tuning parameter to adjust the performance and robustness of the controller.

Journal ArticleDOI
TL;DR: In this article, a dual-purpose compliant toolhead is presented for modeling and control of an automated polishing/deburring process that utilizes a pneumatic spindle that can be extended and retracted by three actuators to provide tool compliance.
Abstract: In this paper, a new approach is presented for modeling and control of an automated polishing/ deburring process that utilizes a dual-purpose compliant toolhead. This toolhead has a pneumatic spindle that can be extended and retracted by three pneumatic actuators to provide tool compliance. By integrating a pressure sensor and a linear encoder, this toolhead can be used for polishing and deburring. For the polishing control, the tool pressure is pre-planned based on the given part geometry, and a PID controller is applied for pressure tracking though pressure sensing. For the deburring control, another PID controller is applied to regulate the tool length through tool extension sensing. The two control methods have been tested and implemented on a polishing/deburring robot, and the experiment results demonstrate the effectiveness of the presented methods.

Journal ArticleDOI
TL;DR: In this article, a robust PID control scheme for the permanent magnet synchronous motor (PMSM) using a genetic searching approach is proposed, where a simple genetic algorithm can be obtained such that the robust stability for the closed-loop system is guaranteed, the tracking performance is minimized subject to certain related cost function, and the disturbance rejection ability (H ∞ performance) subject to a prescribed attenuation level.

Journal ArticleDOI
TL;DR: In this article, the authors investigated the control problem of SMA actuators in both simulation and experiment, and proposed a closed loop PID control strategy to minimize the mean squared error between desired output displacement and simulated output.