scholarly journals A generalized PID controller for high-order dynamical systems

2021 ◽  
Vol 72 (2) ◽  
pp. 119-124
Author(s):  
Günyaz Ablay
Keyword(s):  
Dynamical Systems ◽  
Control Method ◽  
Controller Design ◽  
Design Method ◽  
Output Feedback Control ◽  
Design Procedure ◽  
Control Design ◽  
Polynomial Equation ◽  
High Order ◽  
Mechatronic Systems

Abstract This paper introduces a generalized PID type controller for controlling high-order dynamical systems. An optimal generalized PID control design method is developed to provide a simplified high-order output feedback control design procedure and tunable response characteristics. The controller design procedure is reduced to the specification of the desired natural frequency and the solution of a polynomial equation. The control method is capable of providing a desired control performance under set-point and disturbance variations. The performance of the proposed control method is implemented on some unstable and nonlinear mechatronic systems to illustrate the robustness, e ectiveness and feasibility of the method.

INTEGRATED PID CONTROLLER DESIGN FOR AN UNMANNED AERIAL VEHICLE WITH STATIC STABILITY

2013 ◽  
Vol 54 (3) ◽  
pp. 200-215 ◽  
Author(s):  
R. LI ◽  
Y. J. SHI ◽  
H. L. XU
Keyword(s):  
Fuzzy Control ◽  
Unmanned Aerial Vehicle ◽  
Pid Controller ◽  
Control Method ◽  
Controller Design ◽  
Design Method ◽  
Design Procedure ◽  
Static Stability ◽  
Aerial Vehicle ◽  
Rolling Mode

AbstractThis paper presents an integrated guidance and control (IGC) design method for an unmanned aerial vehicle with static stability which is described by a nonlinear six-degree-of-freedom (6-DOF) model. The model is linearized by using small disturbance linearization. The dynamic characteristics of pitching mode, rolling mode and Dutch rolling mode are obtained by analysing the linearized model. Furthermore, an IGC design procedure is also proposed in conjunction with a proportional–integral–derivative (PID) control method and fuzzy control method. A PID controller is applied in the control loop of the elevator and aileron, and the attitude angle and attitude angular velocity are used as compensation feedback, giving a simple and low-order control law. A fuzzy control method is applied to perform the cross-coupling control of rolling and yawing. Finally, the 6-DOF simulation shows the effectiveness of the developed method.

Multi Mode Vibration Control and Broder Band Motion Control of Three Dimensional Shaking Table

2005 ◽  
Author(s):  
Tsunehiro Wakasugi ◽  
Toru Watanabe ◽  
Kazuto Seto
Keyword(s):  
Vibration Control ◽  
Controller Design ◽  
Design Method ◽  
Three Dimensional ◽  
Design Procedure ◽  
Equation System ◽  
State Equation ◽  
Shaking Table ◽  
Mode Vibration ◽  
And Control

This paper deals with a new system design method for motion and vibration control of a three-dimensional flexible shaking table. An integrated modeling and controller design procedure for flexible shaking table system is presented. An experimental three-dimensional shaking table is built. “Reduced-Order Physical Model” procedure is adopted. A state equation system model is composed and a feedback controller is designed by applying LQI control law to achieve simultaneous motion and vibration control. Adding a feedforward, two-degree-of-freedom control system is designed. Computer simulations and control experiments are carried out and the effectiveness of the presented procedure is investigated. The robustness of the system is also investigated.

A New Iterative Identification and Control Method of Closed-Loop Power System Based on Ambient Signals

2015 ◽  
Vol 798 ◽  
pp. 261-265
Author(s):  
Miao Yu ◽  
Chao Lu
Keyword(s):  
Power System ◽  
Closed Loop ◽  
Control Method ◽  
Controller Design ◽  
Design Method ◽  
Stability Margin ◽  
System Stability ◽  
Iterative Identification ◽  
Effective Performance ◽  
And Control

Identification and control are important problems of power system based on ambient signals. In order to avoid the model error influence of the controller design, a new iterative identification and control method is proposed in this paper. This method can solve model set and controller design of closed-loop power system. First, an uncertain model of power system is established. Then, according to the stability margin of power system, stability theorem is put forward. And then controller design method and the whole algorithm procedure are given. Simulation results show the effective performance of the proposed method based on the four-machine-two-region system.

scholarly journals Robust guaranteed performance PID controller design for non-minimum phase plants

2018 ◽  
Vol 69 (2) ◽  
pp. 117-127
Author(s):  
Štefan Bucz ◽  
Alena Kozáková ◽  
Vojtech Veselý
Keyword(s):  
Time Domain ◽  
Closed Loop ◽  
Controller Design ◽  
Design Method ◽  
Design Procedure ◽  
Uncertain System ◽  
Harmonic Excitation ◽  
Minimum Phase ◽  
Performance Specification ◽  
Gain Margin

AbstractThe paper presents a new original robust PID design method for non-minimum phase plants to achieve closed-loop performance prescribed by the process technologist in terms of settling time and maximum overshoot, respectively. The proposed design procedure has two steps: first, the uncertain system is identified using external harmonic excitation signal with frequency, second, the controller of the nominal system is designed for specified gain margin. A couple of parameters is obtained from the time domain performance specification using quadratic regression curves, the so-called performance Bparabolas so, as to simultaneously satisfy robust closed-loop stability conditions. The main benefits of the proposed method are universal applicability for systems with both fast and slow dominant dynamics as well as performance specification using time domain criteria. The proposed PID design method has been verified on a set of benchmark systems.

Repetitive Controller Design in Parameter Space

2003 ◽  
Vol 125 (1) ◽  
pp. 134-138 ◽  
Author(s):  
Levent Gu¨venc¸
Keyword(s):  
Frequency Domain ◽  
Parameter Space ◽  
Controller Design ◽  
Design Method ◽  
Testing Machine ◽  
Design Procedure ◽  
Controller Parameter ◽  
Performance Specifications ◽  
Material Testing Machine ◽  
Repetitive Controller

A new and simple repetitive controller design procedure in controller parameter space, where the structure of the filters in the repetitive controller are fixed from the start and parameters within these filters are tuned, is presented here. This approach results in simple and physically meaningful controllers that are easily implementable. The design method is based on mapping frequency domain performance specifications into a chosen plane of controller parameters. Sensitivity function magnitude bounds and a relative stability measure are chosen as the frequency domain specifications to be mapped into controller parameter space here. The design method is illustrated numerically in the context of a servohydraulic material testing machine application available in the literature.

Learning control of flexible manipulator with unknown dynamics

2017 ◽  
Vol 37 (3) ◽  
pp. 304-313 ◽  
Author(s):  
Zhiguang Chen ◽  
Chenguang Yang ◽  
Xin Liu ◽  
Min Wang
Keyword(s):  
Control Method ◽  
Controller Design ◽  
Design Method ◽  
Weight Ratio ◽  
Response Speed ◽  
Dynamic Surface Control ◽  
Flexible Manipulator ◽  
Dynamic Surface ◽  
Content Type ◽  
Surface Control

Purpose The purpose of this paper is to study the controller design of flexible manipulator. Flexible manipulator system is a nonlinear, strong coupling, time-varying system, which is introduced elastodynamics in the study and complicated to control. However, due to the flexible manipulator, system has a significant advantage in response speed, control accuracy and load weight ratio to attract a lot of researchers. Design/methodology/approach Since the order of flexible manipulator system is high, designing controller process will be complex, and have a large amount of calculation, but this paper will use the dynamic surface control method to solve this problem. Findings Dynamic surface control method as a controller design method which can effectively solve the problem with the system contains nonlinear and reduced design complexity. Originality/value The authors assume that the dynamic parameters of flexible manipulator system are unknown, and use Radial Basis Function neural network to approach the unknown system, combined with the dynamic surface control method to design the controller.

Guaranteed Cost Output Feedback Control of Fuzzy Systems via LMI Approach

2010 ◽  
Vol 14 (6) ◽  
pp. 567-573 ◽  
Author(s):  
Shusaku Nishikawa ◽  
◽  
Jun Yoneyama
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Fuzzy System ◽  
Design Method ◽  
Fuzzy Model ◽  
Output Feedback Control ◽  
Control Design ◽  
Tuning Parameter ◽  
Guaranteed Cost ◽  
The Stability

This paper is concerned with the stability with guaranteed cost for a fuzzy system with immeasurable premise variables via output feedback. It is well known that Takagi-Sugeno fuzzy model describes a wide class of nonlinear systems especially when its premise variables include immeasurable functions. However, when it comes to output feedback control design of such a fuzzy system, a conventional Parallel Distributed Compensator (PDC) is not feasible because the PDC shares the same immeasurable premise variables as those of a fuzzy system. In this paper, we introduce an output feedback controller with the estimate of the premise variables of an original fuzzy system. We then formulate the stabilization problem with guaranteed cost for a fuzzy system with immeasurable premise variables. Our control design method is based on a set of strict LMI conditions. No tuning parameter is necessary a priori to solve them. The stability with guaranteed cost takes care of not only stabilization but also control performance. Our proposed method attempts to minimize the upper bound of the performance index, which results in the satisfactory trajectories of the system. Finally, numerical examples are given to illustrate our control design method.

New analytical design of the Smith predictor controller for high-order systems

2005 ◽  
Vol 219 (4) ◽  
pp. 271-281 ◽  
Author(s):  
Tao Liu ◽  
Zhonghui Hu ◽  
Rupo Yin ◽  
Xiaoming Xu
Keyword(s):  
Controller Design ◽  
Design Method ◽  
High Order ◽  
Smith Predictor ◽  
Proportional Integral Derivative ◽  
Actual System ◽  
Performance Specification ◽  
Squared Error ◽  
On Line ◽  
System Uncertainties

In this paper, a new analytical Smith predictor (SP) controller design method is proposed for industrial and chemical high-order systems. Firstly, by using the integral-squared-error (ISE) performance specification, the ideally optimal SP controller is analytically derived according to the nominal high-order plant model, which inevitably results in the high-order controller. Then the analytical controller reduction formulae based on the mathematical Maclaurin and Padé expansions are proposed to duplicate it in the form of a low-order controller such as the proportional-integral-derivative (PID). Hence, the difficulty of controller implementation in practice is significantly relieved without pitiful system performance degradation in comparison with many existing methods. At the same time, the control system robust stability is analysed. Accordingly, the on-line tuning rule of the single adjustable parameter of the proposed controller is provided to cope with the actual system uncertainties. Finally, several illustrative simulation examples are included to demonstrate the effectiveness of the proposed method.

A Nonlinear Controller Design Method for Fuel-Injected Automotive Engines

1988 ◽  
Vol 110 (3) ◽  
pp. 313-320 ◽  
Author(s):  
D. Cho ◽  
J. K. Hedrick
Keyword(s):  
Fuel Injection ◽  
Control Method ◽  
Controller Design ◽  
Sliding Mode ◽  
Design Method ◽  
Model Errors ◽  
Nonlinear Controller ◽  
Engine Model ◽  
Automotive Engines ◽  
On Line

A nonlinear, “sliding mode” fuel-injection controller is designed based on a physically motivated, mathematical engine model. The designed controller can achieve a commanded air-to-fuel ratio with excellent transient properties, which offers the potential for improving fuel economy, torque transients, and emission levels. The controller is robust to model errors as well as to rapidly changing maneuvers of throttle and spark advance. The sliding mode control method offers a great potential for future engine control problems, since: it results in a relatively simple control structure that requires little on-line computing and no table lookups; it is robust to model errors and disturbances; and it can be easily adapted to a family of engines.

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