The Experts below are selected from a list of 198 Experts worldwide ranked by ideXlab platform

Shunpeng Shih - One of the best experts on this subject based on the ideXlab platform.

  • pid controller design of nonlinear systems using an improved particle swarm optimization approach
    Communications in Nonlinear Science and Numerical Simulation, 2010
    Co-Authors: Weider Chang, Shunpeng Shih
    Abstract:

    Abstract In this paper, an improved particle swarm optimization is presented to search for the optimal PID controller Gains for a class of nonlinear systems. The proposed algorithm is to modify the velocity formula of the general PSO systems in order for improving the searching efficiency. In the improved PSO-based nonlinear PID control system design, three PID control Gains, i.e., the proportional Gain K p , integral Gain K i , and Derivative Gain K d are required to form a parameter vector which is called a particle. It is the basic component of PSO systems and many such particles further constitute a population. To derive the optimal PID Gains for nonlinear systems, two principle equations, the modified velocity updating and position updating equations, are employed to move the positions of all particles in the population. In the meanwhile, an objective function defined for PID controller optimization problems may be minimized. To validate the control performance of the proposed method, a typical nonlinear system control, the inverted pendulum tracking control, is illustrated. The results testify that the improved PSO algorithm can perform well in the nonlinear PID control system design.

Cem Onat - One of the best experts on this subject based on the ideXlab platform.

  • PID Tuning Method for Integrating Processes Having Time Delay and Inverse Response
    IFAC-PapersOnLine, 2018
    Co-Authors: M.m. Ozyetkin, Cem Onat
    Abstract:

    Abstract In this paper, a PID tuning method for integrating processes having time delay and inverse response is presented. The method is based on the stability boundary locus method and geometrical center (WGC) approach. The systematic procedure of the method is first to obtain the stability region in the PI controller parameters (proportional Gain: kp and integral Gain: ki) plane according to Derivative Gain (kd) using the stability boundary locus method and then to find the weighted geometrical center point of this region. The WGC controllers are obtained by using different values of kd. Simulation examples have demonstrated that PID controller designed by using the proposed method gives good results.

  • A new tuning method for PI λ D μ controller
    2009
    Co-Authors: Celaleddin Yeroglu, Cem Onat
    Abstract:

    The paper presents development of a new tuning method for fractional order PID controller for the systems which have integer order transfer functions. All the parameters of the controller, namely proportional Gain k p , integral Gain k i , Derivative Gain k d , fractional order of integrator λ and fractional order of differentiator μ can be obtained by using this method. It is clearly shown that the fractional order controller, which the parameters obtained by the proposed method, gives better response than the integer order one for the same system.

  • A New Tuning Method for PID Controller
    2009
    Co-Authors: Celaleddin Yeroglu, Cem Onat
    Abstract:

    The paper presents development of a new tuning method for fractional order PID controller for the systems which have integer order transfer functions. All the parameters of the controller, namely proportional Gain kp, integral Gain ki, Derivative Gain kd, fractional order of integrator λ and fractional order of differentiator μ can be obtained by using this method. It is clearly shown that the fractional order controller, which the parameters obtained by the proposed method, gives better response than the integer order one for the same system.

Weider Chang - One of the best experts on this subject based on the ideXlab platform.

  • pid controller design of nonlinear systems using an improved particle swarm optimization approach
    Communications in Nonlinear Science and Numerical Simulation, 2010
    Co-Authors: Weider Chang, Shunpeng Shih
    Abstract:

    Abstract In this paper, an improved particle swarm optimization is presented to search for the optimal PID controller Gains for a class of nonlinear systems. The proposed algorithm is to modify the velocity formula of the general PSO systems in order for improving the searching efficiency. In the improved PSO-based nonlinear PID control system design, three PID control Gains, i.e., the proportional Gain K p , integral Gain K i , and Derivative Gain K d are required to form a parameter vector which is called a particle. It is the basic component of PSO systems and many such particles further constitute a population. To derive the optimal PID Gains for nonlinear systems, two principle equations, the modified velocity updating and position updating equations, are employed to move the positions of all particles in the population. In the meanwhile, an objective function defined for PID controller optimization problems may be minimized. To validate the control performance of the proposed method, a typical nonlinear system control, the inverted pendulum tracking control, is illustrated. The results testify that the improved PSO algorithm can perform well in the nonlinear PID control system design.

Masayoshi Tomizuka - One of the best experts on this subject based on the ideXlab platform.

  • Design of robust PD-type control laws for robotic manipulators with parametric uncertainties
    Journal of Robotic Systems, 1993
    Co-Authors: S. M. Shahruz, G. Langari, Masayoshi Tomizuka
    Abstract:

    In this article, design of a simple robust control law that achieves desired positions and orientations for robotic manipulators with parametric uncertainties is studied. A discontinuous control law is proposed, which consists of a high-Gain linear proportional plus Derivative (PD) term and additional terms that compensate for the effect of gravitation. The stability of the robotic system under the proposed control law is proved by LaSalle's stability theorem. Furthermore, by the theory of singularly perturbed systems, it is shown that if the proportional and Derivative Gain matrices are diagonal with large positive elements then the system is decoupled into a set of first-order linear systems. Simulation results are presented to illustrate the application of the proposed control law to a two-link robotic manipulator.

  • Design of Robust PD-Type Control Laws for Robotic Manipulators with Parametric Uncertainties
    1992
    Co-Authors: S. M. Shahruz, G. Langari, Masayoshi Tomizuka
    Abstract:

    In this paper, design of a simple robust control law that achieves desired positions and orientations for robotic manipulators with parametric uncertainties is studied. A discontinuous control law is proposed, which consists of a high Gain linear proportional plus Derivative (PD) term and additional terms that compensate for the effect of gravitation. The stability of the robotic system under the proposed control law is proved by LaSalle's stability theorem. Furthermore, by the theory of singularly perturbed systems, it is shown that if the proportional and Derivative Gain matrices are diagonal with large positive elements, then the system is decoupled into a set of first-order linear systems.

I Thirunavukkarasu - One of the best experts on this subject based on the ideXlab platform.

  • Admissible set of Robust PID Controller Values using Hurwitz Criterion for A Pure Integrating Process with Dead Time
    2008
    Co-Authors: I Thirunavukkarasu, V I George, Narayan S Iyer, G. Saravana Kumar, Yousuf Al Abrii
    Abstract:

    The design of H-Infinity controller helps to satisfy the robust stability and robust performance criteria [1], sometimes the order of the H-Infinity controller will be of higher order when compared to the systems transfer function. In this paper an attempt has been made to design the low order controller design (PID Controller with the H-Infinity Principles) for the Pure Integrating Process with Dead Time (PIPDT). The controller design parameters such as Proportional Gain, Derivative Gain and Integral Gain are fixed using the principle of Hurwitz Criteria. The ighting functions of the system needs to be selected, based on the frequency requirements of the input signal and disturbance rejection. After finding the range of Derivative Gain and the integral Gain, by sweeping the proportional Gain we can find the various set of admissible layers of PID Controller values. Finally, the three dimensional plots of the admissible set of PID controller values for the PIPDT were shown in figures We can also use the genetic lgorithm approach to find the more suitable probability of finding the global minimum PID values,which may also yield the better response for the PIPDT. Once if we obtained the admissible set of PID controller settings, which is satisfying the robust performance condition [2], it can also be easily implemented in the Industries as a lower order H-Infinity controller.

  • Synthesis of Robust PID Controller for the Pure Integral Process with Dead Time
    2008
    Co-Authors: I Thirunavukkarasu, V I George, Saravana G Kumar, S Shanmugapriya
    Abstract:

    The design of H-Infinity controller helps to satisfy the robust stability and robust performance criteria [1], sometimes the order of the H-Infinity controller will be of higher order when compared to the systems transfer function. In this paper an attempt has been made to design the low order controller design (PID Controller with H-Infinity Principles for a Pure Integrating Process with Dead Time (PIPDT)). The controller design parameters such as Proportional Gain, Derivative Gain and Integral Gain are fixed using the principle of Hurwitz Criteria. The weighting functions of the system needs to be selected, based on the frequency requirements of the input signal and disturbance rejection. After finding the range of Derivative Gain and the Integral Gain, by sweeping the proportional Gain we can find the various set of admissible layers of PID Controller values. Finally, the three dimensional plots of the admissible set of PID controller values for the PIPDT were shown in Figures 5 & 7. We can also use the Genetic Algorithm (GA) approach to find the more suitable probability of finding the global minimum PID values, which may also yield the better response for the PIPDT. Once we obtain the admissible set of PID controller settings, that satisfies the robust performance condition [2], it can also be easily implemented in the Industries as a lower order HInfinity controller.