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De-jin Wang - One of the best experts on this subject based on the ideXlab platform.
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a pid controller set of guaranteeing stability and Gain and phase margins for time delay systems
Journal of Process Control, 2012Co-Authors: De-jin WangAbstract:Abstract The stabilizing parameter sets and the guaranteed Gain-margin (GM) and phase-margin (PM) regions of Proportional-integral-derivative (PID) controllers for a class of processes with time-delay are discussed in the paper. The admissible range of stabilizing Proportional-Gain is first derived by a version of Hermite–Biehler Theorem and the evaluation of some properties of the functions involved in the closed-loop characteristic equation. Then, the stabilizing region in integral-derivative plane, for a fixed Proportional-Gain, is drawn and identified directly in terms of a graphical stability criterion applicable to time-delay systems. Further, in the stabilizing region, the Gain-margin and phase-margin specifications are considered using the same strategy as drawing the stability boundary lines, based on the technique of Gain-phase margin tester (GPMT). Illustrating examples are followed in each design step to show the effectiveness of the method.
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Stabilizing sets of PID controllers for first- order plus double integrating plants with time-delay
2009Co-Authors: De-jin Wang, Jiang-hui ZhangAbstract:This article discusses the problem of determining the parameter sets of stabilizing PID controllers for first-order plus double integrating processes with time-delay. The method adopted in the article is based on a version of Hermite- Biehler theorem valid for quasi-polynomial and a graphical stability criterion for time-delay systems. The admissible range of Proportional-Gain is first derived. Then, in integral-derivative space, the stabilizing region is drawn and identified directly for a fixed Proportional-Gain, not to be computed mathematically. An algorithm for obtaining the stabilizing sets of PID controllers is developed also. Case studies illustrate the design procedure and show the shapes of stabilizing regions.
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Synthesis of PID controllers for high-order plants with time-delay
Journal of Process Control, 2009Co-Authors: De-jin WangAbstract:Abstract This note deals with the problem of the stabilizing parameter set of PID controllers for high-order all pole plants with time-delay. The time constants of the plants are assumed to be arbitrary, either positive or negative. First of all, the stabilizing range of the Proportional Gain is given in terms of a version of the Hermite–Beihler Theorem and the properties of the imaginary part of the closed-loop characteristic quasi-polynomial. Then, based on a graphical stability criterion for time-delay systems, the stabilizing region in integral-derivative space is drawn and identified for a fixed admissible Proportional Gain. An algorithm for determining the stabilizing parameter set of PID controllers is also proposed. Finally, case studies are provided to illustrate the shapes of the stabilizing regions.
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Synthesis of PID controllers for integral processes with time delay
Asian Journal of Control, 2009Co-Authors: De-jin WangAbstract:This article deals with the problem of determination of the stabilizing parameter sets of Proportional-Integral-Derivative (PID) controllers for first-order and second-order integral processes with time-delay. First, the admissible stabilizing range of Proportional-Gain is determined analytically in terms of a version of the Hermite–Biehler Theorem applicable to quasi-polynomials. Then, based on a graphical stability condition developed in parameter space, the complete stabilizing regions in an integral-derivative plane are drawn and identified graphically, not calculated mathematically, by sweeping over the admissible range of Proportional-Gain. An actual algorithm for finding the stabilizing parameter sets of PID controllers is also proposed. Simulations show that the stabilizing regions in integral-derivative space are either triangles or quadrilaterals. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society
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Stabilising regions of PID controllers for nth-order all pole plants with dead-time
IET Control Theory & Applications, 2007Co-Authors: De-jin WangAbstract:A new synthesis procedure of PID (Proportional-integral-derivative) controllers for nth-order all pole plants with dead-time is developed via a parameter space approach. A necessary and sufficient condition-based graphical stability criterion is applied to determine the complete stabilising regions of PID controllers. First, the admissible stabilising range of the Proportional-Gain is derived in terms of a version of the Hermite–Beihler theorem applicable to quasi-polynomials. Then, the boundaries of the stabilising region in the integral-derivative plane are drawn directly, not calculated mathematically, for a fixed value of Proportional-Gain in the stabilising range. An algorithm for determining the stabilising parameter set of the PID controller is also proposed. Finally, numerical examples are given to show the shapes of the stabilising regions of the PID controllers for different order plants with dead-time.
Takao Sato - One of the best experts on this subject based on the ideXlab platform.
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CCA - Discrete-time weigh feeder control using extremum-seeking method
2010 IEEE International Conference on Control Applications, 2010Co-Authors: Takao Sato, Nozomu Araki, Yasuo Konishi, Hiroyuki IshigakiAbstract:This paper proposes a new method for designing a weigh feeder control system. The model of a weigh feeder cannot be obtained accurately because its dynamic characteristics are time varying and its high frequency vibration modes are not easily identified. In this paper, a weigh feeder is assumed to be a first-order plus integrator system, and a control law consists of a constant feed-forward control input and a feedback loop to obtain a simple control method. The objective of this study is to design a control law to be actually employed in industry. To this end, a control law is designed using Proportional Gain for control error and steady-state control input. However, the Proportional Gain must be finely tuned. Hence, it is tuned using a discrete-time extremum-seeking method. In the proposed method, the Proportional Gain is tuned using an iterative feedback tuning. Therefore, the proposed method has the advantage that the control performance is not deteriorated due to Gain fluctuation because the Proportional Gain is not changed in an experiment. As a result, the proposed control law has a simple structure and its control parameters can be intuitively understood. Consequently, the proposed design method can be easily adopted in industry. Numerical and experimental results demonstrate its effectiveness.
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Design of weigh feeder control system using extremum-seeking method
2009Co-Authors: Nozomu Araki, Takao Sato, Yasuaki Kumamoto, Yoji Iwai, Yasuo KonishiAbstract:This paper proposes a new control method for a weigh feeder. A weigh feeder has been widely employed in industry because it can dispense powder at a specified rate or amount. The proposed controller is mainly divided into a feed-forward and a feedback compensators. In order to obtain a simple controller, the former gives a steady-state control input designed using a nominal plant Gain, and the latter consists of Proportional Gain and the control error between a reference input and a plant output. Because the Proportional Gain must be designed to stabilize a closed-loop system, it is updated using an extremum-seeking method. As a result, the control performance of the proposed method can be improved by seeking its extremum value. The effectiveness of the proposed method is demonstrated by both simulation and experimental results.
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Strongly stable GPC-based PID controller
International Journal of Advanced Mechatronic Systems, 2009Co-Authors: Takao SatoAbstract:This paper proposes a new method for designing a self-tuning PID controller. A PID controller is designed on the basis of generalised predictive control with a terminal matching condition (γGPC) to automatically tune its PID parameters. The proposed PID controller has a time-varying Proportional Gain to precisely achieve γGPC performance. Furthermore, a PID controller is designed on the basis of γGPC extended by using coprime factorisation to obtain stable Proportional Gain. Hence, γGPC can be well approximated by the proposed PID controller. A numerical example demonstrates its effectiveness.
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gpc based pid controller using a stable time varying Proportional Gain
International Conference on Networking Sensing and Control, 2007Co-Authors: Takao Sato, Akira InoueAbstract:This paper proposes a new design method of a GPC-based PID controller. The Proportional Gain of a PID controller is time-varying, and the PID controller is designed using the future reference input. Hence, a GPC law can be approximated by the PID controller finely. Because a controller of GPC has to be stable to obtain stable Proportional Gain, using extended GPC using coprime factorization, the PID controller is designed.
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ICNSC - GPC-Based PID Controller Using a Stable Time-Varying Proportional Gain
2007 IEEE International Conference on Networking Sensing and Control, 2007Co-Authors: Takao Sato, Akira InoueAbstract:This paper proposes a new design method of a GPC-based PID controller. The Proportional Gain of a PID controller is time-varying, and the PID controller is designed using the future reference input. Hence, a GPC law can be approximated by the PID controller finely. Because a controller of GPC has to be stable to obtain stable Proportional Gain, using extended GPC using coprime factorization, the PID controller is designed.
Marvin K Bugeja - One of the best experts on this subject based on the ideXlab platform.
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double exponential smoothing for predictive vision based target tracking of a wheeled mobile robot
Conference on Decision and Control, 2013Co-Authors: Francois Guerin, Simon G Fabri, Marvin K BugejaAbstract:This paper describes the design of a novel nonlinear kinematic controller which allows a wheeled mobile robot to track a moving target at a given separation distance. The Double Exponential Smoothing algorithm is employed to deal with uncertainties in the measurements and to acquire a predictive estimate for the robot's relative position. This estimate is used to automatically adjust the Proportional Gain of the controller in order to regulate the tracking error.
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CDC - Double Exponential Smoothing for predictive vision based target tracking of a wheeled mobile robot
52nd IEEE Conference on Decision and Control, 2013Co-Authors: Francois Guerin, Simon G Fabri, Marvin K BugejaAbstract:This paper describes the design of a novel nonlinear kinematic controller which allows a wheeled mobile robot to track a moving target at a given separation distance. The Double Exponential Smoothing algorithm is employed to deal with uncertainties in the measurements and to acquire a predictive estimate for the robot's relative position. This estimate is used to automatically adjust the Proportional Gain of the controller in order to regulate the tracking error.
Francois Guerin - One of the best experts on this subject based on the ideXlab platform.
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double exponential smoothing for predictive vision based target tracking of a wheeled mobile robot
Conference on Decision and Control, 2013Co-Authors: Francois Guerin, Simon G Fabri, Marvin K BugejaAbstract:This paper describes the design of a novel nonlinear kinematic controller which allows a wheeled mobile robot to track a moving target at a given separation distance. The Double Exponential Smoothing algorithm is employed to deal with uncertainties in the measurements and to acquire a predictive estimate for the robot's relative position. This estimate is used to automatically adjust the Proportional Gain of the controller in order to regulate the tracking error.
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CDC - Double Exponential Smoothing for predictive vision based target tracking of a wheeled mobile robot
52nd IEEE Conference on Decision and Control, 2013Co-Authors: Francois Guerin, Simon G Fabri, Marvin K BugejaAbstract:This paper describes the design of a novel nonlinear kinematic controller which allows a wheeled mobile robot to track a moving target at a given separation distance. The Double Exponential Smoothing algorithm is employed to deal with uncertainties in the measurements and to acquire a predictive estimate for the robot's relative position. This estimate is used to automatically adjust the Proportional Gain of the controller in order to regulate the tracking error.
Prashant Batra - One of the best experts on this subject based on the ideXlab platform.
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On upper bounds for real Proportional stabilizing controllers
ZAMM, 2006Co-Authors: Prashant BatraAbstract:The explicit determination of the largest admissible constant controller is difficult. For linear systems with all poles in the domain of stability but at least one non-minimum phase zero outside, an improved upper bound on real Proportional Gain controllers is given. Examples show the improvement and further possible margins.
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On upper bounds for real Proportional stabilising controllers
2003 European Control Conference (ECC), 2003Co-Authors: Prashant BatraAbstract:The explicit determination of the largest admissable constant controller is difficult. For linear systems with all poles in the domain of stability but at least one zero outside, an improved upper bound on real Proportional Gain controllers is given. An example shows the improvement and further possible margins.
