J Olive, David
2017-01-01
This text presents methods that are robust to the assumption of a multivariate normal distribution or methods that are robust to certain types of outliers. Instead of using exact theory based on the multivariate normal distribution, the simpler and more applicable large sample theory is given. The text develops among the first practical robust regression and robust multivariate location and dispersion estimators backed by theory. The robust techniques are illustrated for methods such as principal component analysis, canonical correlation analysis, and factor analysis. A simple way to bootstrap confidence regions is also provided. Much of the research on robust multivariate analysis in this book is being published for the first time. The text is suitable for a first course in Multivariate Statistical Analysis or a first course in Robust Statistics. This graduate text is also useful for people who are familiar with the traditional multivariate topics, but want to know more about handling data sets with...
Robust PID Controller for a Pneumatic Actuator
Directory of Open Access Journals (Sweden)
Skarpetis Michael G.
2016-01-01
Full Text Available In this paper the position control pneumatic actuator using a robust PID controller is presented. The parameters of the PID controller are computed using a Hurwitz invariability technique enriched with a Simulated Annealing Algorithm. The nonlinear model involves uncertain parameters due to linearization of the servo valve, variations of the initial volume of the cylinder and variation of the external load. The problem is proven to be solvable and the controller parameters are chosen to provide a suboptimal solution for tracking error minimization. Simulation results are presented for the nonlinear model.
PID control with robust disturbance feedback control
DEFF Research Database (Denmark)
Kawai, Fukiko; Vinther, Kasper; Andersen, Palle
2015-01-01
Disturbance Feedback Control (DFC) is a technique, originally proposed by Fuji Electric, for augmenting existing control systems with an extra feedback for attenuation of disturbances and model errors. In this work, we analyze the robustness and performance of a PID-based control system with DFC...... and performance (if such gains exist). Finally, two different simulation case studies are evaluated and compared. Our numerical studies indicate that better performance can be achieved with the proposed method compared with a conservatively tuned PID controller and comparable performance can be achieved when...... compared with an H-infinity controller....
Non-fragile multivariable PID controller design via system augmentation
Liu, Jinrong; Lam, James; Shen, Mouquan; Shu, Zhan
2017-07-01
In this paper, the issue of designing non-fragile H∞ multivariable proportional-integral-derivative (PID) controllers with derivative filters is investigated. In order to obtain the controller gains, the original system is associated with an extended system such that the PID controller design can be formulated as a static output-feedback control problem. By taking the system augmentation approach, the conditions with slack matrices for solving the non-fragile H∞ multivariable PID controller gains are established. Based on the results, linear matrix inequality -based iterative algorithms are provided to compute the controller gains. Simulations are conducted to verify the effectiveness of the proposed approaches.
Computation of robustly stabilizing PID controllers for interval systems.
Matušů, Radek; Prokop, Roman
2016-01-01
The paper is focused on the computation of all possible robustly stabilizing Proportional-Integral-Derivative (PID) controllers for plants with interval uncertainty. The main idea of the proposed method is based on Tan's (et al.) technique for calculation of (nominally) stabilizing PI and PID controllers or robustly stabilizing PI controllers by means of plotting the stability boundary locus in either P-I plane or P-I-D space. Refinement of the existing method by consideration of 16 segment plants instead of 16 Kharitonov plants provides an elegant and efficient tool for finding all robustly stabilizing PID controllers for an interval system. The validity and relatively effortless application of presented theoretical concepts are demonstrated through a computation and simulation example in which the uncertain mathematical model of an experimental oblique wing aircraft is robustly stabilized.
Model-reference robust tuning of PID controllers
Alfaro, Victor M
2016-01-01
This book presents a unified methodology for the design of PID controllers that encompasses the wide range of different dynamics to be found in industrial processes. This is extended to provide a coherent way of dealing with the tuning of PID controllers. The particular method at the core of the book is the so-called model-reference robust tuning (MoReRT), developed by the authors. MoReRT constitutes a novel and powerful way of thinking of a robust design and taking into account the usual design trade-offs encountered in any control design problem. The book starts by presenting the different two-degree-of-freedom PID control algorithm variations and their conversion relations as well as the indexes used for performance, robustness and fragility evaluation:the bases of the proposed model. Secondly, the MoReRT design methodology and normalized controlled process models and controllers used in the design are described in order to facilitate the formulation of the different design problems and subsequent derivati...
Adaptive robust PID controller design based on a sliding mode for uncertain chaotic systems
International Nuclear Information System (INIS)
Chang Weider; Yan Junjuh
2005-01-01
A robust adaptive PID controller design motivated from the sliding mode control is proposed for a class of uncertain chaotic systems in this paper. Three PID control gains, K p , K i , and K d , are adjustable parameters and will be updated online with an adequate adaptation mechanism to minimize a previously designed sliding condition. By introducing a supervisory controller, the stability of the closed-loop PID control system under with the plant uncertainty and external disturbance can be guaranteed. Finally, a well-known Duffing-Holmes chaotic system is used as an illustrative to show the effectiveness of the proposed robust adaptive PID controller
Multivariable PID controller design tuning using bat algorithm for activated sludge process
Atikah Nor’Azlan, Nur; Asmiza Selamat, Nur; Mat Yahya, Nafrizuan
2018-04-01
The designing of a multivariable PID control for multi input multi output is being concerned with this project by applying four multivariable PID control tuning which is Davison, Penttinen-Koivo, Maciejowski and Proposed Combined method. The determination of this study is to investigate the performance of selected optimization technique to tune the parameter of MPID controller. The selected optimization technique is Bat Algorithm (BA). All the MPID-BA tuning result will be compared and analyzed. Later, the best MPID-BA will be chosen in order to determine which techniques are better based on the system performances in terms of transient response.
A design method of compensators for multi-variable control system with PID controllers 'CHARLY'
International Nuclear Information System (INIS)
Fujiwara, Toshitaka; Yamada, Katsumi
1985-01-01
A systematic design method of compensators for a multi-variable control system having usual PID controllers in its loops is presented in this paper. The method itself is able: to determine the main manipulating variable corresponding to each controlled variable with a sensitivity analysis in the frequency domain. to tune PID controllers sufficiently to realize adequate control actions with a searching technique of minimum values of cost functionals. to design compensators improving the control preformance and to simulate a total system for confirming the designed compensators. In the phase of compensator design, the state variable feed-back gain is obtained by means of the OPTIMAL REGULATOR THEORY for the composite system of plant and PID controllers. The transfer function type compensators the configurations of which were previously given are, then, designed to approximate the frequency responces of the above mentioned state feed-back system. An example is illustrated for convenience. (author)
Partial synchronization of different chaotic oscillators using robust PID feedback
Energy Technology Data Exchange (ETDEWEB)
Aguilar-Lopez, Ricardo [Departamento de Energia, Universidad Autonoma Metropolitana - Azcapotzalco, San Pablo 180, Reynosa-Tamaulipas, Azcapotzalco, 02200 Mexico, D.F. (Mexico)]. E-mail: raguilar@correo.azc.uam.mx; Martinez-Guerra, Rafael [Departamento de Control Automatico, CINVESTAV IPN, Apartado Postal 14-740, Mexico, D.F. C.P. 07360 (Mexico)]. E-mail: rguerra@ctrl.cinvestav.mx
2007-07-15
This work deals with the partial synchronization problem of two different chaotic oscillators considering model uncertainties in the slave system via control approach. The slave system is forced to follow the master signal via a linearizing controller based on model uncertainty reconstructor which leads to proportional-integral-derivative (PID) control structure. This reconstructor is related with a proportional-derivative (PD) reduced-order observer, it would be considered as a sub-slave system for the original slave of the synchronization procedure. The asymptotic performance of the synchronization methodology is proven via the dynamic of the synchronization error. Numerical experiment illustrates the closed-loop behavior of the proposed methodology.
Partial synchronization of different chaotic oscillators using robust PID feedback
International Nuclear Information System (INIS)
Aguilar-Lopez, Ricardo; Martinez-Guerra, Rafael
2007-01-01
This work deals with the partial synchronization problem of two different chaotic oscillators considering model uncertainties in the slave system via control approach. The slave system is forced to follow the master signal via a linearizing controller based on model uncertainty reconstructor which leads to proportional-integral-derivative (PID) control structure. This reconstructor is related with a proportional-derivative (PD) reduced-order observer, it would be considered as a sub-slave system for the original slave of the synchronization procedure. The asymptotic performance of the synchronization methodology is proven via the dynamic of the synchronization error. Numerical experiment illustrates the closed-loop behavior of the proposed methodology
A Practical Tuning Method for the Robust PID Controller with Velocity Feed-Back
Directory of Open Access Journals (Sweden)
Emre Sariyildiz
2015-08-01
Full Text Available Proportional-Integral-Derivative (PID control is the most widely used control method in industrial and academic applications due to its simplicity and efficiency. Several different control methods/algorithms have been proposed to tune the gains of PID controllers. However, the conventional tuning methods do not have sufficient performance and simplicity for practical applications, such as robotics and motion control. The performance of motion control systems may significantly deteriorate by the nonlinear plant uncertainties and unknown external disturbances, such as inertia variations, friction, external loads, etc., i.e., there may be a significant discrepancy between the simulation and experiment if the robustness is not considered in the design of PID controllers. This paper proposes a novel practical tuning method for the robust PID controller with velocity feed-back for motion control systems. The main advantages of the proposed method are the simplicity and efficiency in practical applications, i.e., a high performance robust motion control system can be easily designed by properly tuning conventional PID controllers. The validity of the proposal is verified by giving simulation and experimental results.
Directory of Open Access Journals (Sweden)
Márcio Mendonça
2015-10-01
Full Text Available In this work, it is analyzed a multivariate system control of an alcoholic fermentation process with no minimum phase. The control is made with PID classic controllers associated with a supervisory system based on Fuzzy Systems. The Fuzzy system, a priori, send set-points to PID controllers, but also adds protection functions, such as if the biomass valued is at zero or very close. The Fuzzy controller changes the campaign to prevent or mitigate the paralyzation of the process. Three control architectures based on Fuzzy Control Systems are presented and compared in performance with classic control in different campaigns. The third architecture, in particular, adds an adaptive function. A brief summary of Fuzzy theory and correlated works will be presented. And, finally simulations results, conclusions and future works end the article.
Directory of Open Access Journals (Sweden)
Ahmad Fachrudin Istiananda
2017-01-01
Full Text Available BLDCM merupakan suatu jenis motor sinkron yang artinya medan magnet yang dihasilkan oleh stator dan medan magnet yang dihasilkan rotor berputar di frekuensi yang sama. Dalam BLDCM, salah satu hal yang sangat penting untuk dikontrol adalah kecepata. Permasalahan yang diteliti dan dianalisis pada Tugas Akhir Perancangan dan Implementasi Sistem Pengaturan Kecepatan Motor Arus Searah Tanpa Sikat Menggunakan Metode PID-Robust adalah respon kecepatan BLDCM terhadap pembebanan yang berubah-ubah. Pengaturan kecepatan BLDCM dirancang menggunakan Kontroler Proposional, Integral dan Derivatif (PID. Kontroler PID-Robust digunakan untuk membantu BLDC pada kondisi pembebanan untuk mempertahankan setpoint. Nilai parameter Kp, Ki, dan Kd sebesar 529,9, 0,00000373, dan 0,0624 didapat dari perhitungan robust performansi H∞ dengan metode LMI (Linear Matrix Inequality. Setelah dilakukan simulasi, didapatkan bahwa respon plant dengan kontroler PID-Robust dapat mengikuti model referensi yang diinginkan dengan nilai rise time 7,7 untuk beban minimal, 3,75 untuk beban nominal, dan 5,9 untuk beban maksimal serta kuat/robust terhadap gangguan/disturbance.
BROJA-2PID: A Robust Estimator for Bivariate Partial Information Decomposition
Directory of Open Access Journals (Sweden)
Abdullah Makkeh
2018-04-01
Full Text Available Makkeh, Theis, and Vicente found that Cone Programming model is the most robust to compute the Bertschinger et al. partial information decomposition (BROJA PID measure. We developed a production-quality robust software that computes the BROJA PID measure based on the Cone Programming model. In this paper, we prove the important property of strong duality for the Cone Program and prove an equivalence between the Cone Program and the original Convex problem. Then, we describe in detail our software, explain how to use it, and perform some experiments comparing it to other estimators. Finally, we show that the software can be extended to compute some quantities of a trivaraite PID measure.
On the Robustness of Hysteretic Second-Order Systems with PID : iISS approach
Ouyang, Ruiyue; Jayawardhana, Bayu; Andrieu, Vincent
2012-01-01
In this paper, we study the robustness property of a second-order linear plant controlled by a proportional, integral and derivative (PID) controller with a hysteretic actuator. The hysteretic actuator is modeled by a Duhem model that exhibits clockwise (CW) input-output (I/O) dynamics (such as the
Robust PID based power system stabiliser: Design and real-time implementation
Energy Technology Data Exchange (ETDEWEB)
Bevrani, Hassan [Department of Electrical and Computer Eng., University of Kurdistan, Sanandaj (Iran, Islamic Republic of); Hiyama, Takashi [Department of Electrical and Computer Eng., Kumamoto University, Kumamoto (Japan); Bevrani, Hossein [Department of Statistics, University of Tabriz, Tabriz (Iran, Islamic Republic of)
2011-02-15
This paper addresses a new robust control strategy to synthesis of robust proportional-integral-derivative (PID) based power system stabilisers (PSS). The PID based PSS design problem is reduced to find an optimal gain vector via an H{infinity} static output feedback control (H{infinity}-SOF) technique, and the solution is easily carried out using a developed iterative linear matrix inequalities algorithm. To illustrate the developed approach, a real-time experiment has been performed for a longitudinal four-machine infinite-bus system using the Analog Power System Simulator at the Research Laboratory of the Kyushu Electric Power Company. The results of the proposed control strategy are compared with full-order H{infinity} and conventional PSS designs. The robust PSS is shown to maintain the robust performance and minimise the effect of disturbances properly. (author)
Srivastava, Saurabh; Pandit, V S
2017-11-01
This paper focuses on the analytical design of a Proportional Integral and Derivative (PID) controller together with a unique set point filter that makes the overall Two-Degree of-Freedom (2-Dof) control system for integrating processes with time delay. The PID controller tuning is based on the Linear Quadratic Regulator (LQR) using dominant pole placement approach to obtain good regulatory response. The set point filter is designed with the calculated PID parameters and using a single filter time constant (λ) to precisely control the servo response. The effectiveness of the proposed methodology is demonstrated through a series of illustrative examples using real industrial integrated process models. The whole range of PID parameters is obtained for each case in a tradeoff between the robustness of the closed loop system measured in terms of Maximum Sensitivity (M s ) and the load disturbance measured in terms of Integral of Absolute Errors (IAE). Results show improved closed loop response in terms of regulatory and servo responses with less control efforts when compared with the latest PID tuning methods of integrating systems. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
A robust fractional-order PID controller design based on active queue management for TCP network
Hamidian, Hamideh; Beheshti, Mohammad T. H.
2018-01-01
In this paper, a robust fractional-order controller is designed to control the congestion in transmission control protocol (TCP) networks with time-varying parameters. Fractional controllers can increase the stability and robustness. Regardless of advantages of fractional controllers, they are still not common in congestion control in TCP networks. The network parameters are time-varying, so the robust stability is important in congestion controller design. Therefore, we focused on the robust controller design. The fractional PID controller is developed based on active queue management (AQM). D-partition technique is used. The most important property of designed controller is the robustness to the time-varying parameters of the TCP network. The vertex quasi-polynomials of the closed-loop characteristic equation are obtained, and the stability boundaries are calculated for each vertex quasi-polynomial. The intersection of all stability regions is insensitive to network parameter variations, and results in robust stability of TCP/AQM system. NS-2 simulations show that the proposed algorithm provides a stable queue length. Moreover, simulations show smaller oscillations of the queue length and less packet drop probability for FPID compared to PI and PID controllers. We can conclude from NS-2 simulations that the average packet loss probability variations are negligible when the network parameters change.
Jin, Q B; Liu, Q; Huang, B
2016-03-01
This paper considers the problem of determining all the robust PID (proportional-integral-derivative) controllers in terms of the gain and phase margins (GPM) for open-loop unstable first order plus time delay (UFOPTD) processes. It is the first time that the feasible ranges of the GPM specifications provided by a PID controller are given for UFOPTD processes. A gain and phase margin tester is used to modify the original model, and the ranges of the margin specifications are derived such that the modified model can be stabilized by a stabilizing PID controller based on Hermite-Biehlers Theorem. Furthermore, we obtain all the controllers satisfying a given margin specification. Simulation studies show how to use the results to design a robust PID controller. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Robust Analysis and Design of Multivariable Systems
National Research Council Canada - National Science Library
Tannenbaum, Allen
1998-01-01
In this Final Report, we will describe the work we have performed in robust control theory and nonlinear control, and the utilization of techniques in image processing and computer vision for problems in visual tracking...
Robust methods for multivariate data analysis A1
DEFF Research Database (Denmark)
Frosch, Stina; Von Frese, J.; Bro, Rasmus
2005-01-01
Outliers may hamper proper classical multivariate analysis, and lead to incorrect conclusions. To remedy the problem of outliers, robust methods are developed in statistics and chemometrics. Robust methods reduce or remove the effect of outlying data points and allow the ?good? data to primarily...... determine the result. This article reviews the most commonly used robust multivariate regression and exploratory methods that have appeared since 1996 in the field of chemometrics. Special emphasis is put on the robust versions of chemometric standard tools like PCA and PLS and the corresponding robust...
On Multivariate Methods in Robust Econometrics
Czech Academy of Sciences Publication Activity Database
Kalina, Jan
2012-01-01
Roč. 21, č. 1 (2012), s. 69-82 ISSN 1210-0455 R&D Projects: GA MŠk(CZ) 1M06014 Institutional research plan: CEZ:AV0Z10300504 Keywords : least weighted squares * heteroscedasticity * multivariate statistics * model selection * diagnostics * computational aspects Subject RIV: BB - Applied Statistics, Operational Research Impact factor: 0.561, year: 2012 http://www.vse.cz/pep/abstrakt.php?IDcl=411
Fault tolerant control of multivariable processes using auto-tuning PID controller.
Yu, Ding-Li; Chang, T K; Yu, Ding-Wen
2005-02-01
Fault tolerant control of dynamic processes is investigated in this paper using an auto-tuning PID controller. A fault tolerant control scheme is proposed composing an auto-tuning PID controller based on an adaptive neural network model. The model is trained online using the extended Kalman filter (EKF) algorithm to learn system post-fault dynamics. Based on this model, the PID controller adjusts its parameters to compensate the effects of the faults, so that the control performance is recovered from degradation. The auto-tuning algorithm for the PID controller is derived with the Lyapunov method and therefore, the model predicted tracking error is guaranteed to converge asymptotically. The method is applied to a simulated two-input two-output continuous stirred tank reactor (CSTR) with various faults, which demonstrate the applicability of the developed scheme to industrial processes.
Asgharnia, Amirhossein; Shahnazi, Reza; Jamali, Ali
2018-05-11
The most studied controller for pitch control of wind turbines is proportional-integral-derivative (PID) controller. However, due to uncertainties in wind turbine modeling and wind speed profiles, the need for more effective controllers is inevitable. On the other hand, the parameters of PID controller usually are unknown and should be selected by the designer which is neither a straightforward task nor optimal. To cope with these drawbacks, in this paper, two advanced controllers called fuzzy PID (FPID) and fractional-order fuzzy PID (FOFPID) are proposed to improve the pitch control performance. Meanwhile, to find the parameters of the controllers the chaotic evolutionary optimization methods are used. Using evolutionary optimization methods not only gives us the unknown parameters of the controllers but also guarantees the optimality based on the chosen objective function. To improve the performance of the evolutionary algorithms chaotic maps are used. All the optimization procedures are applied to the 2-mass model of 5-MW wind turbine model. The proposed optimal controllers are validated using simulator FAST developed by NREL. Simulation results demonstrate that the FOFPID controller can reach to better performance and robustness while guaranteeing fewer fatigue damages in different wind speeds in comparison to FPID, fractional-order PID (FOPID) and gain-scheduling PID (GSPID) controllers. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.
Multivariable robust adaptive controller using reduced-order model
Directory of Open Access Journals (Sweden)
Wei Wang
1990-04-01
Full Text Available In this paper a multivariable robust adaptive controller is presented for a plant with bounded disturbances and unmodeled dynamics due to plant-model order mismatches. The robust stability of the closed-loop system is achieved by using the normalization technique and the least squares parameter estimation scheme with dead zones. The weighting polynomial matrices are incorporated into the control law, so that the open-loop unstable or/and nonminimum phase plants can be handled.
Tuning method for multi-variable control system with PID controllers
International Nuclear Information System (INIS)
Fujiwara, Toshitaka
1983-01-01
Control systems, including thermal and nuclear power plants, generally and mainly use PID controllers consisting of proportional, integral and differential actions. These systems consist of multiple control loops which interfere with each other. Therefore, it is present status that the fine control of the system is carried out by the trial and error method because the adjusting procedure for a single control loop cannot be applied to a multi-loop system in most cases. In this report, a method to effectively adjust PID controller parameters in a short time in a control system which consists of multi-loops that interfere with each other. This method makes adjustment by using the control area as the evaluation function, which is the time-dependent integration of control deviation, the input to the PID controllers. In other words, the evaluation function is provided for each control result for every parameter (gain constant, reset rate, and differentiation time), and all parameters are simultaneously changed in the direction of minimizing the values of these evaluation functions. In the report, the principle of tuning method, the evaluation function for each of three parameters, and the adjusting system configuration for separately using for actual plant tuning and for control system design are described. It also shows the examples of application to the actual tuning of the control system for a thermal power plant and to a control system design. (Wakatsuki, Y.)
A robust multivariate long run analysis of European electricity prices
Bruno Bosco; Lucia Parisio; Matteo Pelagatti; Fabio Baldi
2007-01-01
This paper analyses the interdependencies existing in wholesale electricity prices in six major European countries. The results of our robust multivariate long run dynamic analysis reveal the presence of four highly integrated central European markets (France, Germany, the Netherlands and Austria). The trend shared by these four electricity markets appears to be common also to gas prices, but not to oil prices. The existence of long term dynamics among electricity prices and between electrici...
Robust nonlinear PID-like fuzzy logic control of a planar parallel (2PRP-PPR) manipulator.
Londhe, P S; Singh, Yogesh; Santhakumar, M; Patre, B M; Waghmare, L M
2016-07-01
In this paper, a robust nonlinear proportional-integral-derivative (PID)-like fuzzy control scheme is presented and applied to complex trajectory tracking control of a 2PRP-PPR (P-prismatic, R-revolute) planar parallel manipulator (motion platform) with three degrees-of-freedom (DOF) in the presence of parameter uncertainties and external disturbances. The proposed control law consists of mainly two parts: first part uses a feed forward term to enhance the control activity and estimated perturbed term to compensate for the unknown effects namely external disturbances and unmodeled dynamics, and the second part uses a PID-like fuzzy logic control as a feedback portion to enhance the overall closed-loop stability of the system. Experimental results are presented to show the effectiveness of the proposed control scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Adjustment of geochemical background by robust multivariate statistics
Zhou, D.
1985-01-01
Conventional analyses of exploration geochemical data assume that the background is a constant or slowly changing value, equivalent to a plane or a smoothly curved surface. However, it is better to regard the geochemical background as a rugged surface, varying with changes in geology and environment. This rugged surface can be estimated from observed geological, geochemical and environmental properties by using multivariate statistics. A method of background adjustment was developed and applied to groundwater and stream sediment reconnaissance data collected from the Hot Springs Quadrangle, South Dakota, as part of the National Uranium Resource Evaluation (NURE) program. Source-rock lithology appears to be a dominant factor controlling the chemical composition of groundwater or stream sediments. The most efficacious adjustment procedure is to regress uranium concentration on selected geochemical and environmental variables for each lithologic unit, and then to delineate anomalies by a common threshold set as a multiple of the standard deviation of the combined residuals. Robust versions of regression and RQ-mode principal components analysis techniques were used rather than ordinary techniques to guard against distortion caused by outliers Anomalies delineated by this background adjustment procedure correspond with uranium prospects much better than do anomalies delineated by conventional procedures. The procedure should be applicable to geochemical exploration at different scales for other metals. ?? 1985.
ROBUST CONTROL ALGORITHM FOR MULTIVARIABLE PLANTS WITH QUANTIZED OUTPUT
Directory of Open Access Journals (Sweden)
A. A. Margun
2017-01-01
Full Text Available The paper deals with robust output control algorithm for multivariable plants under disturbances. A plant is described by the system of linear differential equations with known relative degrees. Plant parameters are unknown but belong to the known closed bounded set. Plant state vector is unmeasured. Plant output is measured only via static quantizer. Control system algorithm is based on the high gain feedback method. Developed controller provides exponential convergence of tracking error to the bounded area. The area bounds depend on quantizer parameters and the value of external disturbances. Experimental approbation of the proposed control algorithm is performed with the use of Twin Rotor MIMO System laboratory bench. This bench is a helicopter like model with two degrees of freedom (pitch and yaw. DC motors are used as actuators. The output signals are measured via optical encoders. Mathematical model of laboratory bench is obtained. Proposed algorithm was compared with proportional - integral – differential controller in conditions of output quantization. Obtained results have confirmed the efficiency of proposed controller.
Robust Ranking of Multivariate GARCH Models by Problem Dimension
M. Caporin (Massimiliano); M.J. McAleer (Michael)
2012-01-01
textabstractDuring the last 15 years, several Multivariate GARCH (MGARCH) models have appeared in the literature. Recent research has begun to examine MGARCH specifications in terms of their out-of-sample forecasting performance. We provide an empirical comparison of alternative MGARCH models,
Multivariable robust control of an integrated nuclear power reactor
Directory of Open Access Journals (Sweden)
A. Etchepareborda
2002-12-01
Full Text Available The design of the main control system of the CAREM nuclear power plant is presented. This plant is an inherently safe low-power nuclear reactor with natural convection on the primary coolant circuit and is self-pressurized with a steam dome on the top of the pressure vessel (PV. It is an integrated reactor as the whole primary coolant circuit is within the PV. The primary circuit transports the heat to the secondary circuit through once-through steam generators (SG. There is a feedwater valve at the inlet of the SG and a turbine valve at the outlet of the SG. The manipulated variables are the aperture of these valves and the reactivity of the control rods. The control target is to regulate the primary and secondary pressures and to monitor steam flow reference ramps on a range of nominal flow from 100% to 40%. The requirements for the control system are robust stability, low-order simple controllers and transient/permanent error bounding. The controller design is based on a detailed RETRAN plant model, from which linear perturbed open-loop dynamic models at different powers are identified. Two low-order nominal models with their associated uncertainties are chosen for two different power ranges. Robust controllers with acceptable performances are designed for each range. Numerical optimization based on the loop-shaping method is used for the controller design. The designed controllers are implemented in the RETRAN model and tested in simulations achieving successful results.
International Nuclear Information System (INIS)
Menhas, Muhammad Ilyas; Fei Minrui; Wang Ling; Qian Lin
2012-01-01
Highlights: ► We extend the concept of co-operation and co-evolution in some PSO variants. ► We use developed co-operative PSOs in multivariable PID controller design/tuning. ► We find that co-operative PSOs converge faster and give high quality solutions. ► Dividing the search space among swarms improves search efficiency. ► The proposed methods allow the practitioner for heterogeneous problem formulation. - Abstract: In this paper, multivariable PID controller design based on cooperative and coevolving multiple swarms is demonstrated. A simplified multi-variable MIMO process model of a ball mill pulverizing system with steady state decoupler is considered. In order to formulate computational models of cooperative and coevolving multiple swarms three different algorithms like real coded PSO, discrete binary PSO (DBPSO) and probability based discrete binary PSO (PBPSO) are employed. Simulations are carried out on three composite functions simultaneously considering multiple objectives. The cooperative and coevolving multiple swarms based results are compared with the results obtained through single swarm based methods like real coded particle swarm optimization (PSO), discrete binary PSO (DBPSO), and probability based discrete binary PSO (PBPSO) algorithms. The cooperative and coevolving swarms based techniques outperform the real coded PSO, PBPSO, and the standard discrete binary PSO (DBPSO) algorithm in escaping from local optima. Furthermore, statistical analysis of the simulation results is performed to calculate the comparative reliability of various techniques. All of the techniques employed are suitable for controller tuning, however, the multiple cooperative and coevolving swarms based results are considerably better in terms of mean fitness, variance of fitness, and success rate in finding a feasible solution in comparison to those obtained using single swarm based methods.
Depth-weighted robust multivariate regression with application to sparse data
Dutta, Subhajit; Genton, Marc G.
2017-01-01
A robust method for multivariate regression is developed based on robust estimators of the joint location and scatter matrix of the explanatory and response variables using the notion of data depth. The multivariate regression estimator possesses desirable affine equivariance properties, achieves the best breakdown point of any affine equivariant estimator, and has an influence function which is bounded in both the response as well as the predictor variable. To increase the efficiency of this estimator, a re-weighted estimator based on robust Mahalanobis distances of the residual vectors is proposed. In practice, the method is more stable than existing methods that are constructed using subsamples of the data. The resulting multivariate regression technique is computationally feasible, and turns out to perform better than several popular robust multivariate regression methods when applied to various simulated data as well as a real benchmark data set. When the data dimension is quite high compared to the sample size it is still possible to use meaningful notions of data depth along with the corresponding depth values to construct a robust estimator in a sparse setting.
Depth-weighted robust multivariate regression with application to sparse data
Dutta, Subhajit
2017-04-05
A robust method for multivariate regression is developed based on robust estimators of the joint location and scatter matrix of the explanatory and response variables using the notion of data depth. The multivariate regression estimator possesses desirable affine equivariance properties, achieves the best breakdown point of any affine equivariant estimator, and has an influence function which is bounded in both the response as well as the predictor variable. To increase the efficiency of this estimator, a re-weighted estimator based on robust Mahalanobis distances of the residual vectors is proposed. In practice, the method is more stable than existing methods that are constructed using subsamples of the data. The resulting multivariate regression technique is computationally feasible, and turns out to perform better than several popular robust multivariate regression methods when applied to various simulated data as well as a real benchmark data set. When the data dimension is quite high compared to the sample size it is still possible to use meaningful notions of data depth along with the corresponding depth values to construct a robust estimator in a sparse setting.
Troudet, T.; Garg, S.; Merrill, W.
1992-01-01
The design of a dynamic neurocontroller with good robustness properties is presented for a multivariable aircraft control problem. The internal dynamics of the neurocontroller are synthesized by a state estimator feedback loop. The neurocontrol is generated by a multilayer feedforward neural network which is trained through backpropagation to minimize an objective function that is a weighted sum of tracking errors, and control input commands and rates. The neurocontroller exhibits good robustness through stability margins in phase and vehicle output gains. By maintaining performance and stability in the presence of sensor failures in the error loops, the structure of the neurocontroller is also consistent with the classical approach of flight control design.
Modern nonparametric, robust and multivariate methods festschrift in honour of Hannu Oja
Taskinen, Sara
2015-01-01
Written by leading experts in the field, this edited volume brings together the latest findings in the area of nonparametric, robust and multivariate statistical methods. The individual contributions cover a wide variety of topics ranging from univariate nonparametric methods to robust methods for complex data structures. Some examples from statistical signal processing are also given. The volume is dedicated to Hannu Oja on the occasion of his 65th birthday and is intended for researchers as well as PhD students with a good knowledge of statistics.
US Agency for International Development — PIDS is the web-based system designed to allow data input and consultative sessions by USAID/Liberia's IPs and USAID personnel. It is established and maintained by...
Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter
Directory of Open Access Journals (Sweden)
Xing Fang
2015-01-01
Full Text Available This paper presents a highly robust trajectory tracking controller for small unmanned helicopter with model uncertainties and external disturbances. First, a simplified dynamic model is developed, where the model uncertainties and external disturbances are treated as compounded disturbances. Then the system is divided into three interconnected subsystems: altitude subsystem, yaw subsystem, and horizontal subsystem. Second, a disturbance observer based controller (DOBC is designed based upon backstepping and multivariable super twisting control algorithm to obtain robust trajectory tracking property. A sliding mode observer works as an estimator of the compounded disturbances. In order to lessen calculative burden, a first-order exact differentiator is employed to estimate the time derivative of the virtual control. Moreover, proof of the stability of the closed-loop system based on Lyapunov method is given. Finally, simulation results are presented to illustrate the effectiveness and robustness of the proposed flight control scheme.
Directory of Open Access Journals (Sweden)
Muharrem Imal
2015-01-01
Full Text Available Energy efficiency in heating, ventilating, and air-conditioning (HVAC systems is a primary concern in process projects, since the energy consumption has the highest percentage in HVAC for all processes. Without sacrifice of thermal comfort, to reset the suitable operating parameters, such as the humidity and air temperature, would have energy saving with immediate effect. In this paper, the simulation-optimization approach described the effective energy efficiency for HVAC systems which are used in industrial process. Due to the complex relationship of the HVAC system parameters, it is necessary to suggest optimum settings for different operations in response to the dynamic cooling loads and changing weather conditions during a year. Proportional-integral-derivative (PID programming was developed which can effectively handle the discrete, nonlinear and highly constrained optimization problems. Energy efficiency process has been made by controlling of alternative current (AC drivers for ventilation and exhaust fans, according to supplied air flow capacity and differential air pressure between supplied and exhaust air. Supervisory controller software was developed by using programmable controllers and human machine interface (HMI units. The new designed HVAC control system would have a saving potential of about 40% as compared to the existing operational settings, without any extra cost.
Directory of Open Access Journals (Sweden)
Peng Li
2016-10-01
Full Text Available This article proposes an adaptive multivariable higher-order sliding mode control for the longitudinal model of an air-breathing vehicle under system uncertainties and actuator failures. Firstly, a fast finite-time control law is designed for a chain of integrators. Secondly, based on the input/output feedback linearization technique, the system uncertainty and external disturbances are modeled as additive certainty and the actuator failures are modeled as multiplicative uncertainty. By using the proposed fast finite-time control law, a robust multivariable higher-order sliding mode control is designed for the air-breathing hypersonic vehicle with actuator failures. Finally, adaptive laws are proposed for the adaptation of the parameters in the robust multivariable higher-order sliding mode control. Thus, the bounds of the uncertainties are not needed in the control system design. Simulation results show the effectiveness of the proposed robust adaptive multivariable higher-order sliding mode control.
Wind Turbine Load Mitigation based on Multivariable Robust Control and Blade Root Sensors
Díaz de Corcuera, A.; Pujana-Arrese, A.; Ezquerra, J. M.; Segurola, E.; Landaluze, J.
2014-12-01
This paper presents two H∞ multivariable robust controllers based on blade root sensors' information for individual pitch angle control. The wind turbine of 5 MW defined in the Upwind European project is the reference non-linear model used in this research work, which has been modelled in the GH Bladed 4.0 software package. The main objective of these controllers is load mitigation in different components of wind turbines during power production in the above rated control zone. The first proposed multi-input multi-output (MIMO) individual pitch H" controller mitigates the wind effect on the tower side-to-side acceleration and reduces the asymmetrical loads which appear in the rotor due to its misalignment. The second individual pitch H" multivariable controller mitigates the loads on the three blades reducing the wind effect on the bending flapwise and edgewise momentums in the blades. The designed H" controllers have been validated in GH Bladed and an exhaustive analysis has been carried out to calculate fatigue load reduction on wind turbine components, as well as to analyze load mitigation in some extreme cases.
Wind Turbine Load Mitigation based on Multivariable Robust Control and Blade Root Sensors
International Nuclear Information System (INIS)
Corcuera, A Díaz de; Pujana-Arrese, A; Ezquerra, J M; Segurola, E; Landaluze, J
2014-01-01
This paper presents two H ∞ multivariable robust controllers based on blade root sensors' information for individual pitch angle control. The wind turbine of 5 MW defined in the Upwind European project is the reference non-linear model used in this research work, which has been modelled in the GH Bladed 4.0 software package. The main objective of these controllers is load mitigation in different components of wind turbines during power production in the above rated control zone. The first proposed multi-input multi-output (MIMO) individual pitch H'' controller mitigates the wind effect on the tower side-to-side acceleration and reduces the asymmetrical loads which appear in the rotor due to its misalignment. The second individual pitch H'' multivariable controller mitigates the loads on the three blades reducing the wind effect on the bending flapwise and edgewise momentums in the blades. The designed H'' controllers have been validated in GH Bladed and an exhaustive analysis has been carried out to calculate fatigue load reduction on wind turbine components, as well as to analyze load mitigation in some extreme cases
Okou, Francis A.; Akhrif, Ouassima; Dessaint, Louis A.; Bouchard, Derrick
2013-05-01
This papter introduces a decentralized multivariable robust adaptive voltage and frequency regulator to ensure the stability of large-scale interconnnected generators. Interconnection parameters (i.e. load, line and transormer parameters) are assumed to be unknown. The proposed design approach requires the reformulation of conventiaonal power system models into a multivariable model with generator terminal voltages as state variables, and excitation and turbine valve inputs as control signals. This model, while suitable for the application of modern control methods, introduces problems with regards to current design techniques for large-scale systems. Interconnection terms, which are treated as perturbations, do not meet the common matching condition assumption. A new adaptive method for a certain class of large-scale systems is therefore introduces that does not require the matching condition. The proposed controller consists of nonlinear inputs that cancel some nonlinearities of the model. Auxiliary controls with linear and nonlinear components are used to stabilize the system. They compensate unknown parametes of the model by updating both the nonlinear component gains and excitation parameters. The adaptation algorithms involve the sigma-modification approach for auxiliary control gains, and the projection approach for excitation parameters to prevent estimation drift. The computation of the matrix-gain of the controller linear component requires the resolution of an algebraic Riccati equation and helps to solve the perturbation-mismatching problem. A realistic power system is used to assess the proposed controller performance. The results show that both stability and transient performance are considerably improved following a severe contingency.
Pelvic Inflammatory Disease (PID)
... a serious condition, in women. 1 in 8 women with a history of PID experience difficulties getting pregnant. You can prevent PID if you know how to protect yourself. What is PID? Pelvic inflammatory disease is an infection of a woman’s reproductive organs. It is a complication often caused ...
International Nuclear Information System (INIS)
Shyu, S.-S.; Edwards, Robert M.
2002-01-01
In this paper, a methodology for synthesizing a robust multivariable feedforward/feedback control (FF/FBC) strategy is proposed for an integrated control of turbine power, throttle pressure, and reactor water level in a nuclear power plant. In the proposed method, the FBC is synthesized by the robust control approach. The feedforward control, which is generated via nonlinear programming, is added to the robust FBC system to further improve the control performance. The plant uncertainties, including unmodeled dynamics, linearization, and model reduction, are characterized and estimated. The comparisons of simulation responses based on a nonlinear reactor model demonstrate the achievement of the proposed controller with specified performance and endurance under uncertainty. It is also important to note that all input variables are manipulated in an orchestrated manner in response to a single output's setpoint change
Multivariate meta-analysis: a robust approach based on the theory of U-statistic.
Ma, Yan; Mazumdar, Madhu
2011-10-30
Meta-analysis is the methodology for combining findings from similar research studies asking the same question. When the question of interest involves multiple outcomes, multivariate meta-analysis is used to synthesize the outcomes simultaneously taking into account the correlation between the outcomes. Likelihood-based approaches, in particular restricted maximum likelihood (REML) method, are commonly utilized in this context. REML assumes a multivariate normal distribution for the random-effects model. This assumption is difficult to verify, especially for meta-analysis with small number of component studies. The use of REML also requires iterative estimation between parameters, needing moderately high computation time, especially when the dimension of outcomes is large. A multivariate method of moments (MMM) is available and is shown to perform equally well to REML. However, there is a lack of information on the performance of these two methods when the true data distribution is far from normality. In this paper, we propose a new nonparametric and non-iterative method for multivariate meta-analysis on the basis of the theory of U-statistic and compare the properties of these three procedures under both normal and skewed data through simulation studies. It is shown that the effect on estimates from REML because of non-normal data distribution is marginal and that the estimates from MMM and U-statistic-based approaches are very similar. Therefore, we conclude that for performing multivariate meta-analysis, the U-statistic estimation procedure is a viable alternative to REML and MMM. Easy implementation of all three methods are illustrated by their application to data from two published meta-analysis from the fields of hip fracture and periodontal disease. We discuss ideas for future research based on U-statistic for testing significance of between-study heterogeneity and for extending the work to meta-regression setting. Copyright © 2011 John Wiley & Sons, Ltd.
A Modified LQG Algorithm (MLQG for Robust Control of Nonlinear Multivariable Systems
Directory of Open Access Journals (Sweden)
Jens G. Balchen
1993-07-01
Full Text Available The original LQG algorithm is often characterized for its lack of robustness. This is because in the design of the estimator (Kalman filter the process disturbance is assumed to be white noise. If the estimator is to give good estimates, the Kalman gain is increased which means that the estimator fails to become robust. A solution to this problem is to replace the proportional Kalman gain matrix by a dynamic PI algorithm and the proportional LQ feedback gain matrix by a PI algorithm. A tuning method is developed which facilitates the tuning of a modified LQG control system (MLQG by only two tuning parameters.
Robust Multivariable Feedback Control of Natural Gas-Diesel RCCI Combustion
Indrajuana, A.; Bekdemir, C.; Luo, X.; Willems, F.P.T.
2016-01-01
Advanced combustion concepts such as Reactivity Controlled Compression Ignition (RCCI) demonstrate very high thermal efficiencies combined with ultra low NOx emissions. As RCCI is sensitive for operating conditions, closed-loop control is a crucial enabler for stable and robust combustion. The
International Nuclear Information System (INIS)
Han, Sung Hyun
1993-01-01
This paper proposes a new approach to the design of multivariable control schemes for assembly robot manipulator to achieve accuracy trajectory tracking by joint angles. The proposed control scheme consists of a multivariable feedforward controller and a feedback controller. In this control scheme, the feedback controller is proportional integral-derivative type and is designed to achieve the pole placement. The feedforward controller is the inverse of the linealized model of robot manipulator dynamics. The feedback controller ensures that each joint tracks any reference trajectory. The proposed robot controller scheme has a computationally efficient schemes for either offline gain scheduling or online gain computation to account for variations in the linealized robot dynamic model due to changes in operating point. The simulation results demonstrate that the proposed control schemesperporms remarkably well for parameter uncertainties and load variations. (Author)
International Nuclear Information System (INIS)
Moradi, Hamed; Bakhtiari-Nejad, Firooz; Saffar-Avval, Majid
2012-01-01
Highlights: ► Robust control of a multivariable air-handling unit (AHU). ► Controllers designed based on pole-placement and μ-synthesis. ► Robust performance in the presence of model uncertainties. ► Achievement of various tracking objectives in temperature and relative humidity. ► Comfort conditions in buildings with low energy consumption and operation cost. - Abstract: Control of air-conditioner units is essential to achieve satisfactory comfort conditions in buildings while keeping low energy consumption and operation costs. In this paper, a nonlinear multiinput and multioutput model (MIMO) of an air-handling unit (AHU) is considered. After linearization of the state equations around the operating points, an observer and a regulator are designed for the estimation of state variables and disturbance rejection, respectively. A realistic uncertain model is considered which constitutes various uncertainties associated with complex nonlinear model of AHU. In the presence of model uncertainties, a H ∞ -robust controller is designed to guarantee robust performance of the air-handling unit. In addition, a simple controller based on pole-placement approach is developed. Indoor temperature and relative humidity are controlled via manipulation of valve positions of air and cold water flow rates. Achievement of tracking objectives is investigated through various desired commands of indoor temperature and relative humidity (including a sequence of steps and ramps-steps). According to results, the H ∞ -robust controller guarantees the robust performance of the AHU in tracking of desired set-paths (while using the simple pole-placement controller leads to high oscillatory behavior of the output variables and control efforts). Moreover, using H ∞ -robust controller results in less energy consumption in comparison with the pole-placement controller.
Discrete PID Tuning Using Artificial Intelligence Techniques
Directory of Open Access Journals (Sweden)
Petr DOLEŽEL
2009-06-01
Full Text Available PID controllers are widely used in industry these days due to their useful properties such as simple tuning or robustness. While they are applicable to many control problems, they can perform poorly in some applications. Highly nonlinear system control with constrained manipulated variable can be mentioned as an example. The point of the paper is to string together convenient qualities of conventional PID control and progressive techniques based on Artificial Intelligence. Proposed control method should deal with even highly nonlinear systems. To be more specific, there is described new method of discrete PID controller tuning in this paper. This method tunes discrete PID controller parameters online through the use of genetic algorithm and neural model of controlled system in order to control successfully even highly nonlinear systems. After method description and some discussion, there is performed control simulation and comparison to one chosen conventional control method.
Smith, R.; Kasprzyk, J. R.; Balaji, R.
2017-12-01
In light of deeply uncertain factors like future climate change and population shifts, responsible resource management will require new types of information and strategies. For water utilities, this entails potential expansion and efficient management of water supply infrastructure systems for changes in overall supply; changes in frequency and severity of climate extremes such as droughts and floods; and variable demands, all while accounting for conflicting long and short term performance objectives. Multiobjective Evolutionary Algorithms (MOEAs) are emerging decision support tools that have been used by researchers and, more recently, water utilities to efficiently generate and evaluate thousands of planning portfolios. The tradeoffs between conflicting objectives are explored in an automated way to produce (often large) suites of portfolios that strike different balances of performance. Once generated, the sets of optimized portfolios are used to support relatively subjective assertions of priorities and human reasoning, leading to adoption of a plan. These large tradeoff sets contain information about complex relationships between decisions and between groups of decisions and performance that, until now, has not been quantitatively described. We present a novel use of Multivariate Regression Trees (MRTs) to analyze tradeoff sets to reveal these relationships and critical decisions. Additionally, when MRTs are applied to tradeoff sets developed for different realizations of an uncertain future, they can identify decisions that are robust across a wide range of conditions and produce fundamental insights about the system being optimized.
DEFF Research Database (Denmark)
2017-01-01
‘Robust – Reflections on Resilient Architecture’, is a scientific publication following the conference of the same name in November of 2017. Researches and PhD-Fellows, associated with the Masters programme: Cultural Heritage, Transformation and Restoration (Transformation), at The Royal Danish...
Variable Structure PID Control to Prevent Integrator Windup
Hall, C. E.; Hodel, A. S.; Hung, J. Y.
1999-01-01
PID controllers are frequently used to control systems requiring zero steady-state error while maintaining requirements for settling time and robustness (gain/phase margins). PID controllers suffer significant loss of performance due to short-term integrator wind-up when used in systems with actuator saturation. We examine several existing and proposed methods for the prevention of integrator wind-up in both continuous and discrete time implementations.
International Nuclear Information System (INIS)
Pei, L.; Klebaner, A.; Theilacker, J.; Soyars, W.; Martinez, A.; Bossert, R.; DeGraff, B.; Darve, C.
2011-01-01
The Horizontal Test Stand (HTS) SRF Cavity and Cryomodule 1 (CM1) of eight 9-cell, 1.3GHz SRF cavities are operating at Fermilab. For the cryogenic control system, how to hold liquid level constant in the cryostat by regulation of its Joule-Thompson JT-valve is very important after cryostat cool down to 2.0 K. The 72-cell cryostat liquid level response generally takes a long time delay after regulating its JT-valve; therefore, typical PID control loop should result in some cryostat parameter oscillations. This paper presents a type of PID parameter self-optimal and Time-Delay control method used to reduce cryogenic system parameters oscillation.
Koopman, S.J.; Creal, D.D.
2010-01-01
We develop a flexible business cycle indicator that accounts for potential time variation in macroeconomic variables. The coincident economic indicator is based on a multivariate trend cycle decomposition model and is constructed from a moderate set of US macroeconomic time series. In particular, we
Design and implementation of a 2-DOF PID compensation for magnetic levitation systems.
Ghosh, Arun; Rakesh Krishnan, T; Tejaswy, Pailla; Mandal, Abhisek; Pradhan, Jatin K; Ranasingh, Subhakant
2014-07-01
This paper employs a 2-DOF (degree of freedom) PID controller for compensating a physical magnetic levitation system. It is shown that because of having a feedforward gain in the proposed 2-DOF PID control, the transient performance of the compensated system can be changed in a desired manner unlike the conventional 1-DOF PID control. It is also shown that for a choice of PID parameters, although the theoretical loop robustness is the same for both the compensated systems, in real-time, 2-DOF PID control may provide superior robustness if a suitable choice of the feedforward parameter is made. The results are verified through simulations and experiments. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Enhanced pid vs model predictive control applied to bldc motor
Gaya, M. S.; Muhammad, Auwal; Aliyu Abdulkadir, Rabiu; Salim, S. N. S.; Madugu, I. S.; Tijjani, Aminu; Aminu Yusuf, Lukman; Dauda Umar, Ibrahim; Khairi, M. T. M.
2018-01-01
BrushLess Direct Current (BLDC) motor is a multivariable and highly complex nonlinear system. Variation of internal parameter values with environment or reference signal increases the difficulty in controlling the BLDC effectively. Advanced control strategies (like model predictive control) often have to be integrated to satisfy the control desires. Enhancing or proper tuning of a conventional algorithm results in achieving the desired performance. This paper presents a performance comparison of Enhanced PID and Model Predictive Control (MPC) applied to brushless direct current motor. The simulation results demonstrated that the PSO-PID is slightly better than the PID and MPC in tracking the trajectory of the reference signal. The proposed scheme could be useful algorithms for the system.
Haq, Quazi M. I.; Mabood, Fazal; Naureen, Zakira; Al-Harrasi, Ahmed; Gilani, Sayed A.; Hussain, Javid; Jabeen, Farah; Khan, Ajmal; Al-Sabari, Ruqaya S. M.; Al-khanbashi, Fatema H. S.; Al-Fahdi, Amira A. M.; Al-Zaabi, Ahoud K. A.; Al-Shuraiqi, Fatma A. M.; Al-Bahaisi, Iman M.
2018-06-01
Nucleic acid & serology based methods have revolutionized plant disease detection, however, they are not very reliable at asymptomatic stage, especially in case of pathogen with systemic infection, in addition, they need at least 1-2 days for sample harvesting, processing, and analysis. In this study, two reflectance spectroscopies i.e. Near Infrared reflectance spectroscopy (NIR) and Fourier-Transform-Infrared spectroscopy with Attenuated Total Reflection (FT-IR, ATR) coupled with multivariate exploratory methods like Principle Component Analysis (PCA) and Partial least square discriminant analysis (PLS-DA) have been deployed to detect begomovirus infection in papaya leaves. The application of those techniques demonstrates that they are very useful for robust in vivo detection of plant begomovirus infection. These methods are simple, sensitive, reproducible, precise, and do not require any lengthy samples preparation procedures.
Haq, Quazi M I; Mabood, Fazal; Naureen, Zakira; Al-Harrasi, Ahmed; Gilani, Sayed A; Hussain, Javid; Jabeen, Farah; Khan, Ajmal; Al-Sabari, Ruqaya S M; Al-Khanbashi, Fatema H S; Al-Fahdi, Amira A M; Al-Zaabi, Ahoud K A; Al-Shuraiqi, Fatma A M; Al-Bahaisi, Iman M
2018-06-05
Nucleic acid & serology based methods have revolutionized plant disease detection, however, they are not very reliable at asymptomatic stage, especially in case of pathogen with systemic infection, in addition, they need at least 1-2days for sample harvesting, processing, and analysis. In this study, two reflectance spectroscopies i.e. Near Infrared reflectance spectroscopy (NIR) and Fourier-Transform-Infrared spectroscopy with Attenuated Total Reflection (FT-IR, ATR) coupled with multivariate exploratory methods like Principle Component Analysis (PCA) and Partial least square discriminant analysis (PLS-DA) have been deployed to detect begomovirus infection in papaya leaves. The application of those techniques demonstrates that they are very useful for robust in vivo detection of plant begomovirus infection. These methods are simple, sensitive, reproducible, precise, and do not require any lengthy samples preparation procedures. Copyright © 2018 Elsevier B.V. All rights reserved.
Active Queue Management in TCP Networks Based on Fuzzy-Pid Controller
Directory of Open Access Journals (Sweden)
Hossein ASHTIANI
2012-01-01
Full Text Available We introduce a novel and robust active queue management (AQM scheme based on a fuzzy controller, called hybrid fuzzy-PID controller. In the TCP network, AQM is important to regulate the queue length by passing or dropping the packets at the intermediate routers. RED, PI, and PID algorithms have been used for AQM. But these algorithms show weaknesses in the detection and control of congestion under dynamically changing network situations. In this paper a novel Fuzzy-based proportional-integral derivative (PID controller, which acts as an active queue manager (AQM for Internet routers, is proposed. These controllers are used to reduce packet loss and improve network utilization in TCP/IP networks. A new hybrid controller is proposed and compared with traditional RED based controller. Simulations are carried out to demonstrate the effectiveness of the proposed method and show that, the new hybrid fuzzy PID controller provides better performance than random early detection (RED and PID controllers
Fractional order PID controller for load frequency control
International Nuclear Information System (INIS)
Sondhi, Swati; Hote, Yogesh V.
2014-01-01
Highlights: • The manuscript shows the design of FOPID controller for the load frequency control. • Performance of FOPID is given for non-reheated, reheated and hydro turbine. • Performance of FOPID is compared to IMC-PID and reduced order IMC-PID design scheme. • Performance of FOPID is better than the existing techniques. - Abstract: Load frequency control (LFC) plays a very important role in providing quality power both in the case of isolated as well as interconnected power systems. In order to maintain good quality power supply, the LFC should possess robustness toward the parametric uncertainty of the system and good disturbance rejection capability. The fractional order controller has the properties such as, eliminating steady state error, robustness toward plant gain variations and also good disturbance rejection. This makes the fractional order PID (FOPID) controller quite suitable for the LFC. Therefore, in this paper a FOPID is designed for single area LFC for all three types of turbines i.e., non-reheated, reheated and hydro turbines. It is observed that the FOPID controller shows better robustness toward ±50% parametric uncertainty and disturbance rejection capability than the existing techniques. Finally, the optimization of controller parameters and robustness evaluation of the control technique is done on the basis of the integral error criterion
Perancangan Kendali Pid Dengan Matlab
Sukamta, Sri
2010-01-01
Perancangan PID Controller selama ini menggunakan metoda trial and error dengan perhitungan yangmemakan waktu lama. MatLab yang dilengkapi Control Toolbox, membantu perancang untuk melihatrespon berbagai kombinasi konstanta dengan variasi input yang berbeda. Penggunaan MatLab ini sangatmembantu perancang dalam menentukan kombinasi di antara P, I, dan D Controller untuk menghasilkansistem pengaturan yang baik dan sederhana.
Design of sewage treatment system by applying fuzzy adaptive PID controller
Jin, Liang-Ping; Li, Hong-Chan
2013-03-01
In the sewage treatment system, the dissolved oxygen concentration control, due to its nonlinear, time-varying, large time delay and uncertainty, is difficult to establish the exact mathematical model. While the conventional PID controller only works with good linear not far from its operating point, it is difficult to realize the system control when the operating point far off. In order to solve the above problems, the paper proposed a method which combine fuzzy control with PID methods and designed a fuzzy adaptive PID controller based on S7-300 PLC .It employs fuzzy inference method to achieve the online tuning for PID parameters. The control algorithm by simulation and practical application show that the system has stronger robustness and better adaptability.
Wind turbine pitch control using ICPSO-PID algorithm
DEFF Research Database (Denmark)
Xu, Chang; Tian, Qiangqiang; Shen, Wen Zhong
2013-01-01
For the traditional simplified first-order pitch-control system model, it is difficult to describe a real dynamic characteristic of a variable pitch action system, thus a complete high order mathematical model has to be developed for the pitch control of wind turbine generation (WTG). In the paper...... controller parameters quickly; and the feed-forward controller for wind speed can improve dynamics of a pitch-control system; additionally the power controller can allow a wind turbine to have a constant power output as a wind speed is over the rated one. Compared with a conventional PID, the controller...... with ICPSO-PID algorithm has a smaller overshoot, a shorter tuning time and better robustness. The design method proposed in the paper can be applied in a practical electro-hydraulic pitch control system for WTG....
Series pid pitch controller of large wind turbines generator
Directory of Open Access Journals (Sweden)
Micić Aleksandar D.
2015-01-01
Full Text Available For this stable process with oscillatory dynamics, characterized with small damping ratio and dominant transport delay, design of the series PID pitch controller is based on the model obtained from the open-loop process step response, filtered with the second-order Butterworth filter Fbw. Performance of the series PID pitch controller, with the filter Fbw, is analyzed by simulations of the set-point and input/output disturbance responses, including simulations with a colored noise added to the control variable. Excellent performance/robustness tradeoff is obtained, compared to the recently proposed PI pitch controllers and to the modified internal model pitch controller, developed here, which has a natural mechanism to compensate effect of dominant transport delay. [Projekat Ministarstva nauke Republike Srbije, br. III 47016
Zhang, Shu; Taft, Cyrus W; Bentsman, Joseph; Hussey, Aaron; Petrus, Bryan
2012-09-01
Tuning a complex multi-loop PID based control system requires considerable experience. In today's power industry the number of available qualified tuners is dwindling and there is a great need for better tuning tools to maintain and improve the performance of complex multivariable processes. Multi-loop PID tuning is the procedure for the online tuning of a cluster of PID controllers operating in a closed loop with a multivariable process. This paper presents the first application of the simultaneous tuning technique to the multi-input-multi-output (MIMO) PID based nonlinear controller in the power plant control context, with the closed-loop system consisting of a MIMO nonlinear boiler/turbine model and a nonlinear cluster of six PID-type controllers. Although simplified, the dynamics and cross-coupling of the process and the PID cluster are similar to those used in a real power plant. The particular technique selected, iterative feedback tuning (IFT), utilizes the linearized version of the PID cluster for signal conditioning, but the data collection and tuning is carried out on the full nonlinear closed-loop system. Based on the figure of merit for the control system performance, the IFT is shown to deliver performance favorably comparable to that attained through the empirical tuning carried out by an experienced control engineer. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.
Particle swarm optimization based PID controller tuning for level control of two tank system
Vincent, Anju K.; Nersisson, Ruban
2017-11-01
Automatic control plays a vital role in industrial operation. In process industries, in order to have an improved and stable control system, we need a robust tuning method. In this paper Particle Swarm Optimization (PSO) based algorithm is proposed for the optimization of a PID controller for level control process. A two tank system is considered. Initially a PID controller is designed using an Internal Model Control (IMC). The results are compared with the PSO based controller setting. The performance of the controller is compared and analyzed by time domain specification. In order to validate the robustness of PID controller, disturbance is imposed. The system is simulated using MATLAB. The results show that the proposed method provides better controller performance.
Comparison of intelligent fuzzy based AGC coordinated PID controlled and PSS controlled AVR system
Energy Technology Data Exchange (ETDEWEB)
Mukherjee, V. [Department of Electrical Engineering, Asansol Engineering College, Asansol, West Bengal (India); Ghoshal, S.P. [Department of Electrical Engineering, National Institute of Technology, Durgapur, West Bengal (India)
2007-11-15
This paper attempts to investigate the performance of intelligent fuzzy based coordinated control of the Automatic Generation Control (AGC) loop and the excitation loop equipped with Proportional Integral Derivative (PID) controlled Automatic Voltage Regulator (AVR) system and Power System Stabilizer (PSS) controlled AVR system. The work establishes that PSS controlled AVR system is much more robust in dynamic performance of the system over a wide range of system operating configurations. Thus, it is revealed that PSS equipped AVR is much more superior than PID equipped AVR in damping the oscillation resulting in improved transient response. The paper utilizes a novel class of Particle Swarm Optimization (PSO) termed as Craziness based Particle Swarm Optimization (CRPSO) as optimizing tool to get optimal tuning of PSS parameters as well as the gains of PID controllers. For on-line, off-nominal operating conditions Takagi Sugeno Fuzzy Logic (TSFL) has been applied to obtain the off-nominal optimal gains of PID controllers and parameters of PSS. Implementation of TSFL helps to achieve very fast dynamic response. Fourth order model of generator with AVR and high gain thyristor excitation system is considered for PSS controlled system while normal gain exciter is considered for PID controlled system. Simulation study also reveals that with high gain exciter, PID control is not at all effective. Transient responses are achieved by using modal analysis. (author)
A novel auto-tuning PID control mechanism for nonlinear systems.
Cetin, Meric; Iplikci, Serdar
2015-09-01
In this paper, a novel Runge-Kutta (RK) discretization-based model-predictive auto-tuning proportional-integral-derivative controller (RK-PID) is introduced for the control of continuous-time nonlinear systems. The parameters of the PID controller are tuned using RK model of the system through prediction error-square minimization where the predicted information of tracking error provides an enhanced tuning of the parameters. Based on the model-predictive control (MPC) approach, the proposed mechanism provides necessary PID parameter adaptations while generating additive correction terms to assist the initially inadequate PID controller. Efficiency of the proposed mechanism has been tested on two experimental real-time systems: an unstable single-input single-output (SISO) nonlinear magnetic-levitation system and a nonlinear multi-input multi-output (MIMO) liquid-level system. RK-PID has been compared to standard PID, standard nonlinear MPC (NMPC), RK-MPC and conventional sliding-mode control (SMC) methods in terms of control performance, robustness, computational complexity and design issue. The proposed mechanism exhibits acceptable tuning and control performance with very small steady-state tracking errors, and provides very short settling time for parameter convergence. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
PID feedback controller used as a tactical asset allocation technique: The G.A.M. model
Gandolfi, G.; Sabatini, A.; Rossolini, M.
2007-09-01
The objective of this paper is to illustrate a tactical asset allocation technique utilizing the PID controller. The proportional-integral-derivative (PID) controller is widely applied in most industrial processes; it has been successfully used for over 50 years and it is used by more than 95% of the plants processes. It is a robust and easily understood algorithm that can provide excellent control performance in spite of the diverse dynamic characteristics of the process plant. In finance, the process plant, controlled by the PID controller, can be represented by financial market assets forming a portfolio. More specifically, in the present work, the plant is represented by a risk-adjusted return variable. Money and portfolio managers’ main target is to achieve a relevant risk-adjusted return in their managing activities. In literature and in the financial industry business, numerous kinds of return/risk ratios are commonly studied and used. The aim of this work is to perform a tactical asset allocation technique consisting in the optimization of risk adjusted return by means of asset allocation methodologies based on the PID model-free feedback control modeling procedure. The process plant does not need to be mathematically modeled: the PID control action lies in altering the portfolio asset weights, according to the PID algorithm and its parameters, Ziegler-and-Nichols-tuned, in order to approach the desired portfolio risk-adjusted return efficiently.
A Method for Precision Closed-Loop Irrigation Using a Modified PID Control Algorithm
Goodchild, Martin; Kühn, Karl; Jenkins, Malcolm; Burek, Kazimierz; Dutton, Andrew
2016-04-01
The benefits of closed-loop irrigation control have been demonstrated in grower trials which show the potential for improved crop yields and resource usage. Managing water use by controlling irrigation in response to soil moisture changes to meet crop water demands is a popular approach but requires knowledge of closed-loop control practice. In theory, to obtain precise closed-loop control of a system it is necessary to characterise every component in the control loop to derive the appropriate controller parameters, i.e. proportional, integral & derivative (PID) parameters in a classic PID controller. In practice this is often difficult to achieve. Empirical methods are employed to estimate the PID parameters by observing how the system performs under open-loop conditions. In this paper we present a modified PID controller, with a constrained integral function, that delivers excellent regulation of soil moisture by supplying the appropriate amount of water to meet the needs of the plant during the diurnal cycle. Furthermore, the modified PID controller responds quickly to changes in environmental conditions, including rainfall events which can result in: controller windup, under-watering and plant stress conditions. The experimental work successfully demonstrates the functionality of a constrained integral PID controller that delivers robust and precise irrigation control. Coir substrate strawberry growing trial data is also presented illustrating soil moisture control and the ability to match water deliver to solar radiation.
Rail Vehicle Vibrations Control Using Parameters Adaptive PID Controller
Directory of Open Access Journals (Sweden)
Muzaffer Metin
2014-01-01
Full Text Available In this study, vertical rail vehicle vibrations are controlled by the use of conventional PID and parameters which are adaptive to PID controllers. A parameters adaptive PID controller is designed to improve the passenger comfort by intuitional usage of this method that renews the parameters online and sensitively under variable track inputs. Sinusoidal vertical rail misalignment and measured real rail irregularity are considered as two different disruptive effects of the system. Active vibration control is applied to the system through the secondary suspension. The active suspension application of rail vehicle is examined by using 5-DOF quarter-rail vehicle model by using Manchester benchmark dynamic parameters. The new parameters of adaptive controller are optimized by means of genetic algorithm toolbox of MATLAB. Simulations are performed at maximum urban transportation speed (90 km/h of the rail vehicle with ±5% load changes of rail vehicle body to test the robustness of controllers. As a result, superior performance of parameters of adaptive controller is determined in time and frequency domain.
Control Multivariable por Desacoplo
Directory of Open Access Journals (Sweden)
Fernando Morilla
2013-01-01
Full Text Available Resumen: La interacción entre variables es una característica inherente de los procesos multivariables, que dificulta su operación y el diseño de sus sistemas de control. Bajo el paradigma de Control por desacoplo se agrupan un conjunto de metodologías, que tradicionalmente han estado orientadas a eliminar o reducir la interacción, y que recientemente algunos investigadores han reorientado con objetivos de solucionar un problema tan complejo como es el control multivariable. Parte del material descrito en este artículo es bien conocido en el campo del control de procesos, pero la mayor parte de él son resultados de varios años de investigación de los autores en los que han primado la generalización del problema, la búsqueda de soluciones de fácil implementación y la combinación de bloques elementales de control PID. Esta conjunción de intereses provoca que no siempre se pueda conseguir un desacoplo perfecto, pero que sí se pueda conseguir una considerable reducción de la interacción en el nivel básico de la pirámide de control, en beneficio de otros sistemas de control que ocupan niveles jerárquicos superiores. El artículo resume todos los aspectos básicos del Control por desacoplo y su aplicación a dos procesos representativos: una planta experimental de cuatro tanques acoplados y un modelo 4×4 de un sistema experimental de calefacción, ventilación y aire acondicionado. Abstract: The interaction between variables is inherent in multivariable processes and this fact may complicate their operation and control system design. Under the paradigm of decoupling control, several methodologies that traditionally have been addressed to cancel or reduce the interactions are gathered. Recently, this approach has been reoriented by several researchers with the aim to solve such a complex problem as the multivariable control. Parts of the material in this work are well known in the process control field; however, most of them are
Multivariate methods for particle identification
Visan, Cosmin
2013-01-01
The purpose of this project was to evaluate several MultiVariate methods in order to determine which one, if any, offers better results in Particle Identification (PID) than a simple n$\\sigma$ cut on the response of the ALICE PID detectors. The particles considered in the analysis were Pions, Kaons and Protons and the detectors used were TPC and TOF. When used with the same input n$\\sigma$ variables, the results show similar perfoance between the Rectangular Cuts Optimization method and the simple n$\\sigma$ cuts. The method MLP and BDT show poor results for certain ranges of momentum. The KNN method is the best performing, showing similar results for Pions and Protons as the Cuts method, and better results for Kaons. The extension of the methods to include additional input variables leads to poor results, related to instabilities still to be investigated.
Fuzzy Logic and PID control of a 3 DOF Robotic Arm
Directory of Open Access Journals (Sweden)
Korhan Kayışlı
2017-12-01
Full Text Available The robotic arms are used in many industrial applications at the present time. At this point, high precision control is required for robotics used in fields such as healthcare area. Therefore, the control method applied to robots is also important. In this study, a force was applied to the end function of a three degree-of-freedom robot and the robustness of the controllers are tested. PID and Fuzzy Logic control method are used for this process. The control process of robotic arm which is designed and simulated is obtained by using Fuzzy Logic and classical PID controllers and the results are presented comparatively
Designing PID-Fuzzy Controller for Pendubot System
Directory of Open Access Journals (Sweden)
Ho Trong Nguyen
2017-12-01
Full Text Available In the paper, authors analize dynamic equation of a pendubot system. Familiar kinds of controller – PID, fuzzy controllers – are concerned. Then, a structure of PID-FUZZY is presented. The comparison of three kinds of controllers – PID, fuzzy and PID-FUZZY shows the better response of system under PID-FUZZY controller. Then, the experiments on the real model also prove the better stabilization of the hybrid controller which is combined between linear and intelligent controller.
Nonlinear adaptive PID control for greenhouse environment based on RBF network.
Zeng, Songwei; Hu, Haigen; Xu, Lihong; Li, Guanghui
2012-01-01
This paper presents a hybrid control strategy, combining Radial Basis Function (RBF) network with conventional proportional, integral, and derivative (PID) controllers, for the greenhouse climate control. A model of nonlinear conservation laws of enthalpy and matter between numerous system variables affecting the greenhouse climate is formulated. RBF network is used to tune and identify all PID gain parameters online and adaptively. The presented Neuro-PID control scheme is validated through simulations of set-point tracking and disturbance rejection. We compare the proposed adaptive online tuning method with the offline tuning scheme that employs Genetic Algorithm (GA) to search the optimal gain parameters. The results show that the proposed strategy has good adaptability, strong robustness and real-time performance while achieving satisfactory control performance for the complex and nonlinear greenhouse climate control system, and it may provide a valuable reference to formulate environmental control strategies for actual application in greenhouse production.
Adaptive PID formation control of nonholonomic robots without leader's velocity information.
Shen, Dongbin; Sun, Weijie; Sun, Zhendong
2014-03-01
This paper proposes an adaptive proportional integral derivative (PID) algorithm to solve a formation control problem in the leader-follower framework where the leader robot's velocities are unknown for the follower robots. The main idea is first to design some proper ideal control law for the formation system to obtain a required performance, and then to propose the adaptive PID methodology to approach the ideal controller. As a result, the formation is achieved with much more enhanced robust formation performance. The stability of the closed-loop system is theoretically proved by Lyapunov method. Both numerical simulations and physical vehicle experiments are presented to verify the effectiveness of the proposed adaptive PID algorithm. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.
A new PID controller design for automatic generation control of hydro power systems
Energy Technology Data Exchange (ETDEWEB)
Khodabakhshian, A.; Hooshmand, R. [Electrical Engineering Department, University of Isfahan (Iran)
2010-06-15
This paper presents a new robust PID controller for automatic generation control (AGC) of hydro turbine power systems. The method is mainly based on a maximum peak resonance specification that is graphically supported by the Nichols chart. The open-loop frequency response curve is tangent to a specified ellipse and this makes the method to be efficient for controlling the overshoot, the stability and the dynamics of the system. Comparative results of this new load frequency controller with a conventional PI one and also with another PID controller design tested on a multimachine power system show the improvement in system damping remarkably. The region of acceptable performance of the new PID controller covers a wide range of operating and system conditions. (author)
Kim, Wonkuk; Londono, Douglas; Zhou, Lisheng; Xing, Jinchuan; Nato, Alejandro Q; Musolf, Anthony; Matise, Tara C; Finch, Stephen J; Gordon, Derek
2012-01-01
As with any new technology, next-generation sequencing (NGS) has potential advantages and potential challenges. One advantage is the identification of multiple causal variants for disease that might otherwise be missed by SNP-chip technology. One potential challenge is misclassification error (as with any emerging technology) and the issue of power loss due to multiple testing. Here, we develop an extension of the linear trend test for association that incorporates differential misclassification error and may be applied to any number of SNPs. We call the statistic the linear trend test allowing for error, applied to NGS, or LTTae,NGS. This statistic allows for differential misclassification. The observed data are phenotypes for unrelated cases and controls, coverage, and the number of putative causal variants for every individual at all SNPs. We simulate data considering multiple factors (disease mode of inheritance, genotype relative risk, causal variant frequency, sequence error rate in cases, sequence error rate in controls, number of loci, and others) and evaluate type I error rate and power for each vector of factor settings. We compare our results with two recently published NGS statistics. Also, we create a fictitious disease model based on downloaded 1000 Genomes data for 5 SNPs and 388 individuals, and apply our statistic to those data. We find that the LTTae,NGS maintains the correct type I error rate in all simulations (differential and non-differential error), while the other statistics show large inflation in type I error for lower coverage. Power for all three methods is approximately the same for all three statistics in the presence of non-differential error. Application of our statistic to the 1000 Genomes data suggests that, for the data downloaded, there is a 1.5% sequence misclassification rate over all SNPs. Finally, application of the multi-variant form of LTTae,NGS shows high power for a number of simulation settings, although it can have
Goher, K M; Fadlallah, S O
2017-01-01
This paper presents the performance of utilizing a bacterial foraging optimization algorithm on a PID control scheme for controlling a five DOF two-wheeled robotic machine with two-directional handling mechanism. The system under investigation provides solutions for industrial robotic applications that require a limited-space working environment. The system nonlinear mathematical model, derived using Lagrangian modeling approach, is simulated in MATLAB/Simulink ® environment. Bacterial foraging-optimized PID control with decoupled nature is designed and implemented. Various working scenarios with multiple initial conditions are used to test the robustness and the system performance. Simulation results revealed the effectiveness of the bacterial foraging-optimized PID control method in improving the system performance compared to the PID control scheme.
Optimal design of PID controller for second order plus time delay systems
International Nuclear Information System (INIS)
Srivastava, S.; Misra, A.; Kumar, Y.; Thakur, S.K.
2015-01-01
It is well known that the effect of time delay in the forward path of control loop deteriorates the system performance and at the same time makes it difficult to compute the optimum PID controller parameters of the feedback control systems. PI/PID controller is most popular and used more than 80% in industries as well as in accelerators lab due to its simple structure and appropriate robustness. At VECC we have planned to use a PID controller for the speed control of DC motor which will be used to adjust the solenoid coil position of the 2.45 GHz microwave ion source for optimum performance during the online operation. In this paper we present a comparison of the two methods which have been used to design the optimum PID controller parameters: one by optimizing different time domain performance indices such as lAE, ITSE etc. and other using analytical formulation based on Linear Quadratic Regulator (LQR). We have performed numerical simulations using MATLAB and compare the closed loop time response performance measures using the PID parameters obtained from above mentioned two methods on a second order transfer function of a DC motor with time delay. (author)
A fuzzy model based adaptive PID controller design for nonlinear and uncertain processes.
Savran, Aydogan; Kahraman, Gokalp
2014-03-01
We develop a novel adaptive tuning method for classical proportional-integral-derivative (PID) controller to control nonlinear processes to adjust PID gains, a problem which is very difficult to overcome in the classical PID controllers. By incorporating classical PID control, which is well-known in industry, to the control of nonlinear processes, we introduce a method which can readily be used by the industry. In this method, controller design does not require a first principal model of the process which is usually very difficult to obtain. Instead, it depends on a fuzzy process model which is constructed from the measured input-output data of the process. A soft limiter is used to impose industrial limits on the control input. The performance of the system is successfully tested on the bioreactor, a highly nonlinear process involving instabilities. Several tests showed the method's success in tracking, robustness to noise, and adaptation properties. We as well compared our system's performance to those of a plant with altered parameters with measurement noise, and obtained less ringing and better tracking. To conclude, we present a novel adaptive control method that is built upon the well-known PID architecture that successfully controls highly nonlinear industrial processes, even under conditions such as strong parameter variations, noise, and instabilities. © 2013 Published by ISA on behalf of ISA.
Using PIDs to Support the Full Research Data Publishing Lifecycle
Waard, A. D.
2016-12-01
Persistent identifiers can help support scientific research, track scientific impact and let researchers achieve recognition for their work. We discuss a number of ways in which Elsevier utilizes PIDs to support the scholarly lifecycle: To improve the process of storing and sharing data, Mendeley Data (http://data.mendeley.com) makes use of persistent identifiers to support the dynamic nature of data and software, by tracking and recording the provenance and versioning of datasets. This system now allows the comparison of different versions of a dataset, to see precisely what was changed during a versioning update. To present research data in context for the reader, we include PIDs in research articles as hyperlinks: https://www.elsevier.com/books-and-journals/content-innovation/data-base-linking. In some cases, PIDs fetch data files from the repositories provide that allow the embedding of visualizations, e.g. with PANGAEA and PubChem: https://www.elsevier.com/books-and-journals/content-innovation/protein-viewer; https://www.elsevier.com/books-and-journals/content-innovation/pubchem. To normalize referenced data elements, the Resource Identification Initiative - which we developed together with members of the Force11 RRID group - introduces a unified standard for resource identifiers (RRIDs) that can easily be interpreted by both humans and text mining tools. https://www.force11.org/group/resource-identification-initiative/update-resource-identification-initiative, as can be seen in our Antibody Data app: https://www.elsevier.com/books-and-journals/content-innovation/antibody-data To enable better citation practices and support robust metrics system for sharing research data, we have helped develop, and are early adopters of the Force11 Data Citation Principles and Implementation groups (https://www.force11.org/group/dcip) Lastly, through our work with the Research Data Alliance Publishing Data Services group, we helped create a set of guidelines (http
PIDs, Types and the Semantic Web
Schwardmann, Ulrich
2017-04-01
PID Information Types are becoming a crucial role in scientific data management because they can provide state (what) and binding (where) information about digital objects as attributes of the PID. This is a similar but much more flexible approach than the well known mime type characterization, because both of these types concepts allow to decide about preconditions for processes in advance and before touching the data. One aspect of this is the need for standards and correctness of the used types to ensure reliability for the processes operating on the digital objects. This requires registries and schemas for PID InfoTypes and suggests an automated schema generation process. Such a process in combination with data type registries will be described in more detail in the intended talk. Another aspect of PID InfoTypes is its intrinsic grammar as subject-predicate-object triple, with the PID as subject, the type as predicate and its value (often again a PID) as object in this relation. Given the registration of types and the proposed syntactical rigidness of the value, guaranteed by the schema, together with the use of PIDs in subject and predicate, the type concept has the ability to overcome the fuzziness and lack of reliability of semantic web categories with its URL references and possibly changing locations and content. The intended talk will also describe this approach in more detail, discusses the differences to linked data and describes some necessary technological developments for the type concept to keep up with the possibilities currently provided by the semantic web.
Directory of Open Access Journals (Sweden)
Wilmar Hernandez
2005-11-01
Full Text Available In the present paper, in order to estimate the response of both a wheel speedsensor and an accelerometer placed in a car under performance tests, robust and optimalmultivariable estimation techniques are used. In this case, the disturbances and noisescorrupting the relevant information coming from the sensorsÃ¢Â€Â™ outputs are so dangerous thattheir negative influence on the electrical systems impoverish the general performance of thecar. In short, the solution to this problem is a safety related problem that deserves our fullattention. Therefore, in order to diminish the negative effects of the disturbances and noiseson the carÃ¢Â€Â™s electrical and electromechanical systems, an optimum observer is used. Theexperimental results show a satisfactory improvement in the signal-to-noise ratio of therelevant signals and demonstrate the importance of the fusion of several intelligent sensordesign techniques when designing the intelligent sensors that todayÃ¢Â€Â™s cars need.
A normalized PID controller in networked control systems with varying time delays.
Tran, Hoang-Dung; Guan, Zhi-Hong; Dang, Xuan-Kien; Cheng, Xin-Ming; Yuan, Fu-Shun
2013-09-01
It requires not only simplicity and flexibility but also high specified stability and robustness of system to design a PI/PID controller in such complicated networked control systems (NCSs) with delays. By gain and phase margins approach, this paper proposes a novel normalized PI/PID controller for NCSs based on analyzing the stability and robustness of system under the effect of network-induced delays. Specifically, We take into account the total measured network delays to formulate the gain and phase margins of the closed-loop system in the form of a set of equations. With pre-specified values of gain and phase margins, this set of equations is then solved for calculating the closed forms of control parameters which enable us to propose the normalized PI/PID controller simultaneously satisfying the following two requirements: (1) simplicity without re-solving the optimization problem for a new process, (2) high flexibility to cope with large scale of random delays and deal with many different processes in different conditions of network. Furthermore, in our method, the upper bound of random delay can be estimated to indicate the operating domain of proposed PI/PID controller. Finally, simulation results are shown to demonstrate the advantages of our proposed controller in many situations of network-induced delays. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.
Directory of Open Access Journals (Sweden)
Gilberto Reynoso-Meza
2013-07-01
Full Text Available Resumen: Los controladores PID continÃºan siendo una soluciÃ³n fiable, robusta, prÃ¡ctica y sencilla para el control de procesos. Actualmente constituyen la primera capa de control de la gran mayorÃa de las aplicaciones industriales. De ahÃ que un nÃºmero importante de trabajos de investigaciÃ³n se han orientado a mejorar su rendimiento y prestaciones. Las lÃneas de investigaciÃ³n en este campo van desde nuevos mÃ©todos de ajuste, pasando por nuevos tipos de estructura hasta metodologÃas de diseÃ±o integrales. Particularizando en el ajuste de parÃ¡metros, una de las formas de obtener una soluciÃ³n novedosa consiste en plantear un problema de optimizaciÃ³n, el cual puede llegar a ser no-lineal, no-convexo y con restricciones. Dado que los algoritmos evolutivos han mostrado un buen desempeÃ±o para solucionar problemas complejos de optimizaciÃ³n, han sido utilizados en diversas propuestas relacionadas con el ajuste de controladores PID. Este trabajo muestra un revisiÃ³n de estas propuestas y las prestaciones obtenidas en cada caso. AsÃ mismo, se identifican algunas tendencias y posibles lÃneas de trabajo futuras. Abstract: PID controllers are a reliable, robust, practical and easy to implement control solution for industrial processes. They provide the first control layer for a vast majority of industrial applications. Owing to this, several researches invest time and resources to improve their performance. The research lines in this field scope with new tuning methods, new types of structures and integral design methods. For tuning methods, improvements could be fulfilled stating an optimization problem, which could be non-linear, non-convex and highly constrained. In such instances, evolutionary algorithms have shown a good performance and have been used in various proposals related with PID controllers tuning. This work shows a review of these proposals and the benefits obtained in each case. Some
DEFF Research Database (Denmark)
Barndorff-Nielsen, Ole; Hansen, Peter Reinhard; Lunde, Asger
We propose a multivariate realised kernel to estimate the ex-post covariation of log-prices. We show this new consistent estimator is guaranteed to be positive semi-definite and is robust to measurement noise of certain types and can also handle non-synchronous trading. It is the first estimator...
Laser beam pointing and stabilization by fractional-order PID control: Tuning rule and experiments
Al-Alwan, Asem Ibrahim Alwan
2017-10-24
This paper studies the problem of high-precision positioning of laser beams by using a robust Fractional-Order Proportional-Integral-Derivative (FOPID) controller. The control problem addressed in laser beams aims to maintain the position of the laser beam on a Position Sensing Device (PSD) despite the effects of noise and active disturbances. The FOPID controller is well known for its simplicity with better tuning flexibility along with robustness to noise and output disturbance rejections. Thus, a control strategy based on FOPID to achieve the control objectives has been proposed. The FOPID gains and differentiation orders are optimally tuned in order to fulfill the robustness design specifications by solving a nonlinear optimization problem. A comparison to the conventional Proportional-Integral-Derivative (PID) and robust PID is also provided from simulation and experiment set-up. Due to sensor noise, practical PID controllers that filter the position signal before taking the derivative have been also proposed. Experimental results show that the requirements are totally met for the laser beam platform to be stabilized.
Laser beam pointing and stabilization by fractional-order PID control: Tuning rule and experiments
Al-Alwan, Asem Ibrahim Alwan; Guo, Xingang; Ndoye, Ibrahima; Laleg-Kirati, Taous-Meriem
2017-01-01
This paper studies the problem of high-precision positioning of laser beams by using a robust Fractional-Order Proportional-Integral-Derivative (FOPID) controller. The control problem addressed in laser beams aims to maintain the position of the laser beam on a Position Sensing Device (PSD) despite the effects of noise and active disturbances. The FOPID controller is well known for its simplicity with better tuning flexibility along with robustness to noise and output disturbance rejections. Thus, a control strategy based on FOPID to achieve the control objectives has been proposed. The FOPID gains and differentiation orders are optimally tuned in order to fulfill the robustness design specifications by solving a nonlinear optimization problem. A comparison to the conventional Proportional-Integral-Derivative (PID) and robust PID is also provided from simulation and experiment set-up. Due to sensor noise, practical PID controllers that filter the position signal before taking the derivative have been also proposed. Experimental results show that the requirements are totally met for the laser beam platform to be stabilized.
Quadrotor trajectory tracking using PID cascade control
Idres, M.; Mustapha, O.; Okasha, M.
2017-12-01
Quadrotors have been applied to collect information for traffic, weather monitoring, surveillance and aerial photography. In order to accomplish their mission, quadrotors have to follow specific trajectories. This paper presents proportional-integral-derivative (PID) cascade control of a quadrotor for path tracking problem when velocity and acceleration are small. It is based on near hover controller for small attitude angles. The integral of time-weighted absolute error (ITAE) criterion is used to determine the PID gains as a function of quadrotor modeling parameters. The controller is evaluated in three-dimensional environment in Simulink. Overall, the tracking performance is found to be excellent for small velocity condition.
Demonstrative fractional order - PID controller based DC motor drive on digital platform.
Khubalkar, Swapnil W; Junghare, Anjali S; Aware, Mohan V; Chopade, Amit S; Das, Shantanu
2017-09-21
In industrial drives applications, fractional order controllers can exhibit phenomenal impact due to realization through digital implementation. Digital fractional order controllers have created wide scope as it possess the inherent advantages like robustness against the plant parameter variation. This paper provides brief design procedure of fractional order proportional-integral-derivative (FO-PID) controller through the indirect approach of approximation using constant phase technique. The new modified dynamic particle swarm optimization (IdPSO) technique is proposed to find controller parameters. The FO-PID controller is implemented using floating point digital signal processor. The building blocks are designed and assembled with all peripheral components for the 1.5kW industrial DC motor drive. The robust operation for parametric variation is ascertained by testing the controller with two separately excited DC motors with the same rating but different parameters. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Improved fuzzy PID controller design using predictive functional control structure.
Wang, Yuzhong; Jin, Qibing; Zhang, Ridong
2017-11-01
In conventional PID scheme, the ensemble control performance may be unsatisfactory due to limited degrees of freedom under various kinds of uncertainty. To overcome this disadvantage, a novel PID control method that inherits the advantages of fuzzy PID control and the predictive functional control (PFC) is presented and further verified on the temperature model of a coke furnace. Based on the framework of PFC, the prediction of the future process behavior is first obtained using the current process input signal. Then, the fuzzy PID control based on the multi-step prediction is introduced to acquire the optimal control law. Finally, the case study on a temperature model of a coke furnace shows the effectiveness of the fuzzy PID control scheme when compared with conventional PID control and fuzzy self-adaptive PID control. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Implementasi Kontrol PID pada Mesin Pengembang Roti
Directory of Open Access Journals (Sweden)
Novianti Yuliarmas
2015-04-01
Full Text Available Besides the ingredient composition, another important thing in the process of making dough is proofing, ie. dough rising process prior to roasting process. Proofing process requires a stable temperature to ensure that the dough is well rising. The purpose of this research is to make a proofing machine that uses DHT11 as a temperature sensor. Proportional-Integral-Derivative (PID controller is implemented to guarantee that the machine remains at the temperature of 350Celcius, in which the fermentation process would success. PID control has been implemented in fluorescent lamp which been set its dim light to generate heat until it reach a predetermined set point value. The temperature was monitored using LCD and set to remain stable with the help of fan. The proofing process will last for 15 minutes which ended by the sound of the buzzer. The testing result shows that the value of , , will reach set point value within 120 seconds.
International Nuclear Information System (INIS)
Vasconcelos, Wagner Eustaquio de; Lira, Carlos Alberto Brayner de Oliveira; Brito, Thiago Souza Pereira de; Afonso, Antonio Claudio Marques; Cruz Filho, Antonio Jose da; Marques, Jose Antonio; Teixeira, Marcello Goulart
2013-01-01
Nuclear reactors are in nature nonlinear systems and their parameters vary with time as a function of power level. These characteristics must be considered if large power variations occur in power plant operational regimes, such as in load-following conditions. A PWR reactor has a component called pressurizer, whose function is to supply the necessary high pressure for its operation and to contain pressure variations in the primary cooling system. The use of control systems capable of reducing fast variations of the operation variables and to maintain the stability of this system is of fundamental importance. The best-known controllers used in industrial control processes are proportional-integral-derivative (PID) controllers due to their simple structure and robust performance in a wide range of operating conditions. However, designing a fuzzy controller is seen to be a much less difficult task. Once a Fuzzy Logic controller is designed for a particular set of parameters of the nonlinear element, it yields satisfactory performance for a range of these parameters. The objective of this work is to develop fuzzy proportional-integral-derivative (fuzzy-PID) control strategies to control the level of water in the reactor. In the study of the pressurizer, several computer codes are used to simulate its dynamic behavior. At the fuzzy-PID control strategy, the fuzzy logic controller is exploited to extend the finite sets of PID gains to the possible combinations of PID gains in stable region. Thus the fuzzy logic controller tunes the gain of PID controller to adapt the model with changes in the water level of reactor. The simulation results showed a favorable performance with the use to fuzzy-PID controllers. (author)
Singh, Jay; Chattterjee, Kalyan; Vishwakarma, C B
2018-01-01
Load frequency controller has been designed for reduced order model of single area and two-area reheat hydro-thermal power system through internal model control - proportional integral derivative (IMC-PID) control techniques. The controller design method is based on two degree of freedom (2DOF) internal model control which combines with model order reduction technique. Here, in spite of taking full order system model a reduced order model has been considered for 2DOF-IMC-PID design and the designed controller is directly applied to full order system model. The Logarithmic based model order reduction technique is proposed to reduce the single and two-area high order power systems for the application of controller design.The proposed IMC-PID design of reduced order model achieves good dynamic response and robustness against load disturbance with the original high order system. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.
Nemirsky, Kristofer Kevin
In this thesis, the history and evolution of rotor aircraft with simulated annealing-based PID application were reviewed and quadcopter dynamics are presented. The dynamics of a quadcopter were then modeled, analyzed, and linearized. A cascaded loop architecture with PID controllers was used to stabilize the plant dynamics, which was improved upon through the application of simulated annealing (SA). A Simulink model was developed to test the controllers and verify the functionality of the proposed control system design. In addition, the data that the Simulink model provided were compared with flight data to present the validity of derived dynamics as a proper mathematical model representing the true dynamics of the quadcopter system. Then, the SA-based global optimization procedure was applied to obtain optimized PID parameters. It was observed that the tuned gains through the SA algorithm produced a better performing PID controller than the original manually tuned one. Next, we investigated the uncertain dynamics of the quadcopter setup. After adding uncertainty to the gyroscopic effects associated with pitch-and-roll rate dynamics, the controllers were shown to be robust against the added uncertainty. A discussion follows to summarize SA-based algorithm PID controller design and performance outcomes. Lastly, future work on SA application on multi-input-multi-output (MIMO) systems is briefly discussed.
Research on frequency control strategy of interconnected region based on fuzzy PID
Zhang, Yan; Li, Chunlan
2018-05-01
In order to improve the frequency control performance of the interconnected power grid, overcome the problems of poor robustness and slow adjustment of traditional regulation, the paper puts forward a frequency control method based on fuzzy PID. The method takes the frequency deviation and tie-line deviation of each area as the control objective, takes the regional frequency deviation and its deviation as input, and uses fuzzy mathematics theory, adjusts PID control parameters online. By establishing the regional frequency control model of water-fire complementary power generation in MATLAB, the regional frequency control strategy is given, and three control modes (TBC-FTC, FTC-FTC, FFC-FTC) are simulated and analyzed. The simulation and experimental results show that, this method has better control performance compared with the traditional regional frequency regulation.
A comparison of fuzzy logic-PID control strategies for PWR pressurizer control
International Nuclear Information System (INIS)
Kavaklioglu, K.; Ikonomopoulos, A.
1993-01-01
This paper describes the results obtained from a comparison performed between classical proportional-integral-derivative (PID) and fuzzy logic (FL) controlling the pressure in a pressurized water reactor (PWR). The two methodologies have been tested under various transient scenarios, and their performances are evaluated with respect to robustness and on-time response to external stimuli. One of the main concerns in the safe operation of PWR is the pressure control in the primary side of the system. In order to maintain the pressure in a PWR at the desired level, the pressurizer component equipped with sprayers, heaters, and safety relief valves is used. The control strategy in a Westinghouse PWR is implemented with a PID controller that initiates either the electric heaters or the sprayers, depending on the direction of the coolant pressure deviation from the setpoint
An optimal PID controller via LQR for standard second order plus time delay systems.
Srivastava, Saurabh; Misra, Anuraag; Thakur, S K; Pandit, V S
2016-01-01
An improved tuning methodology of PID controller for standard second order plus time delay systems (SOPTD) is developed using the approach of Linear Quadratic Regulator (LQR) and pole placement technique to obtain the desired performance measures. The pole placement method together with LQR is ingeniously used for SOPTD systems where the time delay part is handled in the controller output equation instead of characteristic equation. The effectiveness of the proposed methodology has been demonstrated via simulation of stable open loop oscillatory, over damped, critical damped and unstable open loop systems. Results show improved closed loop time response over the existing LQR based PI/PID tuning methods with less control effort. The effect of non-dominant pole on the stability and robustness of the controller has also been discussed. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Optimal control of inverted pendulum system using PID controller, LQR and MPC
Varghese, Elisa Sara; Vincent, Anju K.; Bagyaveereswaran, V.
2017-11-01
Inverted pendulum is a highly nonlinear system. Here we propose an optimal control technique for the control of an inverted Pendulum - cart system. The system is modeled, linearized and controlled. Here, the control objective is to control the system such that when the cart reaches a desired position the inverted pendulum stabilizes in the upright position. Initially PID controller is used to control the system. Later, Linear Quadratic Regulator (LQR) a well-known optimal control technique which makes use of the states of the dynamical system and control input to frame the optimal control decision is used. Various combinations of both PID and LQR controllers are implemented. To validate the robustness of the controller, the system is simulated with and without disturbance. Finally the system is also controlled using Model Predictive controller (MPC). MPC has well predictive ability to calculate future events and implement necessary control actions. The performance of the system is compared and analyzed.
Soft Real-Time PID Control on a VME Computer
Karayan, Vahag; Sander, Stanley; Cageao, Richard
2007-01-01
microPID (uPID) is a computer program for real-time proportional + integral + derivative (PID) control of a translation stage in a Fourier-transform ultraviolet spectrometer. microPID implements a PID control loop over a position profile at sampling rate of 8 kHz (sampling period 125microseconds). The software runs in a strippeddown Linux operating system on a VersaModule Eurocard (VME) computer operating in real-time priority queue using an embedded controller, a 16-bit digital-to-analog converter (D/A) board, and a laser-positioning board (LPB). microPID consists of three main parts: (1) VME device-driver routines, (2) software that administers a custom protocol for serial communication with a control computer, and (3) a loop section that obtains the current position from an LPB-driver routine, calculates the ideal position from the profile, and calculates a new voltage command by use of an embedded PID routine all within each sampling period. The voltage command is sent to the D/A board to control the stage. microPID uses special kernel headers to obtain microsecond timing resolution. Inasmuch as microPID implements a single-threaded process and all other processes are disabled, the Linux operating system acts as a soft real-time system.
Research on digital PID control algorithm for HPCT
International Nuclear Information System (INIS)
Zeng Yi; Li Rui; Shen Tianjian; Ke Xinhua
2009-01-01
Digital PID applied in high-precision HPCT (High-precision current transducer) based on Digital Signal Processor (DSP) TMS320F2812 and special D/A converter was researched. By using increment style PID Control algorithm, the stability and precision of high-precision HPCT output voltage is improved. On basis of deeply analysing incremental digital PID, the scheme model of HPCT is proposed, the feasibility simulation using Matlab is given. Practical hardware circuit verified the incremental PID has closed-loop control process in tracking HPCT output voltage. (authors)
Application of integral-separated PID algorithm in orbit feedback
International Nuclear Information System (INIS)
Xuan, K.; Bao, X.; Li, C.; Li, W.; Liu, G.; Wang, J.; Wang, L.
2012-01-01
The algorithm in the feedback system has important influence on the performance of the beam orbit. PID (Proportion Integration Differentiation) algorithm is widely used in the beam orbit feedback system; however, the deficiency of PID algorithm is a big overshooting in strong perturbations. In order to overcome the deficiencies, the integral-separated PID algorithm is developed. When the closed orbit distortion is too large, it cancels integration action until the closed orbit distortion is lower than the separation threshold value. The implementation of integral-separated PID algorithm with MATLAB is described in this paper. The simulation results show that this algorithm can improve the control precision. (authors)
The Parrot UAV Controlled by PID Controllers
Koszewnik Andrzej
2014-01-01
The paper presents the process of modeling and designing control laws for four-rotor type of the Parrot UAV. The state space model is obtained by using several phenomena like gyroscopic effects for rigid bodies, propellers and rotors. The obtained model has been used to design PID control laws for roll, pitch, yaw angle and altitude, respectively. The numerical simulations of the closed loop model are shown that system in satisfy way stabilize flight of the quadro-rotor in all considered dire...
The Parrot UAV Controlled by PID Controllers
Directory of Open Access Journals (Sweden)
Koszewnik Andrzej
2014-08-01
Full Text Available The paper presents the process of modeling and designing control laws for four-rotor type of the Parrot UAV. The state space model is obtained by using several phenomena like gyroscopic effects for rigid bodies, propellers and rotors. The obtained model has been used to design PID control laws for roll, pitch, yaw angle and altitude, respectively. The numerical simulations of the closed loop model are shown that system in satisfy way stabilize flight of the quadro-rotor in all considered directions.
Design of distributed PID-type dynamic matrix controller for fractional-order systems
Wang, Dawei; Zhang, Ridong
2018-01-01
With the continuous requirements for product quality and safety operation in industrial production, it is difficult to describe the complex large-scale processes with integer-order differential equations. However, the fractional differential equations may precisely represent the intrinsic characteristics of such systems. In this paper, a distributed PID-type dynamic matrix control method based on fractional-order systems is proposed. First, the high-order approximate model of integer order is obtained by utilising the Oustaloup method. Then, the step response model vectors of the plant is obtained on the basis of the high-order model, and the online optimisation for multivariable processes is transformed into the optimisation of each small-scale subsystem that is regarded as a sub-plant controlled in the distributed framework. Furthermore, the PID operator is introduced into the performance index of each subsystem and the fractional-order PID-type dynamic matrix controller is designed based on Nash optimisation strategy. The information exchange among the subsystems is realised through the distributed control structure so as to complete the optimisation task of the whole large-scale system. Finally, the control performance of the designed controller in this paper is verified by an example.
Computer simulation system of neural PID control on nuclear reactor
International Nuclear Information System (INIS)
Chen Yuzhong; Yang Kaijun; Shen Yongping
2001-01-01
Neural network proportional integral differential (PID) controller on nuclear reactor is designed, and the control process is simulated by computer. The simulation result show that neutral network PID controller can automatically adjust its parameter to ideal state, and good control result can be gotten in reactor control process
Analytical one parameter method for PID motion controller settings
van Dijk, Johannes; Aarts, Ronald G.K.M.
2012-01-01
In this paper analytical expressions for PID-controllers settings for electromechanical motion systems are presented. It will be shown that by an adequate frequency domain oriented parametrization, the parameters of a PID-controller are analytically dependent on one variable only, the cross-over
Kumar, Anupam; Kumar, Vijay
2017-05-01
In this paper, a novel concept of an interval type-2 fractional order fuzzy PID (IT2FO-FPID) controller, which requires fractional order integrator and fractional order differentiator, is proposed. The incorporation of Takagi-Sugeno-Kang (TSK) type interval type-2 fuzzy logic controller (IT2FLC) with fractional controller of PID-type is investigated for time response measure due to both unit step response and unit load disturbance. The resulting IT2FO-FPID controller is examined on different delayed linear and nonlinear benchmark plants followed by robustness analysis. In order to design this controller, fractional order integrator-differentiator operators are considered as design variables including input-output scaling factors. A new hybridized algorithm named as artificial bee colony-genetic algorithm (ABC-GA) is used to optimize the parameters of the controller while minimizing weighted sum of integral of time absolute error (ITAE) and integral of square of control output (ISCO). To assess the comparative performance of the IT2FO-FPID, authors compared it against existing controllers, i.e., interval type-2 fuzzy PID (IT2-FPID), type-1 fractional order fuzzy PID (T1FO-FPID), type-1 fuzzy PID (T1-FPID), and conventional PID controllers. Furthermore, to show the effectiveness of the proposed controller, the perturbed processes along with the larger dead time are tested. Moreover, the proposed controllers are also implemented on multi input multi output (MIMO), coupled, and highly complex nonlinear two-link robot manipulator system in presence of un-modeled dynamics. Finally, the simulation results explicitly indicate that the performance of the proposed IT2FO-FPID controller is superior to its conventional counterparts in most of the cases. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Design and Simulation of a PID Controller for Motion Control Systems
Hassan Abdullahi, Zakariyya; Danzomo, Bashir Ahmed; Suleiman Abdullahi, Zainab
2018-04-01
Motion control system plays important role in many industrial applications among which are in robot system, missile launching, positioning systems etc. However, the performance requirement for these applications in terms of high accuracy, high speed, insignificant or no overshoot and robustness have generated continuous challenges in the field of motion control system design and implementation. To compensate this challenge, a PID controller was design using mathematical model of a DC motor based on classical root-locus approach. The reason for adopting root locus design is to remodel the closed-loop response by putting the closed-loop poles of the system at desired points. Adding poles and zeros to the initial open-loop transfer function through the controller provide a way to transform the root locus in order to place the closed-loop poles at the required points. This process can also be used for discrete-time models. The Advantages of root locus over other methods is that, it gives the better way of pinpointing the parameters and can easily predict the fulfilment of the whole system. The controller performance was simulated using MATLAB code and a reasonable degree of accuracy was obtained. Implementation of the proposed model was conducted using-Simulink and the result obtained shows that the PID controller met the transient performance specifications with both settling time and overshoot less than 0.1s and 5% respectively. In terms of steady state error, the PID controller gave good response for both step input and ramp.
International Nuclear Information System (INIS)
Santos Coelho, Leandro dos
2009-01-01
Despite the popularity, the tuning aspect of proportional-integral-derivative (PID) controllers is a challenge for researchers and plant operators. Various controllers tuning methodologies have been proposed in the literature such as auto-tuning, self-tuning, pattern recognition, artificial intelligence, and optimization methods. Chaotic optimization algorithms as an emergent method of global optimization have attracted much attention in engineering applications. Chaotic optimization algorithms, which have the features of easy implementation, short execution time and robust mechanisms of escaping from local optimum, is a promising tool for engineering applications. In this paper, a tuning method for determining the parameters of PID control for an automatic regulator voltage (AVR) system using a chaotic optimization approach based on Lozi map is proposed. Since chaotic mapping enjoys certainty, ergodicity and the stochastic property, the proposed chaotic optimization introduces chaos mapping using Lozi map chaotic sequences which increases its convergence rate and resulting precision. Simulation results are promising and show the effectiveness of the proposed approach. Numerical simulations based on proposed PID control of an AVR system for nominal system parameters and step reference voltage input demonstrate the good performance of chaotic optimization.
Multi-stage fuzzy PID power system automatic generation controller in deregulated environments
International Nuclear Information System (INIS)
Shayeghi, H.; Shayanfar, H.A.; Jalili, A.
2006-01-01
In this paper, a multi-stage fuzzy proportional integral derivative (PID) type controller is proposed to solve the automatic generation control (AGC) problem in a deregulated power system that operates under deregulation based on the bilateral policy scheme. In each control area, the effects of the possible contracts are treated as a set of new input signals in a modified traditional dynamical model. The multi-stage controller uses the fuzzy switch to blend a proportional derivative (PD) fuzzy logic controller with an integral fuzzy logic input. The proposed controller operates on fuzzy values passing the consequence of a prior stage on to the next stage as fact. The salient advantage of this strategy is its high insensitivity to large load changes and disturbances in the presence of plant parameter variations and system nonlinearities. This newly developed strategy leads to a flexible controller with simple structure that is easy to implement, and therefore, it can be useful for the real world power systems. The proposed method is tested on a three area power system with different contracted scenarios under various operating conditions. The results of the proposed controller are compared with those of the classical fuzzy PID type controller and classical PID controller through some performance indices to illustrate its robust performance
DEFF Research Database (Denmark)
Barndorff-Nielsen, Ole Eiler; Hansen, Peter Reinhard; Lunde, Asger
2011-01-01
We propose a multivariate realised kernel to estimate the ex-post covariation of log-prices. We show this new consistent estimator is guaranteed to be positive semi-definite and is robust to measurement error of certain types and can also handle non-synchronous trading. It is the first estimator...... which has these three properties which are all essential for empirical work in this area. We derive the large sample asymptotics of this estimator and assess its accuracy using a Monte Carlo study. We implement the estimator on some US equity data, comparing our results to previous work which has used...
Research on laser cladding control system based on fuzzy PID
Zhang, Chuanwei; Yu, Zhengyang
2017-12-01
Laser cladding technology has a high demand for control system, and the domestic laser cladding control system mostly uses the traditional PID control algorithm. Therefore, the laser cladding control system has a lot of room for improvement. This feature is suitable for laser cladding technology, Based on fuzzy PID three closed-loop control system, and compared with the conventional PID; At the same time, the laser cladding experiment and friction and wear experiment were carried out under the premise of ensuring the reasonable control system. Experiments show that compared with the conventional PID algorithm in fuzzy the PID algorithm under the surface of the cladding layer is more smooth, the surface roughness increases, and the wear resistance of the cladding layer is also enhanced.
Self tuning fuzzy PID type load and frequency controller
International Nuclear Information System (INIS)
Yesil, E.; Guezelkaya, M.; Eksin, I.
2004-01-01
In this paper, a self tuning fuzzy PID type controller is proposed for solving the load frequency control (LFC) problem. The fuzzy PID type controller is constructed as a set of control rules, and the control signal is directly deduced from the knowledge base and the fuzzy inference. Moreover, there exists a self tuning mechanism that adjusts the input scaling factor corresponding to the derivative coefficient and the output scaling factor corresponding to the integral coefficient of the PID type fuzzy logic controller in an on-line manner. The self tuning mechanism depends on the peak observer idea, and this idea is modified and adapted to the LFC problem. A two area interconnected system is assumed for demonstrations. The proposed self tuning fuzzy PID type controller has been compared with the fuzzy PID type controller without a self tuning mechanism and the conventional integral controller through some performance indices
LFC based adaptive PID controller using ANN and ANFIS techniques
Directory of Open Access Journals (Sweden)
Mohamed I. Mosaad
2014-12-01
Full Text Available This paper presents an adaptive PID Load Frequency Control (LFC for power systems using Neuro-Fuzzy Inference Systems (ANFIS and Artificial Neural Networks (ANN oriented by Genetic Algorithm (GA. PID controller parameters are tuned off-line by using GA to minimize integral error square over a wide-range of load variations. The values of PID controller parameters obtained from GA are used to train both ANFIS and ANN. Therefore, the two proposed techniques could, online, tune the PID controller parameters for optimal response at any other load point within the operating range. Testing of the developed techniques shows that the adaptive PID-LFC could preserve optimal performance over the whole loading range. Results signify superiority of ANFIS over ANN in terms of performance measures.
Impact of PID on industrial rooftop PV-installations
Buerhop, Claudia; Fecher, Frank W.; Pickel, Tobias; Patel, Tirth; Zetzmann, Cornelia; Camus, Christian; Hauch, Jens; Brabec, Christoph J.
2017-08-01
Potential induced degradation (PID) causes severe damage and financial losses even in modern PV-installations. In Germany, approximately 19% of PV-installations suffer from PID and resulting power loss. This paper focuses on the impact of PID in real installations and how different evaluated time intervals influence the performance ratio (PR) and the determined degradation rate. The analysis focuses exemplarily on a 314 kWp PV-system in the Atlantic coastal climate. IR-imaging is used for identifying PID without operation interruption. Historic electric performance data are available from a monitoring system for several years on system level, string level as well as punctually measured module string IV- curves. The data sets are combined for understanding the PID behavior of this PV plant. The number of PID affected cells within a string varies strongly between 1 to 22% with the string position on the building complex. With increasing number of PID-affected cells the performance ratio decreases down to 60% for daily and monthly periods. Local differences in PID evolution rates are identified. An average PR-reduction of -3.65% per year is found for the PV-plant. On the string level the degradation rate varied up to 8.8% per year depending on the string position and the time period. The analysis reveals that PID generation and evolution in roof-top installations on industrial buildings with locally varying operation conditions can be fairly complex. The results yield that local operating conditions, e.g. ambient weather conditions as well as surrounding conditions on an industrial building, seem to have a dominating impact on the PID evolution rate.
Optimized PID control of depth of hypnosis in anesthesia.
Padula, Fabrizio; Ionescu, Clara; Latronico, Nicola; Paltenghi, Massimiliano; Visioli, Antonio; Vivacqua, Giulio
2017-06-01
This paper addresses the use of proportional-integral-derivative controllers for regulating the depth of hypnosis in anesthesia by using propofol administration and the bispectral index as a controlled variable. In fact, introducing an automatic control system might provide significant benefits for the patient in reducing the risk for under- and over-dosing. In this study, the controller parameters are obtained through genetic algorithms by solving a min-max optimization problem. A set of 12 patient models representative of a large population variance is used to test controller robustness. The worst-case performance in the considered population is minimized considering two different scenarios: the induction case and the maintenance case. Our results indicate that including a gain scheduling strategy enables optimal performance for induction and maintenance phases, separately. Using a single tuning to address both tasks may results in a loss of performance up to 102% in the induction phase and up to 31% in the maintenance phase. Further on, it is shown that a suitably designed low-pass filter on the controller output can handle the trade-off between the performance and the noise effect in the control variable. Optimally tuned PID controllers provide a fast induction time with an acceptable overshoot and a satisfactory disturbance rejection performance during maintenance. These features make them a very good tool for comparison when other control algorithms are developed. Copyright © 2017 Elsevier B.V. All rights reserved.
Directory of Open Access Journals (Sweden)
WALUYO WALUYO
2017-06-01
Full Text Available ABSTRAK Motor DC banyak digunakan di industri kecil dan besar.Kecepatan motor DC sering tidak stabil akibat gangguan dari luar maupun perubahan parameter dan torsi beban sehingga perlu dilakukan rancangan kontroler.Kontroler yang dirancang menggunakan PID yang terdiri dari tiga jenis cara pengaturan yang dikombinasikan, yaitu kontrol P (Proportional, kontrol I (Integral dan kontrol D (Derivatif.Kontroler yang dirancang disimulasikan menggunakan perangkat lunak. Hasil simulasi menunjukan kontroler PID untuk kendali kecepatan motor DC ini menghasilkan kondisi robust (kokoh saat nilai Kp = 1,1, Ti = 0,1, Td = 3,7. Hasil dari parameter kendali yang dirancang memiliki error steady state 0,99 % dan dengan settling time 3,7 detik pada rise time 2,00 detik dan nilai peak terletak pada 0,99. Kecepatan awal yang dihasilkan mendekati set point yang diinginkan pada detik ke 6 dan kecepatannya tidak ada penurunan atau tetap konstan sampai dengan detik ke 100. Kata kunci : Motor DC, PID, Heuristik, Steady State, Rise Time ABSTRACT DC motors are widely used in small and large industries. Their speeds are often unstable due to interference from outside or change the parameters and load torque, so that it was necessary to design a controller. The controller was designed using a PIDconsists of three types of arrangements, which are mutually combined way, namely the control P (Proportional, control I (Integral and control D (Derivative. The controllers were designed using software for simulation. The simulation results showed the PID controller for DC motor speed control produced robust conditionswhen the value of Kp, Ti and Tdwere 1.1, 0.1 and 3.7 respectively. The results of the control parameters had error steady state 0.99 % and the settling time of 3.7 seconds at 2.0 sec rise time and the peak value was 0,99. The resulted initial velocity was very fast to approach the desired set point in the sixth second and its speed was remain constant until 100
Directory of Open Access Journals (Sweden)
WALUYO WALUYO
2013-07-01
Full Text Available ABSTRAK Motor DC banyak digunakan di industri kecil dan besar.Kecepatan motor DC sering tidak stabil akibat gangguan dari luar maupun perubahan parameter dan torsi beban sehingga perlu dilakukan rancangan kontroler.Kontroler yang dirancang menggunakan PID yang terdiri dari tiga jenis cara pengaturan yang dikombinasikan, yaitu kontrol P (Proportional, kontrol I (Integral dan kontrol D (Derivatif.Kontroler yang dirancang disimulasikan menggunakan perangkat lunak. Hasil simulasi menunjukan kontroler PID untuk kendali kecepatan motor DC ini menghasilkan kondisi robust (kokoh saat nilai Kp = 1,1, Ti = 0,1, Td = 3,7. Hasil dari parameter kendali yang dirancang memiliki error steady state 0,99 % dan dengan settling time 3,7 detik pada rise time 2,00 detik dan nilai peak terletak pada 0,99. Kecepatan awal yang dihasilkan mendekati set point yang diinginkan pada detik ke 6 dan kecepatannya tidak ada penurunan atau tetap konstan sampai dengan detik ke 100. Kata kunci: Motor DC, PID, Heuristik, Steady State, Rise Time ABSTRACT DC motors are widely used in small and large industries. Their speeds are often unstable due to interference from outside or change the parameters and load torque, so that it was necessary to design a controller. The controller was designed using a PIDconsists of three types of arrangements, which are mutually combined way, namely the control P (Proportional, control I (Integral and control D (Derivative. The controllers were designed using software for simulation. The simulation results showed the PID controller for DC motor speed control produced robust conditionswhen the value of Kp, Ti and Tdwere 1.1, 0.1 and 3.7 respectively. The results of the control parameters had error steady state 0.99 % and the settling time of 3.7 seconds at 2.0 sec rise time and the peak value was 0,99. The resulted initial velocity was very fast to approach the desired set point in the sixth second and its speed was remain constant until 100
Directory of Open Access Journals (Sweden)
Ashutosh K. AGARWAL
2011-10-01
Full Text Available Genetic algorithms are robust search techniques based on the principles of evolution. A genetic algorithm maintains a population of encoded solutions and guides the population towards the optimum solution. This important property of genetic algorithm is used in this paper to stabilize the Inverted pendulum system. This paper highlights the application and stability of inverted pendulum using PID controller with fuzzy logic genetic algorithm supervisor . There are a large number of well established search techniques in use within the information technology industry. We propose a method to control inverted pendulum steady state error and overshoot using genetic algorithm technique.
Research on fuzzy PID control to electronic speed regulator
Xu, Xiao-gang; Chen, Xue-hui; Zheng, Sheng-guo
2007-12-01
As an important part of diesel engine, the speed regulator plays an important role in stabilizing speed and improving engine's performance. Because there are so many model parameters of diesel-engine considered in traditional PID control and these parameters present non-linear characteristic.The method to adjust engine speed using traditional PID is not considered as a best way. Especially for the diesel-engine generator set. In this paper, the Fuzzy PID control strategy is proposed. Some problems about its utilization in electronic speed regulator are discussed. A mathematical model of electric control system for diesel-engine generator set is established and the way of the PID parameters in the model to affect the function of system is analyzed. And then it is proposed the differential coefficient must be applied in control design for reducing dynamic deviation of system and adjusting time. Based on the control theory, a study combined control with PID calculation together for turning fuzzy PID parameter is implemented. And also a simulation experiment about electronic speed regulator system was conducted using Matlab/Simulink and the Fuzzy-Toolbox. Compared with the traditional PID Algorithm, the simulated results presented obvious improvements in the instantaneous speed governing rate and steady state speed governing rate of diesel-engine generator set when the fuzzy logic control strategy used.
Design Robust Controller for Rotary Kiln
Directory of Open Access Journals (Sweden)
Omar D. Hernández-Arboleda
2013-11-01
Full Text Available This paper presents the design of a robust controller for a rotary kiln. The designed controller is a combination of a fractional PID and linear quadratic regulator (LQR, these are not used to control the kiln until now, in addition robustness criteria are evaluated (gain margin, phase margin, strength gain, rejecting high frequency noise and sensitivity applied to the entire model (controller-plant, obtaining good results with a frequency range of 0.020 to 90 rad/s, which contributes to the robustness of the system.
Beam closed orbit feedback based on PID control
International Nuclear Information System (INIS)
Xuan Ke; Wang Lin; Liu Gongfa; Li Weimin; Li Chuan; Wang Jigang; Bao Xun; Xu Hongliang
2013-01-01
The algorithm in the feedback system has important influence on the performance of the beam orbit. Good feedback algorithm can greatly improve the beam orbit stability. In this paper, the theory of beam closed orbit correction, the principle of PID control and the beam closed orbit feedback correction using PID control were introduced. The simulation results were given. Compared with least-square method, the PID feedback algorithm makes the steady-state error smaller and more accurate, and enhances the beam orbit stability. (authors)
PID control for chaotic synchronization using particle swarm optimization
Energy Technology Data Exchange (ETDEWEB)
Chang, W.-D. [Department of Computer and Communication, Shu-Te University, Kaohsiung 824, Taiwan (China)], E-mail: wdchang@mail.stu.edu.tw
2009-01-30
In this paper, we attempt to use the proportional-integral-derivative (PID) controller to achieve the chaos synchronization for delayed discrete chaotic systems. Three PID control gains can be optimally determined by means of using a novel optimization algorithm, called the particle swarm optimization (PSO). The algorithm is motivated from the organism behavior of fish schooling and bird flocking, and involves the social psychology principles in socio-cognition human agents and evolutionary computations. It has a good numerical convergence for solving optimization problem. To show the validity of the PSO-based PID control for chaos synchronization, several cases with different initial populations are considered and some simulation results are shown.
PID control for chaotic synchronization using particle swarm optimization
International Nuclear Information System (INIS)
Chang, W.-D.
2009-01-01
In this paper, we attempt to use the proportional-integral-derivative (PID) controller to achieve the chaos synchronization for delayed discrete chaotic systems. Three PID control gains can be optimally determined by means of using a novel optimization algorithm, called the particle swarm optimization (PSO). The algorithm is motivated from the organism behavior of fish schooling and bird flocking, and involves the social psychology principles in socio-cognition human agents and evolutionary computations. It has a good numerical convergence for solving optimization problem. To show the validity of the PSO-based PID control for chaos synchronization, several cases with different initial populations are considered and some simulation results are shown.
Sistema híbrido neuro-evolutivo aplicado ao controle de um processo multivariável
Coelho, Leandro dos Santos; Mariani, Viviana Cocco
2006-01-01
Este artigo apresenta uma nova abordagem para o projeto de um controlador PID (proporcional, integral e derivativo) multivariável baseado em uma rede neural e um algoritmo genético. O projeto do controlador PID multivariável é dividido em três etapas distintas. Na primeira etapa, uma rede neural de funções radiais de base é utilizada para identificação do processo multivariável. Na segunda etapa, o projeto do controlador é realizado, de forma off-line, baseado na sintonia de ganhos do control...
Li, Mingjie; Zhou, Ping; Zhao, Zhicheng; Zhang, Jinggang
2016-03-01
Recently, fractional order (FO) processes with dead-time have attracted more and more attention of many researchers in control field, but FO-PID controllers design techniques available for the FO processes with dead-time suffer from lack of direct systematic approaches. In this paper, a simple design and parameters tuning approach of two-degree-of-freedom (2-DOF) FO-PID controller based on internal model control (IMC) is proposed for FO processes with dead-time, conventional one-degree-of-freedom control exhibited the shortcoming of coupling of robustness and dynamic response performance. 2-DOF control can overcome the above weakness which means it realizes decoupling of robustness and dynamic performance from each other. The adjustable parameter η2 of FO-PID controller is directly related to the robustness of closed-loop system, and the analytical expression is given between the maximum sensitivity specification Ms and parameters η2. In addition, according to the dynamic performance requirement of the practical system, the parameters η1 can also be selected easily. By approximating the dead-time term of the process model with the first-order Padé or Taylor series, the expressions for 2-DOF FO-PID controller parameters are derived for three classes of FO processes with dead-time. Moreover, compared with other methods, the proposed method is simple and easy to implement. Finally, the simulation results are given to illustrate the effectiveness of this method. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Neural PID Control Strategy for Networked Process Control
Directory of Open Access Journals (Sweden)
Jianhua Zhang
2013-01-01
Full Text Available A new method with a two-layer hierarchy is presented based on a neural proportional-integral-derivative (PID iterative learning method over the communication network for the closed-loop automatic tuning of a PID controller. It can enhance the performance of the well-known simple PID feedback control loop in the local field when real networked process control applied to systems with uncertain factors, such as external disturbance or randomly delayed measurements. The proposed PID iterative learning method is implemented by backpropagation neural networks whose weights are updated via minimizing tracking error entropy of closed-loop systems. The convergence in the mean square sense is analysed for closed-loop networked control systems. To demonstrate the potential applications of the proposed strategies, a pressure-tank experiment is provided to show the usefulness and effectiveness of the proposed design method in network process control systems.
Evaluation of RTD and thermocouple for PID temperature control in ...
African Journals Online (AJOL)
Evaluation of RTD and thermocouple for PID temperature control in distributed control system laboratory. D. A. A. Nazarudin, M. K. Nordin, A. Ahmad, M. Masrie, M. F. Saaid, N. M. Thamrin, M. S. A. M. Ali ...
Tuning of PID load frequency controller for power systems
International Nuclear Information System (INIS)
Tan Wen
2009-01-01
PID tuning of load frequency controllers for power systems is discussed in this paper. The tuning method is based on a two-degree-of-freedom internal model control (IMC) design method, and the performance of the resulting PID controller is related to two tuning parameters thus detuning is easy when necessary. Then an anti-GRC scheme is proposed to overcome the generation rate constraints. Finally, the method is extended to two-area cases.
Improved PID control for triaxial testing liquefied specimen
DEFF Research Database (Denmark)
Sabaliauskas, Tomas; Ibsen, Lars Bo
Using a frictionless triaxial apparatus, sand specimens can be tested at relatively high axial strains, even while liquefying. However, liquefying specimens have extremely nonlinear stiffness, thus standard PID control does not perform well. To maintain control over applied loads, the PID...... controller was modified to adapt to disturbed soil states. The proposed methods expand the scope of testing towards options which are otherwise inaccessible by triaxial testing....
APPLICATION OF NONLINEAR PID CONTROLLER IN SUPERCONDUCTING MAGNETIC ENERGY STORAGE
PENG, Xiaotao; CHENG, Shijie
2011-01-01
As a new control strategy, Nonlinear PID(NLPID) controller has been introduced in the power system successfully. The controller is free of planting model foundation in the design procedure and realized simply. In this paper, a nonlinear PID controller used for superconducting magnetic energy storage (SMES) unit connected to a power system is proposed. Purpose of designing such controller is to improve the stability of the power system in a relatively wide operation range. The design procedure...
PID controller simulator software for DC motor of gamma scanning
International Nuclear Information System (INIS)
Arjoni Amir
2008-01-01
Mostly PID controller (Proportional-Integral-Derivative) has been used in industry. For certain applications, it can be used as a Proportional (P) model only, or as a Proportional-Integral (PI) model. The aim of this paper is to design a PID controller simulator software for DC motor which is used in gamma scanning system. A DC motor is described as a plant of SISO (Single Input Single Output) which is used for pulling down the load (detector + casing) and gamma radiation source (Co-60 + container) by using sling cable. A DC motor consist of an armature and a rotor, the equivalent circuit of DC motor is shown in a transfer function equation between output parameter (angular speed DC motor) and input parameter (voltage of DC motor). Methods used for the process of PID controller design is to arrange the PID controller parameter (Kc, Ti, Td) so that there are more PID controller transfer function model which are able to control angular speed of DC motor in stable condition, as design criteria requirement is needed. Design criteria requirement for control system are the settling time < 3 second, overshoot < 5%, rise time = 0.25 second, steady state gain = 1 and peak time < 3 second with step response reference 1 rad/second. The result of simulation gives several models of PID controller in function transfer equation which is similar with design criteria requirement in a equation of function transfer of order 2 for numerator and order 1 for denominator. (author)
Bikash Dey; Lusika Roy
2014-01-01
This paper present three different control strategies based on PI Control, PID control and Two degree of freedom PID control for Continuous Stirred Tank Reactor (CSTR).CSTR which offers a diverse range of application in the field of chemical engineering as well as in the control engineering and is an attractive research area for process control researchers. Our objective is to control the temperature of CSTR in presence of the set point. MATLAB SIMULINK software is used for mo...
International Nuclear Information System (INIS)
Pothiya, Saravuth; Ngamroo, Issarachai
2008-01-01
This paper proposes a new optimal fuzzy logic-based-proportional-integral-derivative (FLPID) controller for load frequency control (LFC) including superconducting magnetic energy storage (SMES) units. Conventionally, the membership functions and control rules of fuzzy logic control are obtained by trial and error method or experiences of designers. To overcome this problem, the multiple tabu search (MTS) algorithm is applied to simultaneously tune PID gains, membership functions and control rules of FLPID controller to minimize frequency deviations of the system against load disturbances. The MTS algorithm introduces additional techniques for improvement of search process such as initialization, adaptive search, multiple searches, crossover and restarting process. Simulation results explicitly show that the performance of the optimum FLPID controller is superior to the conventional PID controller and the non-optimum FLPID controller in terms of the overshoot, settling time and robustness against variations of system parameters
Robust PD Sway Control of a Lifted Load for a Crane Using a Genetic Algorithm
Kawada, Kazuo; Sogo, Hiroyuki; Yamamoto, Toru; Mada, Yasuhiro
PID control schemes still continue to be widely used for most industrial control systems. This is mainly because PID controllers have simple control structures, and are simple to maintain and tune. However, it is difficult to find a set of suitable control parameters in the case of time-varying and/or nonlinear systems. For such a problem, the robust controller has been proposed.Although it is important to choose the suitable nominal model in designing the robust controller, it is not usually easy.In this paper, a new robust PD controller design scheme is proposed, which utilizes a genetic algorithm.
Ghabraei, Soheil; Moradi, Hamed; Vossoughi, Gholamreza
2015-09-01
To guarantee the safety and efficient performance of the power plant, a robust controller for the boiler-turbine unit is needed. In this paper, a robust adaptive sliding mode controller (RASMC) is proposed to control a nonlinear multi-input multi-output (MIMO) model of industrial boiler-turbine unit, in the presence of unknown bounded uncertainties and external disturbances. To overcome the coupled nonlinearities and investigate the zero dynamics, input-output linearization is performed, and then the new decoupled inputs are derived. To tackle the uncertainties and external disturbances, appropriate adaption laws are introduced. For constructing the RASMC, suitable sliding surface is considered. To guarantee the sliding motion occurrence, appropriate control laws are constructed. Then the robustness and stability of the proposed RASMC is proved via Lyapunov stability theory. To compare the performance of the purposed RASMC with traditional control schemes, a type-I servo controller is designed. To evaluate the performance of the proposed control schemes, simulation studies on nonlinear MIMO dynamic system in the presence of high frequency bounded uncertainties and external disturbances are conducted and compared. Comparison of the results reveals the superiority of proposed RASMC over the traditional control schemes. RAMSC acts efficiently in disturbance rejection and keeping the system behavior in desirable tracking objectives, without the existence of unstable quasi-periodic solutions. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Optimization Settings in the Fuzzy Combined Mamdani PID Controller
Kudinov, Y. I.; Pashchenko, F. F.; Pashchenko, A. F.; Kelina, A. Y.; Kolesnikov, V. A.
2017-11-01
In the present work the actual problem of determining the optimal settings of fuzzy parallel proportional-integral-derivative (PID) controller is considered to control nonlinear plants that is not always possible to perform with classical linear PID controllers. In contrast to the linear fuzzy PID controllers there are no analytical methods of settings calculation. In this paper, we develop a numerical optimization approach to determining the coefficients of a fuzzy PID controller. Decomposition method of optimization is proposed, the essence of which was as follows. All homogeneous coefficients were distributed to the relevant groups, for example, three error coefficients, the three coefficients of the changes of errors and the three coefficients of the outputs P, I and D components. Consistently in each of such groups the search algorithm was selected that has determined the coefficients under which we receive the schedule of the transition process satisfying all the applicable constraints. Thus, with the help of Matlab and Simulink in a reasonable time were found the factors of a fuzzy PID controller, which meet the accepted limitations on the transition process.
Cylinder Position Servo Control Based on Fuzzy PID
Directory of Open Access Journals (Sweden)
Shibo Cai
2013-01-01
Full Text Available The arbitrary position control of cylinder has always been the hard challenge in pneumatic system. We try to develop a cylinder position servo control method by combining fuzzy PID with the theoretical model of the proportional valve-controlled cylinder system. The pressure differential equation of cylinder, pressure-flow equation of proportional valve, and moment equilibrium equation of cylinder are established. And the mathematical models of the cylinder driving system are linearized. Then fuzzy PID control algorithm is designed for the cylinder position control, including the detail analysis of fuzzy variables and domain, fuzzy logic rules, and defuzzification. The stability of the proposed fuzzy PID controller is theoretically proved according to the small gain theorem. Experiments for targets position of 250 mm, 300 mm, and 350 mm were done and the results showed that the absolute error of the position control is less than 0.25 mm. And comparative experiment between fuzzy PID and classical PID verified the advantage of the proposed algorithm.
International Conference on Robust Statistics
Filzmoser, Peter; Gather, Ursula; Rousseeuw, Peter
2003-01-01
Aspects of Robust Statistics are important in many areas. Based on the International Conference on Robust Statistics 2001 (ICORS 2001) in Vorau, Austria, this volume discusses future directions of the discipline, bringing together leading scientists, experienced researchers and practitioners, as well as younger researchers. The papers cover a multitude of different aspects of Robust Statistics. For instance, the fundamental problem of data summary (weights of evidence) is considered and its robustness properties are studied. Further theoretical subjects include e.g.: robust methods for skewness, time series, longitudinal data, multivariate methods, and tests. Some papers deal with computational aspects and algorithms. Finally, the aspects of application and programming tools complete the volume.
Mohmad Kahar, Mohd Nizam; Noraziah, A.
2017-01-01
In this paper, an attempt is made to apply the African Buffalo Optimization (ABO) to tune the parameters of a PID controller for an effective Automatic Voltage Regulator (AVR). Existing metaheuristic tuning methods have been proven to be quite successful but there were observable areas that need improvements especially in terms of the system’s gain overshoot and steady steady state errors. Using the ABO algorithm where each buffalo location in the herd is a candidate solution to the Proportional-Integral-Derivative parameters was very helpful in addressing these two areas of concern. The encouraging results obtained from the simulation of the PID Controller parameters-tuning using the ABO when compared with the performance of Genetic Algorithm PID (GA-PID), Particle-Swarm Optimization PID (PSO-PID), Ant Colony Optimization PID (ACO-PID), PID, Bacteria-Foraging Optimization PID (BFO-PID) etc makes ABO-PID a good addition to solving PID Controller tuning problems using metaheuristics. PMID:28441390
A novel multi-drive electric vehicle system control based on multi-input multi-output PID controller
Directory of Open Access Journals (Sweden)
Gasbaoui Brahim
2012-01-01
Full Text Available In-wheel-motor drive electric vehicle (EV is an innovative configuration of the modern EV, in which each wheel is driven individually by an electric motor. The classical traction motor control called the Independent Machine Control Structure (IMCS using a PID speed controller presents major inconveniences in modern EV safety, when the proposed control can not ensure stability of the EV with differing road topology and variations of speed. A new approach is proposed for a control of a two-in-wheel-motor drive EV, called the Maximum Control Structure MCS. This is based on a multivariable PID (MIMO-PID strategy, which is employed to estimate the linear speed error of each of the two back driving wheels, when the error of each wheel is taken into account in the other speed control computations. Simulation results show that the new control system presents increased safety for the EVs compared with the IMCS strategy and can maintain the error slip rate within the optimal range, ensuring the stability of the vehicle either in a straight or a curved line.
Fractional Order PID Control of Rotor Suspension by Active Magnetic Bearings
Directory of Open Access Journals (Sweden)
Parinya Anantachaisilp
2017-01-01
Full Text Available One of the key issues in control design for Active Magnetic Bearing (AMB systems is the tradeoff between the simplicity of the controller structure and the performance of the closed-loop system. To achieve this tradeoff, this paper proposes the design of a fractional order Proportional-Integral-Derivative (FOPID controller. The FOPID controller consists of only two additional parameters in comparison with a conventional PID controller. The feasibility of FOPID for AMB systems is investigated for rotor suspension in both the radial and axial directions. Tuning methods are developed based on the evolutionary algorithms for searching the optimal values of the controller parameters. The resulting FOPID controllers are then tested and compared with a conventional PID controller, as well as with some advanced controllers such as Linear Quadratic Gausian (LQG and H ∞ controllers. The comparison is made in terms of various stability and robustness specifications, as well as the dimensions of the controllers as implemented. Lastly, to validate the proposed method, experimental testing is carried out on a single-stage centrifugal compressor test rig equipped with magnetic bearings. The results show that, with a proper selection of gains and fractional orders, the performance of the resulting FOPID is similar to those of the advanced controllers.
Novel intelligent PID control of traveling wave ultrasonic motor.
Jingzhuo, Shi; Yu, Liu; Jingtao, Huang; Meiyu, Xu; Juwei, Zhang; Lei, Zhang
2014-09-01
A simple control strategy with acceptable control performance can be a good choice for the mass production of ultrasonic motor control system. In this paper, through the theoretic and experimental analyses of typical control process, a simpler intelligent PID speed control strategy of TWUM is proposed, involving only two expert rules to adjust the PID control parameters based on the current status. Compared with the traditional PID controller, this design requires less calculation and more cheap chips which can be easily involved in online performance. Experiments with different load torques and voltage amplitudes show that the proposed controller can deal with the nonlinearity and load disturbance to maintain good control performance of TWUM. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
A PID autotuner utilizing GPC and constraint optimization
DEFF Research Database (Denmark)
Henningsen, Arne; Christensen, Anders; Ravn, Ole
1990-01-01
A solution to the PID autotuning problem is presented which involves constraining the parameters of a discrete second-order discrete-time controller. The integrator is forced into the regulator by using a CARIMA model. The discrete-time regulator parameters are calculated by optimizing...... a generalized predictive control criterion, and the PID structure is ensured by constraining the parameters to a feasible set defined by the discrete-time Euler approximation of the ideal continuous-time PID controller. The algorithm is extended by incorporating constraints on the amplitude and slew......-rate of the control signal. Simulation studies for a system of coupled tanks have indicated that the method performs well, and that signal limitations can be included in a straightforward manner...
Pinched hysteresis behavior in a PID-controlled resistor
Directory of Open Access Journals (Sweden)
M.A. Carrasco-Aguilar
2018-06-01
Full Text Available A current-controlled grounded resistor that exhibits a frequency-dependent pinched hysteresis loop is described. A mathematical model describing this behavior is derived and validated numerically, which has the form of a Proportional Integral-Derivative (PID controller. The proposed topology is build by using AD844 commercially available active device configured as second-generation current conveyor and experimental tests are compared with numerical simulations, showing a good agreement among them. Moreover, the proposed PID-controlled resistor can be reconfigured in order to be used in future applications such as programmable analog circuits. Keyword: Pinched hysteresis, Current conveyors, Nonlinear resistor, Proportional-Integral-Derivative Controller
Adaptive fuzzy PID control for a quadrotor stabilisation
Cherrat, N.; Boubertakh, H.; Arioui, H.
2018-02-01
This paper deals with the design of an adaptive fuzzy PID control law for attitude and altitude stabilization of a quadrotor despite the system model uncertainties and disturbances. To this end, a PID control with adaptive gains is used in order to approximate a virtual ideal control previously designed to achieve the predefined objective. Specifically, the control gains are estimated and adjusted by mean of a fuzzy system whose parameters are adjusted online via a gradient descent-based adaptation law. The analysis of the closed-loop system is given by the Lyapunov approach. The simulation results are presented to illustrate the efficiency of the proposed approach.
PID controller tuning using the magnitude optimum criterion
Papadopoulos, Konstantinos
2014-01-01
An instructive reference that will help control researchers and engineers, interested in a variety of industrial processes, to take advantage of a powerful tuning method for the ever-popular PID control paradigm. This monograph presents explicit PID tuning rules for linear control loops regardless of process complexity. It shows the reader how such loops achieve zero steady-position, velocity, and acceleration errors and are thus able to track fast reference signals. The theoretical development takes place in the frequency domain by introducing a general-transfer-function-known process model
LMI designmethod for networked-based PID control
Souza, Fernando de Oliveira; Mozelli, Leonardo Amaral; de Oliveira, Maurício Carvalho; Palhares, Reinaldo Martinez
2016-10-01
In this paper, we propose a methodology for the design of networked PID controllers for second-order delayed processes using linear matrix inequalities. The proposed procedure takes into account time-varying delay on the plant, time-varying delays induced by the network and packed dropouts. The design is carried on entirely using a continuous-time model of the closed-loop system where time-varying delays are used to represent sampling and holding occurring in a discrete-time digital PID controller.
Sharma, Richa; Gaur, Prerna; Mittal, A P
2015-09-01
The robotic manipulators are multi-input multi-output (MIMO), coupled and highly nonlinear systems. The presence of external disturbances and time-varying parameters adversely affects the performance of these systems. Therefore, the controller designed for these systems should effectively deal with such complexities, and it is an intriguing task for control engineers. This paper presents two-degree of freedom fractional order proportional-integral-derivative (2-DOF FOPID) controller scheme for a two-link planar rigid robotic manipulator with payload for trajectory tracking task. The tuning of all controller parameters is done using cuckoo search algorithm (CSA). The performance of proposed 2-DOF FOPID controllers is compared with those of their integer order designs, i.e., 2-DOF PID controllers, and with the traditional PID controllers. In order to show effectiveness of proposed scheme, the robustness testing is carried out for model uncertainties, payload variations with time, external disturbance and random noise. Numerical simulation results indicate that the 2-DOF FOPID controllers are superior to their integer order counterparts and the traditional PID controllers. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Genetic Algorithm Based PID Controller Tuning Approach for Continuous Stirred Tank Reactor
A. Jayachitra; R. Vinodha
2014-01-01
Genetic algorithm (GA) based PID (proportional integral derivative) controller has been proposed for tuning optimized PID parameters in a continuous stirred tank reactor (CSTR) process using a weighted combination of objective functions, namely, integral square error (ISE), integral absolute error (IAE), and integrated time absolute error (ITAE). Optimization of PID controller parameters is the key goal in chemical and biochemical industries. PID controllers have narrowed down the operating r...
Performance Analysis of Fractional-Order PID Controller for a Parabolic Distributed Solar Collector
Elmetennani, Shahrazed
2017-09-01
This paper studies the performance of a fractional-order proportional integral derivative (FOPID) controller designed for parabolic distributed solar collectors. The control problem addressed in concentrated solar collectors aims at forcing the produced heat to follow a desired reference despite the unevenly varying solar irradiance. In addition to the unpredictable variations of the energy source, the parabolic solar collectors are subject to inhomogeneous distributed efficiency parameters affecting the heat production. The FOPID controller is well known for its simplicity with better tuning flexibility along with robustness with respect to disturbances. Thus, we propose a control strategy based on FOPID to achieve the control objectives. First, the FOPID controller is designed based on a linear approximate model describing the system dynamics under nominal working conditions. Then, the FOPID gains and differentiation orders are optimally tuned in order to fulfill the robustness design specifications by solving a nonlinear optimization problem. Numerical simulations are carried out to evaluate the performance of the proposed FOPID controller. A comparison to the robust integer order PID is also provided. Robustness tests are performed for the nominal model to show the effectiveness of the FOPID. Furthermore, the proposed FOPID is numerically tested to control the distributed solar collector under real working conditions.
Directory of Open Access Journals (Sweden)
Laith Jasim Saud
2017-07-01
Full Text Available This work is concerned with designing two types of controllers, a PID and a Fuzzy PID, to be used for flying and stabilizing a quadcopter. The designed controllers have been tuned, tested, and compared using two performance indices which are the Integral Square Error (ISE and the Integral Absolute Error (IAE, and also some response characteristics like the rise time, overshoot, settling time, and the steady state error. To try and test the controllers, a quadcopter mathematical model has been developed. The model concentrated on the rotational dynamics of the quadcopter, i.e. the roll, pitch, and yaw variables. The work has been simulated with “MATLAB”. To make testing the simulated model and the controllers more realistic, the testing signals have been applied by a user through a joystick interfaced to the computer. The results obtained indicated a general superiority in performance for the Fuzzy PID controller over the PID controller used in this work. This conclusion is based by the following figures:lesser ISA for the roll, pitch, and yaw consequently, lesser IAE for the roll, pitch, and yaw consequently, lesser rise time and settling time for the roll and pitch consequently, and lesser settling time for the yaw. Moreover, the FPID gave zero overshoot versus and in the PID case for the roll, pitch, and yaw consequently. Both controllers gave zero steady state error with close rise times for the yaw. This superiority of the FPID controller is gained as the fuzzy part of it continuously and online adapts the parameters of the PID part.
Fractional order differentiation and robust control design crone, h-infinity and motion control
Sabatier, Jocelyn; Melchior, Pierre; Oustaloup, Alain
2015-01-01
This monograph collates the past decade’s work on fractional models and fractional systems in the fields of analysis, robust control and path tracking. Themes such as PID control, robust path tracking design and motion control methodologies involving fractional differentiation are amongst those explored. It juxtaposes recent theoretical results at the forefront in the field, and applications that can be used as exercises that will help the reader to assimilate the proposed methodologies. The first part of the book deals with fractional derivative and fractional model definitions, as well as recent results for stability analysis, fractional model physical interpretation, controllability, and H-infinity norm computation. It also presents a critical point of view on model pseudo-state and “real state”, tackling the problem of fractional model initialization. Readers will find coverage of PID, Fractional PID and robust control in the second part of the book, which rounds off with an extension of H-infinity ...
Robust Temperature Control of a Thermoelectric Cooler via μ -Synthesis
Kürkçü, Burak; Kasnakoğlu, Coşku
2018-02-01
In this work robust temperature control of a thermoelectric cooler (TEC) via μ -synthesis is studied. An uncertain dynamical model for the TEC that is suitable for robust control methods is derived. The model captures variations in operating point due to current, load and temperature changes. A temperature controller is designed utilizing μ -synthesis, a powerful method guaranteeing robust stability and performance. For comparison two well-known control methods, namely proportional-integral-derivative (PID) and internal model control (IMC), are also realized to benchmark the proposed approach. It is observed that the stability and performance on the nominal model are satisfactory for all cases. On the other hand, under perturbations the responses of PID and IMC deteriorate and even become unstable. In contrast, the μ -synthesis controller succeeds in keeping system stability and achieving good performance under all perturbations within the operating range, while at the same time providing good disturbance rejection.
International Nuclear Information System (INIS)
Xia, Dunzhu; Kong, Lun; Hu, Yiwei; Ni, Peizhen
2015-01-01
We present a novel silicon microgyroscope (SMG) temperature prediction and control system in a narrow space. As the temperature of SMG is closely related to its drive mode frequency and driving voltage, a temperature prediction model can be established based on the BP neural network. The simulation results demonstrate that the established temperature prediction model can estimate the temperature in the range of −40 to 60 °C with an error of less than ±0.05 °C. Then, a temperature control system based on the combination of fuzzy logic controller and the increment PID control method is proposed. The simulation results prove that the Fuzzy-PID controller has a smaller steady state error, less rise time and better robustness than the PID controller. This is validated by experimental results that show the Fuzzy-PID control method can achieve high precision in keeping the SMG temperature stable at 55 °C with an error of less than 0.2 °C. The scale factor can be stabilized at 8.7 mV/°/s with a temperature coefficient of 33 ppm °C −1 . ZRO (zero rate output) instability is decreased from 1.10°/s (9.5 mV) to 0.08°/s (0.7 mV) when the temperature control system is implemented over an ambient temperature range of −40 to 60 °C. (paper)
Performance Analysis of a Neuro-PID Controller Applied to a Robot Manipulator
Directory of Open Access Journals (Sweden)
Saeed Pezeshki
2012-11-01
Full Text Available The performance of robot manipulators with nonadaptive controllers might degrade significantly due to the open loop unstable system and the effect of some uncertainties on the robot model or environment. A novel Neural Network PID controller (NNP is proposed in order to improve the system performance and its robustness. The Neural Network (NN technique is applied to compensate for the effect of the uncertainties of the robot model. With the NN compensator introduced, the system errors and the NN weights with large dispersion are guaranteed to be bounded in the Lyapunov sense. The weights of the NN compensator are adaptively tuned. The simulation results show the effectiveness of the model validation approach and its efficiency to guarantee a stable and accurate trajectory tracking process in the presence of uncertainties.
Directory of Open Access Journals (Sweden)
Lakhdar Chaib
2017-06-01
Full Text Available This paper proposes a novel robust power system stabilizer (PSS, based on hybridization of fractional order PID controller (PIλDμ and PSS for optimal stabilizer (FOPID-PSS for the first time, using a new metaheuristic optimization Bat algorithm (BA inspired by the echolocation behavior to improve power system stability. The problem of FOPID-PSS design is transformed as an optimization problem based on performance indices (PI, including Integral Absolute Error (IAE, Integral Squared Error (ISE, Integral of the Time-Weighted Absolute Error (ITAE and Integral of Time multiplied by the Squared Error (ITSE, where, BA is employed to obtain the optimal stabilizer parameters. In order to examine the robustness of FOPID-PSS, it has been tested on a Single Machine Infinite Bus (SMIB power system under different disturbances and operating conditions. The performance of the system with FOPID-PSS controller is compared with a PID-PSS and PSS. Further, the simulation results obtained with the proposed BA based FOPID-PSS are compared with those obtained with FireFly algorithm (FFA based FOPID-PSS. Simulation results show the effectiveness of BA for FOPID-PSS design, and superior robust performance for enhancement power system stability compared to other with different cases.
Design of a PID Controller for a PCR Micro Reactor
Dinca, M. P.; Gheorghe, M.; Galvin, P.
2009-01-01
Proportional-integral-derivative (PID) controllers are widely used in process control, and consequently they are described in most of the textbooks on automatic control. However, rather than presenting the overall design process, the examples given in such textbooks are intended to illuminate specific focused aspects of selection, tuning and…
PID control of second-order systems with hysteresis
Jayawardhana, Bayu; Logemann, Hartmut; Ryan, Eugene P.
2008-01-01
The efficacy of proportional, integral and derivative (PID) control for set point regulation and disturbance rejection is investigated in a context of second-order systems with hysteretic components. Two basic structures are studied: in the first, the hysteretic component resides (internally) in the
PID control of second-order system with hysteresis
Jayawardhana, B.; Logemann, H.; Ryan, E.P.
2007-01-01
The efficacy of proportional, derivative and integral (PID) control for set point regulation and disturbance rejection is investigated in a context of mechanical systems with hysteretic components. Two basic structures are studied: in the first, the hysteretic component resides (internally) in the
Comparison between MPC and PID control for compact hydro ...
African Journals Online (AJOL)
This paper presents water temperature of a hydro distillation that have been modelled by using linear ARX Modal. Based on the modal obtained, a model predictive controller and PID controller have been developed. Both controller undergone the performance of controller tests that includes set point, set point change and ...
PID motion control tuning rules in a damping injection framework
Tadele, T.S.; de Vries, Theodorus J.A.; Stramigioli, Stefano
2013-01-01
This paper presents a general design approach for a performance based tuning of a damping injection framework impedance controller by using insights from PID motion control tuning rules. The damping injection framework impedance controller is suitable for human friendly robots as it enhances safety
Karki, Hari Sharan; Barphagha, Inderjit Kaur; Ham, Jong Hyun
2012-09-01
Burkholderia glumae is a rice pathogenic bacterium that causes bacterial panicle blight. Some strains of this pathogen produce dark brown pigments when grown on casamino-acid peptone glucose (CPG) agar medium. A pigment-positive and highly virulent strain of B. glumae, 411gr-6, was randomly mutagenized with mini-Tn5gus, and the resulting mini-Tn5gus derivatives showing altered pigmentation phenotypes were screened on CPG agar plates to identify the genetic elements governing the pigmentation of B. glumae. In this study, a novel two-component regulatory system (TCRS) composed of the PidS sensor histidine kinase and the PidR response regulator was identified as an essential regulatory factor for pigmentation. Notably, the PidS/PidR TCRS was also required for the elicitation of the hypersensitive response on tobacco leaves, indicating the dependence of the hypersensitive response and pathogenicity (Hrp) type III secretion system of B. glumae on this regulatory factor. In addition, B. glumae mutants defective in the PidS/PidR TCRS showed less production of the phytotoxin, toxoflavin, and less virulence on rice panicles and onion bulbs relative to the parental strain, 411gr-6. The presence of highly homologous PidS and PidR orthologues in other Burkholderia species suggests that PidS/PidR-family TCRSs may exert the same or similar functions in different Burkholderia species, including both plant and animal pathogens. © 2012 THE AUTHORS. MOLECULAR PLANT PATHOLOGY © 2012 BSPP AND BLACKWELL PUBLISHING LTD.
Application and Simulation of Fuzzy Neural Network PID Controller in the Aircraft Cabin Temperature
Directory of Open Access Journals (Sweden)
Ding Fang
2013-06-01
Full Text Available Considering complex factors of affecting ambient temperature in Aircraft cabin, and some shortages of traditional PID control like the parameters difficult to be tuned and control ineffective, this paper puts forward the intelligent PID algorithm that makes fuzzy logic method and neural network together, scheming out the fuzzy neural net PID controller. After the correction of the fuzzy inference and dynamic learning of neural network, PID parameters of the controller get the optimal parameters. MATLAB simulation results of the cabin temperature control model show that the performance of the fuzzy neural network PID controller has been greatly improved, with faster response, smaller overshoot and better adaptability.
Design and optimization of fuzzy-PID controller for the nuclear reactor power control
International Nuclear Information System (INIS)
Liu Cheng; Peng Jinfeng; Zhao Fuyu; Li Chong
2009-01-01
This paper introduces a fuzzy proportional-integral-derivative (fuzzy-PID) control strategy, and applies it to the nuclear reactor power control system. At the fuzzy-PID control strategy, the fuzzy logic controller (FLC) is exploited to extend the finite sets of PID gains to the possible combinations of PID gains in stable region and the genetic algorithm to improve the 'extending' precision through quadratic optimization for the membership function (MF) of the FLC. Thus the FLC tunes the gains of PID controller to adapt the model changing with the power. The fuzzy-PID has been designed and simulated to control the reactor power. The simulation results show the favorable performance of the fuzzy-PID controller.
Neural PID Control of Robot Manipulators With Application to an Upper Limb Exoskeleton.
Yu, Wen; Rosen, Jacob
2013-04-01
In order to minimize steady-state error with respect to uncertainties in robot control, proportional-integral-derivative (PID) control needs a big integral gain, or a neural compensator is added to the classical proportional-derivative (PD) control with a large derivative gain. Both of them deteriorate transient performances of the robot control. In this paper, we extend the popular neural PD control into neural PID control. This novel control is a natural combination of industrial linear PID control and neural compensation. The main contributions of this paper are semiglobal asymptotic stability of the neural PID control and local asymptotic stability of the neural PID control with a velocity observer which are proved with standard weight training algorithms. These conditions give explicit selection methods for the gains of the linear PID control. An experimental study on an upper limb exoskeleton with this neural PID control is addressed.
Two degree of freedom PID based inferential control of continuous bioreactor for ethanol production.
Pachauri, Nikhil; Singh, Vijander; Rani, Asha
2017-05-01
This article presents the development of inferential control scheme based on Adaptive linear neural network (ADALINE) soft sensor for the control of fermentation process. The ethanol concentration of bioreactor is estimated from temperature profile of the process using soft sensor. The prediction accuracy of ADALINE is enhanced by retraining it with immediate past measurements. The ADALINE and retrained ADALINE are used along with PID and 2-DOF-PID leading to APID, A2PID, RAPID and RA2PID inferential controllers. Further the parameters of 2-DOF-PID are optimized using Non-dominated sorted genetic algorithm-II and used with retrained ADALINE soft sensor which leads to RAN2PID inferential controller. Simulation results demonstrate that performance of proposed RAN2PID controller is better in comparison to other designed controllers in terms of qualitative and quantitative performance indices. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
PID controller tuning using metaheuristic optimization algorithms for benchmark problems
Gholap, Vishal; Naik Dessai, Chaitali; Bagyaveereswaran, V.
2017-11-01
This paper contributes to find the optimal PID controller parameters using particle swarm optimization (PSO), Genetic Algorithm (GA) and Simulated Annealing (SA) algorithm. The algorithms were developed through simulation of chemical process and electrical system and the PID controller is tuned. Here, two different fitness functions such as Integral Time Absolute Error and Time domain Specifications were chosen and applied on PSO, GA and SA while tuning the controller. The proposed Algorithms are implemented on two benchmark problems of coupled tank system and DC motor. Finally, comparative study has been done with different algorithms based on best cost, number of iterations and different objective functions. The closed loop process response for each set of tuned parameters is plotted for each system with each fitness function.
Active structural control with stable fuzzy PID techniques
Yu, Wen
2016-01-01
This book presents a detailed discussion of intelligent techniques to measure the displacement of buildings when they are subjected to vibration. It shows how these techniques are used to control active devices that can reduce vibration 60–80% more effectively than widely used passive anti-seismic systems. After introducing various structural control devices and building-modeling and active structural control methods, the authors propose offset cancellation and high-pass filtering techniques to solve some common problems of building-displacement measurement using accelerometers. The most popular control algorithms in industrial settings, PD/PID controllers, are then analyzed and then combined with fuzzy compensation. The stability of this combination is proven with standard weight-training algorithms. These conditions provide explicit methods for selecting PD/PID controllers. Finally, fuzzy-logic and sliding-mode control are applied to the control of wind-induced vibration. The methods described are support...
Osta ja pidä: yritysten joukkovelkakirjat vs. osakkeet
Nyqvist, Kim
2012-01-01
Opinnäytetyö käsittelee yrityksen joukkovelkakirjojen tuottoa ja siihen vaikuttavia tekijöitä osta ja pidä –sijoitusstrategian näkökulmasta. Vertailukohdaksi yrityksen joukkovelkakirjoille on valittu osakkeet, niiden tunnettavuuden ja vuotuisen tuoton takia, joka on vertauskelpoinen joukkovelkakirjojen maksamalle kupongille. Työn teoreettinen viitekehys koostuu yritysten joukkovelkakirjoista ja osakkeista. Painotus on yritysten joukkovelkakirjoissa, sillä ne ovat huomattavasti tuntemattom...
Adaptive PID control based on orthogonal endocrine neural networks.
Milovanović, Miroslav B; Antić, Dragan S; Milojković, Marko T; Nikolić, Saša S; Perić, Staniša Lj; Spasić, Miodrag D
2016-12-01
A new intelligent hybrid structure used for online tuning of a PID controller is proposed in this paper. The structure is based on two adaptive neural networks, both with built-in Chebyshev orthogonal polynomials. First substructure network is a regular orthogonal neural network with implemented artificial endocrine factor (OENN), in the form of environmental stimuli, to its weights. It is used for approximation of control signals and for processing system deviation/disturbance signals which are introduced in the form of environmental stimuli. The output values of OENN are used to calculate artificial environmental stimuli (AES), which represent required adaptation measure of a second network-orthogonal endocrine adaptive neuro-fuzzy inference system (OEANFIS). OEANFIS is used to process control, output and error signals of a system and to generate adjustable values of proportional, derivative, and integral parameters, used for online tuning of a PID controller. The developed structure is experimentally tested on a laboratory model of the 3D crane system in terms of analysing tracking performances and deviation signals (error signals) of a payload. OENN-OEANFIS performances are compared with traditional PID and 6 intelligent PID type controllers. Tracking performance comparisons (in transient and steady-state period) showed that the proposed adaptive controller possesses performances within the range of other tested controllers. The main contribution of OENN-OEANFIS structure is significant minimization of deviation signals (17%-79%) compared to other controllers. It is recommended to exploit it when dealing with a highly nonlinear system which operates in the presence of undesirable disturbances. Copyright © 2016 Elsevier Ltd. All rights reserved.
Vision-Based Robot Following Using PID Control
Chandra Sekhar Pati; Rahul Kala
2017-01-01
Applications like robots which are employed for shopping, porter services, assistive robotics, etc., require a robot to continuously follow a human or another robot. This paper presents a mobile robot following another tele-operated mobile robot based on a PID (Proportional–Integral-Differential) controller. Here, we use two differential wheel drive robots; one is a master robot and the other is a follower robot. The master robot is manually controlled and the follower robot is programmed to ...
Vision-Based Robot Following Using PID Control
Directory of Open Access Journals (Sweden)
Chandra Sekhar Pati
2017-06-01
Full Text Available Applications like robots which are employed for shopping, porter services, assistive robotics, etc., require a robot to continuously follow a human or another robot. This paper presents a mobile robot following another tele-operated mobile robot based on a PID (Proportional–Integral-Differential controller. Here, we use two differential wheel drive robots; one is a master robot and the other is a follower robot. The master robot is manually controlled and the follower robot is programmed to follow the master robot. For the master robot, a Bluetooth module receives the user’s command from an android application which is processed by the master robot’s controller, which is used to move the robot. The follower robot receives the image from the Kinect sensor mounted on it and recognizes the master robot. The follower robot identifies the x, y positions by employing the camera and the depth by using the Kinect depth sensor. By identifying the x, y, and z locations of the master robot, the follower robot finds the angle and distance between the master and follower robot, which is given as the error term of a PID controller. Using this, the follower robot follows the master robot. A PID controller is based on feedback and tries to minimize the error. Experiments are conducted for two indigenously developed robots; one depicting a humanoid and the other a small mobile robot. It was observed that the follower robot was easily able to follow the master robot using well-tuned PID parameters.
Optimal Pid Controller Design Using Adaptive Vurpso Algorithm
Zirkohi, Majid Moradi
2015-04-01
The purpose of this paper is to improve theVelocity Update Relaxation Particle Swarm Optimization algorithm (VURPSO). The improved algorithm is called Adaptive VURPSO (AVURPSO) algorithm. Then, an optimal design of a Proportional-Integral-Derivative (PID) controller is obtained using the AVURPSO algorithm. An adaptive momentum factor is used to regulate a trade-off between the global and the local exploration abilities in the proposed algorithm. This operation helps the system to reach the optimal solution quickly and saves the computation time. Comparisons on the optimal PID controller design confirm the superiority of AVURPSO algorithm to the optimization algorithms mentioned in this paper namely the VURPSO algorithm, the Ant Colony algorithm, and the conventional approach. Comparisons on the speed of convergence confirm that the proposed algorithm has a faster convergence in a less computation time to yield a global optimum value. The proposed AVURPSO can be used in the diverse areas of optimization problems such as industrial planning, resource allocation, scheduling, decision making, pattern recognition and machine learning. The proposed AVURPSO algorithm is efficiently used to design an optimal PID controller.
Fuzzy PID Feedback Control of Piezoelectric Actuator with Feedforward Compensation
Directory of Open Access Journals (Sweden)
Ziqiang Chi
2014-01-01
Full Text Available Piezoelectric actuator is widely used in the field of micro/nanopositioning. However, piezoelectric hysteresis introduces nonlinearity to the system, which is the major obstacle to achieve a precise positioning. In this paper, the Preisach model is employed to describe the hysteresis characteristic of piezoelectric actuator and an inverse Preisach model is developed to construct a feedforward controller. Considering that the analytical expression of inverse Preisach model is difficult to derive and not suitable for practical application, a digital inverse model is established based on the input and output data of a piezoelectric actuator. Moreover, to mitigate the compensation error of the feedforward control, a feedback control scheme is implemented using different types of control algorithms in terms of PID control, fuzzy control, and fuzzy PID control. Extensive simulation studies are carried out using the three kinds of control systems. Comparative investigation reveals that the fuzzy PID control system with feedforward compensation is capable of providing quicker response and better control accuracy than the other two ones. It provides a promising way of precision control for piezoelectric actuator.
Design of PID Controller Simulator based on Genetic Algorithm
Directory of Open Access Journals (Sweden)
Fahri VATANSEVER
2013-08-01
Full Text Available PID (Proportional Integral and Derivative controllers take an important place in the field of system controlling. Various methods such as Ziegler-Nichols, Cohen-Coon, Chien Hrones Reswick (CHR and Wang-Juang-Chan are available for the design of such controllers benefiting from the system time and frequency domain data. These controllers are in compliance with system properties under certain criteria suitable to the system. Genetic algorithms have become widely used in control system applications in parallel to the advances in the field of computer and artificial intelligence. In this study, PID controller designs have been carried out by means of classical methods and genetic algorithms and comparative results have been analyzed. For this purpose, a graphical user interface program which can be used for educational purpose has been developed. For the definite (entered transfer functions, the suitable P, PI and PID controller coefficients have calculated by both classical methods and genetic algorithms and many parameters and responses of the systems have been compared and presented numerically and graphically
Empirically characteristic analysis of chaotic PID controlling particle swarm optimization.
Yan, Danping; Lu, Yongzhong; Zhou, Min; Chen, Shiping; Levy, David
2017-01-01
Since chaos systems generally have the intrinsic properties of sensitivity to initial conditions, topological mixing and density of periodic orbits, they may tactfully use the chaotic ergodic orbits to achieve the global optimum or their better approximation to given cost functions with high probability. During the past decade, they have increasingly received much attention from academic community and industry society throughout the world. To improve the performance of particle swarm optimization (PSO), we herein propose a chaotic proportional integral derivative (PID) controlling PSO algorithm by the hybridization of chaotic logistic dynamics and hierarchical inertia weight. The hierarchical inertia weight coefficients are determined in accordance with the present fitness values of the local best positions so as to adaptively expand the particles' search space. Moreover, the chaotic logistic map is not only used in the substitution of the two random parameters affecting the convergence behavior, but also used in the chaotic local search for the global best position so as to easily avoid the particles' premature behaviors via the whole search space. Thereafter, the convergent analysis of chaotic PID controlling PSO is under deep investigation. Empirical simulation results demonstrate that compared with other several chaotic PSO algorithms like chaotic PSO with the logistic map, chaotic PSO with the tent map and chaotic catfish PSO with the logistic map, chaotic PID controlling PSO exhibits much better search efficiency and quality when solving the optimization problems. Additionally, the parameter estimation of a nonlinear dynamic system also further clarifies its superiority to chaotic catfish PSO, genetic algorithm (GA) and PSO.
Multivariate analysis with LISREL
Jöreskog, Karl G; Y Wallentin, Fan
2016-01-01
This book traces the theory and methodology of multivariate statistical analysis and shows how it can be conducted in practice using the LISREL computer program. It presents not only the typical uses of LISREL, such as confirmatory factor analysis and structural equation models, but also several other multivariate analysis topics, including regression (univariate, multivariate, censored, logistic, and probit), generalized linear models, multilevel analysis, and principal component analysis. It provides numerous examples from several disciplines and discusses and interprets the results, illustrated with sections of output from the LISREL program, in the context of the example. The book is intended for masters and PhD students and researchers in the social, behavioral, economic and many other sciences who require a basic understanding of multivariate statistical theory and methods for their analysis of multivariate data. It can also be used as a textbook on various topics of multivariate statistical analysis.
CAS algorithm-based optimum design of PID controller in AVR system
International Nuclear Information System (INIS)
Zhu Hui; Li Lixiang; Zhao Ying; Guo Yu; Yang Yixian
2009-01-01
This paper presents a novel design method for determining the optimal PID controller parameters of an automatic voltage regulator (AVR) system using the chaotic ant swarm (CAS) algorithm. In the tuning process of parameters, the CAS algorithm is iterated to give the optimal parameters of the PID controller based on the fitness theory, where the position vector of each ant in the CAS algorithm corresponds to the parameter vector of the PID controller. The proposed CAS-PID controllers can ensure better control system performance with respect to the reference input in comparison with GA-PID controllers. Numerical simulations are provided to verify the effectiveness and feasibility of PID controller based on CAS algorithm.
Design and Simulation of PID parameters self-tuning based on DC speed regulating system
Directory of Open Access Journals (Sweden)
Feng Wei Jie
2016-01-01
Full Text Available The DC speed regulating system has many difficult issues such as system parameters and PID control parameters are difficult to determine. On the basis of model for a single closed-loop DC speed regulating system, this paper puts forward a method of PID parameters self-tuning based on the step response detection and reduced order equivalent. First, detect system step response and get response parameters. Then equal it to a second order system model, and achieve optimal PID control parameters based on optimal second order system to realize of PID parameters self-tuning. The PID parameters self-tuning process of DC speed regulating system is simulated with the help of MATLAB/Simulink. The simulation results show that the method is simple and effective. The system can obtain good dynamic and static performance when the PID parameters are applied to DC speed regulating system.
Directory of Open Access Journals (Sweden)
Manikandan Ramasamy
2017-07-01
Full Text Available Automation has been growing in recent years for the manufacturing industries to increase productivity. Multiple robotic arms are used to handle materials for lifting in flexible directions. The vertical rotation of a 360 degree single arm is considered in this research on a position servo drive with brushless DC motor. The load torque of an arm varies depending upon the angular displacement due to gravity, so it requires four-quadrant operation of the drive with a robust feedback controller. This paper deals with the design and performance comparison of a conventional PID feedback controller with a fuzzy-based PID controller and suggests the most suitable controller. The design was implemented in real time through the dSPACE DS1104 controller environment to verify the dynamic behaviors of the arm.
Multiobjective Optimization Design of a Fractional Order PID Controller for a Gun Control System
Directory of Open Access Journals (Sweden)
Qiang Gao
2013-01-01
Full Text Available Motion control of gun barrels is an ongoing topic for the development of gun control equipments possessing excellent performances. In this paper, a typical fractional order PID control strategy is employed for the gun control system. To obtain optimal parameters of the controller, a multiobjective optimization scheme is developed from the loop-shaping perspective. To solve the specified nonlinear optimization problem, a novel Pareto optimal solution based multiobjective differential evolution algorithm is proposed. To enhance the convergent rate of the optimization process, an opposition based learning method is embedded in the chaotic population initialization process. To enhance the robustness of the algorithm for different problems, an adapting scheme of the mutation operation is further employed. With assistance of the evolutionary algorithm, the optimal solution for the specified problem is selected. The numerical simulation results show that the control system can rapidly follow the demand signal with high accuracy and high robustness, demonstrating the efficiency of the proposed controller parameter tuning method.
DEFF Research Database (Denmark)
Gorm Hansen, Birgitte
their core i nterests, 2) developing a selfsupply of industry interests by becoming entrepreneurs and thus creating their own compliant industry partner and 3) balancing resources within a larger collective of researchers, thus countering changes in the influx of funding caused by shifts in political...... knowledge", Danish research policy seems to have helped develop politically and economically "robust scientists". Scientific robustness is acquired by way of three strategies: 1) tasting and discriminating between resources so as to avoid funding that erodes academic profiles and push scientists away from...
Didactic System for the Experimental Study of Digital PID Control Structures
Stelian-Emilian OLTEAN; Mircea DULĂU; Adrian-Vasile DUKA
2016-01-01
The proportional integral derivative (PID) controller has a known structure used in feedback control of industrial processes. One of the most common applications is the control of the DC motor. The paper presents a didactic system designed for educational purposes used for studying various conventional PID structures and the influence of the PID components in the control process of the DC motor’s speed. The system contains a low cost acquisition board based on PIC 16F628A microcontroller. The...
Facial Symmetry in Robust Anthropometrics
Czech Academy of Sciences Publication Activity Database
Kalina, Jan
2012-01-01
Roč. 57, č. 3 (2012), s. 691-698 ISSN 0022-1198 R&D Projects: GA MŠk(CZ) 1M06014 Institutional research plan: CEZ:AV0Z10300504 Keywords : forensic science * anthropology * robust image analysis * correlation analysis * multivariate data * classification Subject RIV: BB - Applied Statistics, Operational Research Impact factor: 1.244, year: 2012
Azmi, Nur Iffah Mohamed; Arifin Mat Piah, Kamal; Yusoff, Wan Azhar Wan; Romlay, Fadhlur Rahman Mohd
2018-03-01
Controller that uses PID parameters requires a good tuning method in order to improve the control system performance. Tuning PID control method is divided into two namely the classical methods and the methods of artificial intelligence. Particle swarm optimization algorithm (PSO) is one of the artificial intelligence methods. Previously, researchers had integrated PSO algorithms in the PID parameter tuning process. This research aims to improve the PSO-PID tuning algorithms by integrating the tuning process with the Variable Weight Grey- Taguchi Design of Experiment (DOE) method. This is done by conducting the DOE on the two PSO optimizing parameters: the particle velocity limit and the weight distribution factor. Computer simulations and physical experiments were conducted by using the proposed PSO- PID with the Variable Weight Grey-Taguchi DOE and the classical Ziegler-Nichols methods. They are implemented on the hydraulic positioning system. Simulation results show that the proposed PSO-PID with the Variable Weight Grey-Taguchi DOE has reduced the rise time by 48.13% and settling time by 48.57% compared to the Ziegler-Nichols method. Furthermore, the physical experiment results also show that the proposed PSO-PID with the Variable Weight Grey-Taguchi DOE tuning method responds better than Ziegler-Nichols tuning. In conclusion, this research has improved the PSO-PID parameter by applying the PSO-PID algorithm together with the Variable Weight Grey-Taguchi DOE method as a tuning method in the hydraulic positioning system.
Differential Evolution-Based PID Control of Nonlinear Full-Car Electrohydraulic Suspensions
Directory of Open Access Journals (Sweden)
Jimoh O. Pedro
2013-01-01
Full Text Available This paper presents a differential-evolution- (DE- optimized, independent multiloop proportional-integral-derivative (PID controller design for full-car nonlinear, electrohydraulic suspension systems. The multiloop PID control stabilises the actuator via force feedback and also improves the system performance. Controller gains are computed using manual tuning and through DE optimization to minimise a performance index, which addresses suspension travel, road holding, vehicle handling, ride comfort, and power consumption constraints. Simulation results showed superior performance of the DE-optimized PID-controlled active vehicle suspension system (AVSS over the manually tuned PID-controlled AVSS and the passive vehicle suspension system (PVSS.
Fuzzy PID control algorithm based on PSO and application in BLDC motor
Lin, Sen; Wang, Guanglong
2017-06-01
A fuzzy PID control algorithm is studied based on improved particle swarm optimization (PSO) to perform Brushless DC (BLDC) motor control which has high accuracy, good anti-jamming capability and steady state accuracy compared with traditional PID control. The mathematical and simulation model is established for BLDC motor by simulink software, and the speed loop of the fuzzy PID controller is designed. The simulation results show that the fuzzy PID control algorithm based on PSO has higher stability, high control precision and faster dynamic response speed.
Neuro-PID tracking control of a discharge air temperature system
International Nuclear Information System (INIS)
Zaheer-uddin, M.; Tudoroiu, N.
2004-01-01
In this paper, the problem of improving the performance of a discharge air temperature (DAT) system using a PID controller and augmenting it with neural network based tuning and tracking functions is explored. The DAT system is modeled as a SISO (single input single output) system. The architecture of the real time neuro-PID controller and simulation results obtained under realistic operating conditions are presented. The neural network assisted PID tuning method is simple to implement. Results show that the network assisted PID controller is able to track both constant and variable set point trajectories efficiently in the presence of disturbances acting on the DAT system
Directory of Open Access Journals (Sweden)
Li Jing
2016-01-01
Full Text Available For the control of the liquid level of liquid ammonia in thermal power plant’s ammonia vaporization room, traditional PID controller parameter tuning is difficult to adapt to complex control systems, the setting of the traditional PID controller parameters is difficult to adapt to the complex control system. For the disadvantage of bad parameter setting, poor performance and so on the fuzzy adaptive PID control is proposed. Fuzzy adaptive PID control combines the advantages of traditional PID technology and fuzzy control. By using the fuzzy controller to intelligent control the object, the performance of the PID controller is further improved, and the control precision of the system is improved[1]. The simulation results show that the fuzzy adaptive PID controller not only has the advantages of high accuracy of PID controller, but also has the characteristics of fast and strong adaptability of fuzzy controller. It realizes the optimization of PID parameters which are in the optimal state, and the maximum increase production efficiency, so that are more suitable for nonlinear dynamic system.
Robust Multivariable Optimization and Performance Simulation for ASIC Design
DuMonthier, Jeffrey; Suarez, George
2013-01-01
Application-specific-integrated-circuit (ASIC) design for space applications involves multiple challenges of maximizing performance, minimizing power, and ensuring reliable operation in extreme environments. This is a complex multidimensional optimization problem, which must be solved early in the development cycle of a system due to the time required for testing and qualification severely limiting opportunities to modify and iterate. Manual design techniques, which generally involve simulation at one or a small number of corners with a very limited set of simultaneously variable parameters in order to make the problem tractable, are inefficient and not guaranteed to achieve the best possible results within the performance envelope defined by the process and environmental requirements. What is required is a means to automate design parameter variation, allow the designer to specify operational constraints and performance goals, and to analyze the results in a way that facilitates identifying the tradeoffs defining the performance envelope over the full set of process and environmental corner cases. The system developed by the Mixed Signal ASIC Group (MSAG) at the Goddard Space Flight Center is implemented as a framework of software modules, templates, and function libraries. It integrates CAD tools and a mathematical computing environment, and can be customized for new circuit designs with only a modest amount of effort as most common tasks are already encapsulated. Customization is required for simulation test benches to determine performance metrics and for cost function computation.
Ellipsoidal prediction regions for multivariate uncertainty characterization
DEFF Research Database (Denmark)
Golestaneh, Faranak; Pinson, Pierre; Azizipanah-Abarghooee, Rasoul
2018-01-01
, for classes of decision-making problems based on robust, interval chance-constrained optimization, necessary inputs take the form of multivariate prediction regions rather than scenarios. The current literature is at very primitive stage of characterizing multivariate prediction regions to be employed...... in these classes of optimization problems. To address this issue, we introduce a new class of multivariate forecasts which form as multivariate ellipsoids for non-Gaussian variables. We propose a data-driven systematic framework to readily generate and evaluate ellipsoidal prediction regions, with predeﬁned...... probability guarantees and minimum conservativeness. A skill score is proposed for quantitative assessment of the quality of prediction ellipsoids. A set of experiments is used to illustrate the discrimination ability of the proposed scoring rule for potential misspeciﬁcation of ellipsoidal prediction regions...
Generalized internal model robust control for active front steering intervention
Wu, Jian; Zhao, Youqun; Ji, Xuewu; Liu, Yahui; Zhang, Lipeng
2015-03-01
Because of the tire nonlinearity and vehicle's parameters' uncertainties, robust control methods based on the worst cases, such as H ∞, µ synthesis, have been widely used in active front steering control, however, in order to guarantee the stability of active front steering system (AFS) controller, the robust control is at the cost of performance so that the robust controller is a little conservative and has low performance for AFS control. In this paper, a generalized internal model robust control (GIMC) that can overcome the contradiction between performance and stability is used in the AFS control. In GIMC, the Youla parameterization is used in an improved way. And GIMC controller includes two sections: a high performance controller designed for the nominal vehicle model and a robust controller compensating the vehicle parameters' uncertainties and some external disturbances. Simulations of double lane change (DLC) maneuver and that of braking on split- µ road are conducted to compare the performance and stability of the GIMC control, the nominal performance PID controller and the H ∞ controller. Simulation results show that the high nominal performance PID controller will be unstable under some extreme situations because of large vehicle's parameters variations, H ∞ controller is conservative so that the performance is a little low, and only the GIMC controller overcomes the contradiction between performance and robustness, which can both ensure the stability of the AFS controller and guarantee the high performance of the AFS controller. Therefore, the GIMC method proposed for AFS can overcome some disadvantages of control methods used by current AFS system, that is, can solve the instability of PID or LQP control methods and the low performance of the standard H ∞ controller.
Empirically characteristic analysis of chaotic PID controlling particle swarm optimization
Yan, Danping; Lu, Yongzhong; Zhou, Min; Chen, Shiping; Levy, David
2017-01-01
Since chaos systems generally have the intrinsic properties of sensitivity to initial conditions, topological mixing and density of periodic orbits, they may tactfully use the chaotic ergodic orbits to achieve the global optimum or their better approximation to given cost functions with high probability. During the past decade, they have increasingly received much attention from academic community and industry society throughout the world. To improve the performance of particle swarm optimization (PSO), we herein propose a chaotic proportional integral derivative (PID) controlling PSO algorithm by the hybridization of chaotic logistic dynamics and hierarchical inertia weight. The hierarchical inertia weight coefficients are determined in accordance with the present fitness values of the local best positions so as to adaptively expand the particles’ search space. Moreover, the chaotic logistic map is not only used in the substitution of the two random parameters affecting the convergence behavior, but also used in the chaotic local search for the global best position so as to easily avoid the particles’ premature behaviors via the whole search space. Thereafter, the convergent analysis of chaotic PID controlling PSO is under deep investigation. Empirical simulation results demonstrate that compared with other several chaotic PSO algorithms like chaotic PSO with the logistic map, chaotic PSO with the tent map and chaotic catfish PSO with the logistic map, chaotic PID controlling PSO exhibits much better search efficiency and quality when solving the optimization problems. Additionally, the parameter estimation of a nonlinear dynamic system also further clarifies its superiority to chaotic catfish PSO, genetic algorithm (GA) and PSO. PMID:28472050
Empirically characteristic analysis of chaotic PID controlling particle swarm optimization.
Directory of Open Access Journals (Sweden)
Danping Yan
Full Text Available Since chaos systems generally have the intrinsic properties of sensitivity to initial conditions, topological mixing and density of periodic orbits, they may tactfully use the chaotic ergodic orbits to achieve the global optimum or their better approximation to given cost functions with high probability. During the past decade, they have increasingly received much attention from academic community and industry society throughout the world. To improve the performance of particle swarm optimization (PSO, we herein propose a chaotic proportional integral derivative (PID controlling PSO algorithm by the hybridization of chaotic logistic dynamics and hierarchical inertia weight. The hierarchical inertia weight coefficients are determined in accordance with the present fitness values of the local best positions so as to adaptively expand the particles' search space. Moreover, the chaotic logistic map is not only used in the substitution of the two random parameters affecting the convergence behavior, but also used in the chaotic local search for the global best position so as to easily avoid the particles' premature behaviors via the whole search space. Thereafter, the convergent analysis of chaotic PID controlling PSO is under deep investigation. Empirical simulation results demonstrate that compared with other several chaotic PSO algorithms like chaotic PSO with the logistic map, chaotic PSO with the tent map and chaotic catfish PSO with the logistic map, chaotic PID controlling PSO exhibits much better search efficiency and quality when solving the optimization problems. Additionally, the parameter estimation of a nonlinear dynamic system also further clarifies its superiority to chaotic catfish PSO, genetic algorithm (GA and PSO.
Continuous multivariate exponential extension
International Nuclear Information System (INIS)
Block, H.W.
1975-01-01
The Freund-Weinman multivariate exponential extension is generalized to the case of nonidentically distributed marginal distributions. A fatal shock model is given for the resulting distribution. Results in the bivariate case and the concept of constant multivariate hazard rate lead to a continuous distribution related to the multivariate exponential distribution (MVE) of Marshall and Olkin. This distribution is shown to be a special case of the extended Freund-Weinman distribution. A generalization of the bivariate model of Proschan and Sullo leads to a distribution which contains both the extended Freund-Weinman distribution and the MVE
Methods of Multivariate Analysis
Rencher, Alvin C
2012-01-01
Praise for the Second Edition "This book is a systematic, well-written, well-organized text on multivariate analysis packed with intuition and insight . . . There is much practical wisdom in this book that is hard to find elsewhere."-IIE Transactions Filled with new and timely content, Methods of Multivariate Analysis, Third Edition provides examples and exercises based on more than sixty real data sets from a wide variety of scientific fields. It takes a "methods" approach to the subject, placing an emphasis on how students and practitioners can employ multivariate analysis in real-life sit
The development of Gallstone solvent temperature adaptive PID control system
Institute of Scientific and Technical Information of China (English)
MA; BING; QIAO; BO; YAN
2012-01-01
The paper expatiated the work principle,general project,and the control part of the corresponding program of the temperature system in the gallstone dissolving instrument.Gallstone dissolving instrument adopts automatic control solvent cycle of direct solution stone treatment,replacing the traditional external shock wave rock row stone and gallblad-der surgery method.PID control system to realize the gall stone solvent temperature intelligent control,the basic principle of work is as solvent temperature below the set temperature,the relay control heater to solvent to be heated,conversely,no heating,achieve better able to dissolve the the rapeutic effect of gallstones.
State-PID Feedback for Pole Placement of LTI Systems
Directory of Open Access Journals (Sweden)
Sarawut Sujitjorn
2011-01-01
Full Text Available Pole placement problems are especially important for disturbance rejection and stabilization of dynamical systems and regarded as algebraic inverse eigenvalue problems. In this paper, we propose gain formulae of state feedback through PID-elements to achieve desired pole placement for a delay-free LTI system with single input. Real and complex stable poles can be assigned with the proposed compact gain formulae. Numerical examples show that our proposed gain formulae can be used effectively resulting in very satisfactory responses.
DEFF Research Database (Denmark)
Silvennoinen, Annastiina; Teräsvirta, Timo
This article contains a review of multivariate GARCH models. Most common GARCH models are presented and their properties considered. This also includes nonparametric and semiparametric models. Existing specification and misspecification tests are discussed. Finally, there is an empirical example...
Multivariate Time Series Search
National Aeronautics and Space Administration — Multivariate Time-Series (MTS) are ubiquitous, and are generated in areas as disparate as sensor recordings in aerospace systems, music and video streams, medical...
Zamani, Abbasali; Barakati, S Masoud; Yousofi-Darmian, Saeed
2016-09-01
Load-frequency control is one of the most important issues in power system operation. In this paper, a Fractional Order PID (FOPID) controller based on Gases Brownian Motion Optimization (GBMO) is used in order to mitigate frequency and exchanged power deviation in two-area power system with considering governor saturation limit. In a FOPID controller derivative and integrator parts have non-integer orders which should be determined by designer. FOPID controller has more flexibility than PID controller. The GBMO algorithm is a recently introduced search method that has suitable accuracy and convergence rate. Thus, this paper uses the advantages of FOPID controller as well as GBMO algorithm to solve load-frequency control. However, computational load will higher than conventional controllers due to more complexity of design procedure. Also, a GBMO based fuzzy controller is designed and analyzed in detail. The performance of the proposed controller in time domain and its robustness are verified according to comparison with other controllers like GBMO based fuzzy controller and PI controller that used for load-frequency control system in confronting with model parameters variations. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Directory of Open Access Journals (Sweden)
Huan Wang
2017-10-01
Full Text Available Fractional order proportional-integral-derivative(FOPID controllers have attracted increasing attentions recently due to their better control performance than the traditional integer-order proportional-integral-derivative (PID controllers. However, there are only few studies concerning the fractional order control of microgrids based on evolutionary algorithms. From the perspective of multi-objective optimization, this paper presents an effective FOPID based frequency controller design method called MOEO-FOPID for an islanded microgrid by using a Multi-objective extremal optimization (MOEO algorithm to minimize frequency deviation and controller output signal simultaneously in order to improve finally the efficient operation of distributed generations and energy storage devices. Its superiority to nondominated sorting genetic algorithm-II (NSGA-II based FOPID/PID controllers and other recently reported single-objective evolutionary algorithms such as Kriging-based surrogate modeling and real-coded population extremal optimization-based FOPID controllers is demonstrated by the simulation studies on a typical islanded microgrid in terms of the control performance including frequency deviation, deficit grid power, controller output signal and robustness.
Liu, Hui; Li, Yingzi; Zhang, Yingxu; Chen, Yifu; Song, Zihang; Wang, Zhenyu; Zhang, Suoxin; Qian, Jianqiang
2018-01-01
Proportional-integral-derivative (PID) parameters play a vital role in the imaging process of an atomic force microscope (AFM). Traditional parameter tuning methods require a lot of manpower and it is difficult to set PID parameters in unattended working environments. In this manuscript, an intelligent tuning method of PID parameters based on iterative learning control is proposed to self-adjust PID parameters of the AFM according to the sample topography. This method gets enough information about the output signals of PID controller and tracking error, which will be used to calculate the proper PID parameters, by repeated line scanning until convergence before normal scanning to learn the topography. Subsequently, the appropriate PID parameters are obtained by fitting method and then applied to the normal scanning process. The feasibility of the method is demonstrated by the convergence analysis. Simulations and experimental results indicate that the proposed method can intelligently tune PID parameters of the AFM for imaging different topographies and thus achieve good tracking performance. Copyright © 2017 Elsevier Ltd. All rights reserved.
A set of decentralized PID controllers for an n–link robot manipulator
Indian Academy of Sciences (India)
A class of stabilizing decentralized proportional integral derivative (PID) controllers for an -link robot manipulator system is proposed. The range of decentralized PID controller parameters for an -link robot manipulator is obtained using Kharitonov theorem and stability boundary equations. Basically, the proposed design ...
Automatic Tuning of PID Controller for a 1-D Levitation System Using a Genetic Algorithm
DEFF Research Database (Denmark)
Yang, Zhenyu; Pedersen, Gerulf K.m.
2006-01-01
The automatic PID control design for a onedimensional magnetic levitation system is investigated. The PID controller is automatically tuned using the non-dominated sorting genetic algorithm (NSGA-II) based on a nonlinear system model. The developed controller is digitally implemented and tested...
PID Controller of Sprayer Chassis by Sliding Mode
Directory of Open Access Journals (Sweden)
Hua Zhang
2017-01-01
Full Text Available In order to solve the straight line drive coordinated control problem of the four-wheel independent drive sprayer chassis, the dynamic model of sprayer chassis and electromagnetic proportional valve controlled hydraulic motor model are established. The additional yaw moment is designed to rectify the deviation with sliding mode variable structure control. PID control strategy is used to calculate the control voltage adjustment of the electromagnetic proportional valve. The simulation results show that the accumulative deviation of the chassis is 0.2 m out of 100 m when the coordinated control strategy is adopted on different adhesive coefficient pavement, which is much smaller than the value without control. The test results of test prototype show that the yaw acceleration of the chassis can be as low as −0.0132 m/s2 on different adhesive coefficient pavement with coordinated control, which is smaller than the value without control, and the straight line drive requirements are met. It is feasible to combine sliding mode variable structure with PID control and use the electromagnetic proportional control technology in the straight line drive coordinated control of sprayer chassis by adding the yaw moment to rectify the deviation of chassis based on the yaw acceleration detection.
Design of PID temperature control system based on STM32
Zhang, Jianxin; Li, Hailin; Ma, Kai; Xue, Liang; Han, Bianhua; Dong, Yuemeng; Tan, Yue; Gu, Chengru
2018-03-01
A rapid and high-accuracy temperature control system was designed using proportional-integral-derivative (PID) control algorithm with STM32 as micro-controller unit (MCU). The temperature control system can be applied in the fields which have high requirements on the response speed and accuracy of temperature control. The temperature acquisition circuit in system adopted Pt1000 resistance thermometer as temperature sensor. Through this acquisition circuit, the monitoring actual temperature signal could be converted into voltage signal and transmitted into MCU. A TLP521-1 photoelectric coupler was matched with BD237 power transistor to drive the thermoelectric cooler (TEC) in FTA951 module. The effective electric power of TEC was controlled by the pulse width modulation (PWM) signals which generated by MCU. The PWM signal parameters could be adjusted timely by PID algorithm according to the difference between monitoring actual temperature and set temperature. The upper computer was used to input the set temperature and monitor the system running state via serial port. The application experiment results show that the temperature control system is featured by simple structure, rapid response speed, good stability and high temperature control accuracy with the error less than ±0.5°C.
DIRC-based PID for the EIC central detector
Energy Technology Data Exchange (ETDEWEB)
Dzhygadlo, Roman; Schwarz, Carsten; Schwiening, Jochen [GSI Helmholtzzentrum fuer Schwerionenforschung GmbH, Darmstadt (Germany); Peters, Klaus [GSI Helmholtzzentrum fuer Schwerionenforschung GmbH, Darmstadt (Germany); Goethe-Universitaet Frankfurt (Germany); Collaboration: DIRC at EIC RD-Collaboration
2015-07-01
One of the key requirements for the central detector of a future Electron-Ion Collider (EIC) is to provide radially compact Particle Identification (PID) (e/π,π/K,K/p) over a wide momentum range. It is expected that the PID system will need to include one or more Cherenkov counters to achieve this goal. With a radial size of only a few cm, a DIRC counter (Detector of Internally Reflected Cherenkov light) is potentially an attractive option. The DIRC rate at EIC R and D Collaboration was formed by groups in the United States and Germany in 2011 with funding from DOE to investigate ways to extend the momentum coverage of DIRC counters for the EIC detector by up to 50% beyond the current state of the art. Possible design improvements include a complex focusing system, multi-anode sensors with smaller pixels, a time-based reconstruction algorithm, and chromatic dispersion mitigation. Both Geant and ray-tracing simulations are used to optimize the design configuration of the DIRC counter in terms of the performance and the best integration with the EIC detector. We discuss the current status of the design studies and the possible improvements to the Cherenkov angle resolution and the photon yield.
KENDALI KECEPATAN MOTOR INDUKSI TIGA FASA DENGAN KONTROLER PID
Directory of Open Access Journals (Sweden)
Bambang Prio Hartono
2012-09-01
Full Text Available Abstract: Speed control for three-phase induction motor with PID controller. The weakness of an induction motor is its disability to maintain the speed constantly during load changes; it will reduce the speed of induction motor. It needs a controller which enables an induction motor to maintain its speed in various set points and changing loads by determining system performance. The system is tested by referring settling point, rise time, delay time, time constant, and error state. The PID controller with 8,032 micro-controller can produce a good performance in following state: in starting phase, changing load torques, and achieving set point in t = 1.68 s, TR = 2.30 s, TS = 3.80 s, TD = 1.56 s, 1.29% error steady state (% Ess, and 1.50 Newton of load. In quick response (in mil-second, the induction motor becomes more stable, while in plant response there is no overshoot because the motor has been tied by a power brake that acts as a load.
Cascade control of superheated steam temperature with neuro-PID controller.
Zhang, Jianhua; Zhang, Fenfang; Ren, Mifeng; Hou, Guolian; Fang, Fang
2012-11-01
In this paper, an improved cascade control methodology for superheated processes is developed, in which the primary PID controller is implemented by neural networks trained by minimizing error entropy criterion. The entropy of the tracking error can be estimated recursively by utilizing receding horizon window technique. The measurable disturbances in superheated processes are input to the neuro-PID controller besides the sequences of tracking error in outer loop control system, hence, feedback control is combined with feedforward control in the proposed neuro-PID controller. The convergent condition of the neural networks is analyzed. The implementation procedures of the proposed cascade control approach are summarized. Compared with the neuro-PID controller using minimizing squared error criterion, the proposed neuro-PID controller using minimizing error entropy criterion may decrease fluctuations of the superheated steam temperature. A simulation example shows the advantages of the proposed method. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.
Bidirectional active control of structures with type-2 fuzzy PD and PID
Paul, Satyam; Yu, Wen; Li, Xiaoou
2018-03-01
Proportional-derivative and proportional-integral-derivative (PD/PID) controllers are popular algorithms in structure vibration control. In order to maintain minimum regulation error, the PD/PID control require big proportional and derivative gains. The control performances are not satisfied because of the big uncertainties in the buildings. In this paper, type-2 fuzzy system is applied to compensate the unknown uncertainties, and is combined with the PD/PID control. We prove the stability of these fuzzy PD and PID controllers. The sufficient conditions can be used for choosing the gains of PD/PID. The theory results are verified by a two-storey building prototype. The experimental results validate our analysis.
PSO-based PID Speed Control of Traveling Wave Ultrasonic Motor under Temperature Disturbance
Arifin Mat Piah, Kamal; Yusoff, Wan Azhar Wan; Azmi, Nur Iffah Mohamed; Romlay, Fadhlur Rahman Mohd
2018-03-01
Traveling wave ultrasonic motors (TWUSMs) have a time varying dynamics characteristics. Temperature rise in TWUSMs remains a problem particularly in sustaining optimum speed performance. In this study, a PID controller is used to control the speed of TWUSM under temperature disturbance. Prior to developing the controller, a linear approximation model which relates the speed to the temperature is developed based on the experimental data. Two tuning methods are used to determine PID parameters: conventional Ziegler-Nichols(ZN) and particle swarm optimization (PSO). The comparison of speed control performance between PSO-PID and ZN-PID is presented. Modelling, simulation and experimental work is carried out utilizing Fukoku-Shinsei USR60 as the chosen TWUSM. The results of the analyses and experimental work reveal that PID tuning using PSO-based optimization has the advantage over the conventional Ziegler-Nichols method.
Mo, Qingkai; Zhang, Tao; Yan, Yining
2016-10-01
There are contradictions among speediness, anti-disturbance performance, and steady-state accuracy caused by traditional PID controller in the existing light source systems of thermal frequency stabilizing laser with double longitudinal modes. In this paper, a new kind of fuzzy adaptive PID controller was designed by combining fuzzy PID control technology and expert system to make frequency stabilizing system obtain the optimal performance. The experiments show that the frequency stability of the designed PID controller is similar to the existing PID controller (the magnitude of frequency stability is less than 10-9 in constant temperature and 10-7 in open air). But the preheating time is shortened obviously (from 10 minutes to 5 minutes) and the anti-disturbance capability is improved significantly (the recovery time needed after strong interference is reduced from 1 minute to 10 seconds).
The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network.
Han, Gaining; Fu, Weiping; Wang, Wen; Wu, Zongsheng
2017-05-30
The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function) is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average) model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS), the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative) controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.
The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network
Directory of Open Access Journals (Sweden)
Gaining Han
2017-05-01
Full Text Available The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS, the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.
Multivariate Birkhoff interpolation
Lorentz, Rudolph A
1992-01-01
The subject of this book is Lagrange, Hermite and Birkhoff (lacunary Hermite) interpolation by multivariate algebraic polynomials. It unifies and extends a new algorithmic approach to this subject which was introduced and developed by G.G. Lorentz and the author. One particularly interesting feature of this algorithmic approach is that it obviates the necessity of finding a formula for the Vandermonde determinant of a multivariate interpolation in order to determine its regularity (which formulas are practically unknown anyways) by determining the regularity through simple geometric manipulations in the Euclidean space. Although interpolation is a classical problem, it is surprising how little is known about its basic properties in the multivariate case. The book therefore starts by exploring its fundamental properties and its limitations. The main part of the book is devoted to a complete and detailed elaboration of the new technique. A chapter with an extensive selection of finite elements follows as well a...
Applied multivariate statistical analysis
Härdle, Wolfgang Karl
2015-01-01
Focusing on high-dimensional applications, this 4th edition presents the tools and concepts used in multivariate data analysis in a style that is also accessible for non-mathematicians and practitioners. It surveys the basic principles and emphasizes both exploratory and inferential statistics; a new chapter on Variable Selection (Lasso, SCAD and Elastic Net) has also been added. All chapters include practical exercises that highlight applications in different multivariate data analysis fields: in quantitative financial studies, where the joint dynamics of assets are observed; in medicine, where recorded observations of subjects in different locations form the basis for reliable diagnoses and medication; and in quantitative marketing, where consumers’ preferences are collected in order to construct models of consumer behavior. All of these examples involve high to ultra-high dimensions and represent a number of major fields in big data analysis. The fourth edition of this book on Applied Multivariate ...
Gomaa Haroun, A H; Li, Yin-Ya
2017-11-01
In the fast developing world nowadays, load frequency control (LFC) is considered to be a most significant role for providing the power supply with good quality in the power system. To deliver a reliable power, LFC system requires highly competent and intelligent control technique. Hence, in this article, a novel hybrid fuzzy logic intelligent proportional-integral-derivative (FLiPID) controller has been proposed for LFC of interconnected multi-area power systems. A four-area interconnected thermal power system incorporated with physical constraints and boiler dynamics is considered and the adjustable parameters of the FLiPID controller are optimized using particle swarm optimization (PSO) scheme employing an integral square error (ISE) criterion. The proposed method has been established to enhance the power system performances as well as to reduce the oscillations of uncertainties due to variations in the system parameters and load perturbations. The supremacy of the suggested method is demonstrated by comparing the simulation results with some recently reported heuristic methods such as fuzzy logic proportional-integral (FLPI) and intelligent proportional-integral-derivative (PID) controllers for the same electrical power system. the investigations showed that the FLiPID controller provides a better dynamic performance and outperform compared to the other approaches in terms of the settling time, and minimum undershoots of the frequency as well as tie-line power flow deviations following a perturbation, in addition to perform appropriate settlement of integral absolute error (IAE). Finally, the sensitivity analysis of the plant is inspected by varying the system parameters and operating load conditions from their nominal values. It is observed that the suggested controller based optimization algorithm is robust and perform satisfactorily with the variations in operating load condition, system parameters and load pattern. Copyright © 2017 ISA. Published by
Directory of Open Access Journals (Sweden)
Amine Chouchaine
2011-01-01
Full Text Available This paper proposes a control strategy for complex and nonlinear systems, based on a parallel distributed compensation (PDC controller. A solution is presented to solve a stability problem that arises when dealing with a Takagi-Sugeno discrete system with great numbers of rules. The PDC controller will use a classical controller like a PI, PID, or RST in each rule with a pole placement strategy to avoid causing instability. The fuzzy controller presented combines the multicontrol approach and the performance of the classical controllers to obtain a robust nonlinear control action that can also deal with time-variant systems. The presented method was applied to a small greenhouse to control its inside temperature by variation in ventilation rate inside the process. The results obtained will show the efficiency of the adopted method to control the nonlinear and complex systems.
Zamani, Abbas-Ali; Tavakoli, Saeed; Etedali, Sadegh
2017-03-01
Fractional order PID (FOPID) controllers are introduced as a general form of classical PID controllers using fractional calculus. As this controller provides good disturbance rejection and is robust against plant uncertainties it is appropriate for the vibration mitigation in structures. In this paper, an FOPID controller is designed to adjust the contact force of piezoelectric friction dampers for semi-active control of base-isolated structures during far-field and near-field earthquake excitations. A multi-objective cuckoo search algorithm is employed to tune the controller parameters. Considering the resulting Pareto optimal front, the best input for the FOPID controller is selected. For seven pairs of earthquakes and nine performance indices, the performance of the proposed controller is compared with those provided by several well-known control techniques. According to the simulation results, the proposed controller performs better than other controllers in terms of simultaneous reduction of the maximum base displacement and story acceleration for various types of earthquakes. Also, it provides acceptable responses in terms of inter-story drifts, root mean square of base displacements and floor acceleration. In addition, the evaluation of robustness for a stiffness uncertainty of ±10% indicates that the proposed controller gives a robust performance against such modeling errors. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Simplicial band depth for multivariate functional data
López-Pintado, Sara
2014-03-05
We propose notions of simplicial band depth for multivariate functional data that extend the univariate functional band depth. The proposed simplicial band depths provide simple and natural criteria to measure the centrality of a trajectory within a sample of curves. Based on these depths, a sample of multivariate curves can be ordered from the center outward and order statistics can be defined. Properties of the proposed depths, such as invariance and consistency, can be established. A simulation study shows the robustness of this new definition of depth and the advantages of using a multivariate depth versus the marginal depths for detecting outliers. Real data examples from growth curves and signature data are used to illustrate the performance and usefulness of the proposed depths. © 2014 Springer-Verlag Berlin Heidelberg.
Multivariate generalized linear mixed models using R
Berridge, Damon Mark
2011-01-01
Multivariate Generalized Linear Mixed Models Using R presents robust and methodologically sound models for analyzing large and complex data sets, enabling readers to answer increasingly complex research questions. The book applies the principles of modeling to longitudinal data from panel and related studies via the Sabre software package in R. A Unified Framework for a Broad Class of Models The authors first discuss members of the family of generalized linear models, gradually adding complexity to the modeling framework by incorporating random effects. After reviewing the generalized linear model notation, they illustrate a range of random effects models, including three-level, multivariate, endpoint, event history, and state dependence models. They estimate the multivariate generalized linear mixed models (MGLMMs) using either standard or adaptive Gaussian quadrature. The authors also compare two-level fixed and random effects linear models. The appendices contain additional information on quadrature, model...
A MULTIVARIATE WEIBULL DISTRIBUTION
Directory of Open Access Journals (Sweden)
Cheng Lee
2010-07-01
Full Text Available A multivariate survival function of Weibull Distribution is developed by expanding the theorem by Lu and Bhattacharyya. From the survival function, the probability density function, the cumulative probability function, the determinant of the Jacobian Matrix, and the general moment are derived.
DEFF Research Database (Denmark)
Hansen, Michael Adsetts Edberg
Interest in statistical methodology is increasing so rapidly in the astronomical community that accessible introductory material in this area is long overdue. This book fills the gap by providing a presentation of the most useful techniques in multivariate statistics. A wide-ranging annotated set...
Multivariate pattern dependence.
Directory of Open Access Journals (Sweden)
Stefano Anzellotti
2017-11-01
Full Text Available When we perform a cognitive task, multiple brain regions are engaged. Understanding how these regions interact is a fundamental step to uncover the neural bases of behavior. Most research on the interactions between brain regions has focused on the univariate responses in the regions. However, fine grained patterns of response encode important information, as shown by multivariate pattern analysis. In the present article, we introduce and apply multivariate pattern dependence (MVPD: a technique to study the statistical dependence between brain regions in humans in terms of the multivariate relations between their patterns of responses. MVPD characterizes the responses in each brain region as trajectories in region-specific multidimensional spaces, and models the multivariate relationship between these trajectories. We applied MVPD to the posterior superior temporal sulcus (pSTS and to the fusiform face area (FFA, using a searchlight approach to reveal interactions between these seed regions and the rest of the brain. Across two different experiments, MVPD identified significant statistical dependence not detected by standard functional connectivity. Additionally, MVPD outperformed univariate connectivity in its ability to explain independent variance in the responses of individual voxels. In the end, MVPD uncovered different connectivity profiles associated with different representational subspaces of FFA: the first principal component of FFA shows differential connectivity with occipital and parietal regions implicated in the processing of low-level properties of faces, while the second and third components show differential connectivity with anterior temporal regions implicated in the processing of invariant representations of face identity.
Modeling a multivariable reactor and on-line model predictive control.
Yu, D W; Yu, D L
2005-10-01
A nonlinear first principle model is developed for a laboratory-scaled multivariable chemical reactor rig in this paper and the on-line model predictive control (MPC) is implemented to the rig. The reactor has three variables-temperature, pH, and dissolved oxygen with nonlinear dynamics-and is therefore used as a pilot system for the biochemical industry. A nonlinear discrete-time model is derived for each of the three output variables and their model parameters are estimated from the real data using an adaptive optimization method. The developed model is used in a nonlinear MPC scheme. An accurate multistep-ahead prediction is obtained for MPC, where the extended Kalman filter is used to estimate system unknown states. The on-line control is implemented and a satisfactory tracking performance is achieved. The MPC is compared with three decentralized PID controllers and the advantage of the nonlinear MPC over the PID is clearly shown.
Gain Scheduling of PID Controller Based on Fuzzy Systems
Directory of Open Access Journals (Sweden)
Singh Sandeep
2016-01-01
Full Text Available This paper aims to utilize fuzzy rules and reasoning to determine the controller parameters and the PID controller generates the control signal. The objective of this study is to simulate the proposed scheme on various processes and arrive at results providing better response of the system when compared with best industrial auto-tuning technique: Ziegler-Nichols. The proposed scheme is based upon the Ultimate Gain (Ku and the Period (Tu of the system. The error and rate of change in error gains are tuned manually to get the desired response using LabVIEW. This can also be done with various optimization techniques. A thumb rule for choosing the ranges for Kc, Kd and Ki has been obtained experimentally.
Greenhouse Environmental Control Using Optimized MIMO PID Technique
Directory of Open Access Journals (Sweden)
Fateh BOUNAAMA
2011-10-01
Full Text Available Climate control for protected crops brings the added dimension of a biological system into a physical system control situation. The thermally dynamic nature of a greenhouse suggests that disturbance attenuation (load control of external temperature, humidity, and sunlight is far more important than is the case for controlling other types of buildings. This paper investigates the application of multi-inputs multi-outputs (MIMO PID controller to a MIMO greenhouse environmental model with actuation constraints. This method is based on decoupling the system at low frequency point. The optimal tuning values are determined using genetic algorithms optimization (GA. The inside outsides climate model of the environmental greenhouse, and the automatically collected data sets of Avignon, France are used to simulate and test this technique. The control objective is to maintain a highly coupled inside air temperature and relative humidity of strongly perturbed greenhouse, at specified set-points, by the ventilation/cooling and moisturizing operations.
Robust control design for the plasma horizontal position control on J-TEXT Tokamak
International Nuclear Information System (INIS)
Yu, W.Z.; Chen, Z.P.; Zhuang, G.; Wang, Z.J.
2013-01-01
It is extremely important for tokamak to control the plasma position during routine discharge. However, the model of plasma in tokamak usually contains much of the uncertainty, such as structured uncertainties and unmodeled dynamics. Compared with the traditional PID control approach, robust control theory is more suitable to handle this problem. In the paper, we propose a H ∞ robust control scheme to control the horizontal position of plasma during the flat-top phase of discharge on Joint Texas Experimental Tokamak (J-TEXT) tokamak. First, the model of our plant for plasma horizontal position control is obtained from the position equilibrium equations. Then the H ∞ robust control framework is used to synthesize the controller. Based on this, an H ∞ controller is designed to minimize the regulation/tracking error. Finally, a comparison study is conducted between the optimized H ∞ robust controller and the traditional PID controller in simulations. The simulation results of the H ∞ robust controller show a significant improvement of the performance with respect to those obtained with traditional PID controller, which is currently used on our machine
Implementation of PID autotuning procedure in PLC controller
Directory of Open Access Journals (Sweden)
Daniun Marcin
2017-01-01
Full Text Available In this paper, we present the automatic PID tuning procedure based on the Method of Moments and AMIGO tuning rules. The advantage of the Method of Moments is that the time constant and transport delay are estimated at the areas rather than on the individual points. This results in high resistance to the measurement noises. The sensitivity to measurement noises is a serious problem in other autotuning methods. The second advantage of this method is that it approximates plant during identification process to first order model with time delay. We combined the Method of Moments with the AMIGO tuning rules and implemented this combination as a stand-alone autotuning procedure in Siemens S7-1200 PLC controller. Next, we compared this method with two built-in PID autotuning procedures which were available in Siemens S7-1200 PLC controller. The procedure was tested for three types of plant models: with lag-dominated, balanced, and delay-dominated dynamics. We simulated the plants on a PC in Matlab R2013a. The connection between the PC and PLC was maintained through a National Instruments data acquisition board, NI PCI-6229. We conducted tests for step change in the set point, trajectory tracking, and load disturbances. To assess control quality, we used IAE index. We limited our research to PI algorithm. The results prove that proposed method was better than two built-in tuning methods provided by Siemens, oscillating between a few and even a dozen percent in most cases. The proposed method is universal and can be implemented in any PLC controller.
Position Control of Pneumatic Actuator Using Self-Regulation Nonlinear PID
Directory of Open Access Journals (Sweden)
Syed Najib Syed Salim
2014-01-01
Full Text Available The enhancement of nonlinear PID (N-PID controller for a pneumatic positioning system is proposed to improve the performance of this controller. This is executed by utilizing the characteristic of rate variation of the nonlinear gain that is readily available in N-PID controller. The proposed equation, namely, self-regulation nonlinear function (SNF, is used to reprocess the error signal with the purpose of generating the value of the rate variation, continuously. With the addition of this function, a new self-regulation nonlinear PID (SN-PID controller is proposed. The proposed controller is then implemented to a variably loaded pneumatic actuator. Simulation and experimental tests are conducted with different inputs, namely, step, multistep, and random waveforms, to evaluate the performance of the proposed technique. The results obtained have been proven as a novel initiative at examining and identifying the characteristic based on a new proposal controller resulting from N-PID controller. The transient response is improved by a factor of 2.2 times greater than previous N-PID technique. Moreover, the performance of pneumatic positioning system is remarkably good under various loads.
Sellbom, Martin; Dhillon, Sonya; Bagby, R Michael
2018-05-01
Our aim in the current study was to develop a validity scale for the Personality Inventory for DSM-5 (PID-5) to detect noncredible overreported responding. To this end, we used a rare symptoms approach and identified extreme response options on PID-5 items that were infrequently endorsed by students in 3 different university samples (N = 1,370) and in a psychiatric patient sample (N = 194). The resulting 10-item scale (the PID-5-ORS) produced adequate-to-good estimates of internal reliability and was significantly correlated with the Minnesota Multiphasic Personality Inventory-2 Restructued Form (MMPI-2-RF) overreporting validity scales, providing evidence of concurrent validity. The criterion validity of the PID-5-ORS was demonstrated in an analog simulation design study. More specifically, university students instructed to overreport (n = 80) scored substantially higher on the PID-5-ORS relative to both a group of genuine psychiatric patients and students instructed to complete the PID-5 under standard (honest) instructions (n = 161); the effect size magnitudes associated with these differences were large. Classification accuracy analyses further revealed that high scores on the PID-5-ORS were associated with high specificity (and thus, low rates of false positive classifications) in differentiating overreporters from genuine patients, with sensitivity being somewhat weaker. (PsycINFO Database Record (c) 2018 APA, all rights reserved).
Proportional–Integral–Derivative (PID Controller Tuning using Particle Swarm Optimization Algorithm
Directory of Open Access Journals (Sweden)
J. S. Bassi
2012-08-01
Full Text Available The proportional-integral-derivative (PID controllers are the most popular controllers used in industry because of their remarkable effectiveness, simplicity of implementation and broad applicability. However, manual tuning of these controllers is time consuming, tedious and generally lead to poor performance. This tuning which is application specific also deteriorates with time as a result of plant parameter changes. This paper presents an artificial intelligence (AI method of particle swarm optimization (PSO algorithm for tuning the optimal proportional-integral derivative (PID controller parameters for industrial processes. This approach has superior features, including easy implementation, stable convergence characteristic and good computational efficiency over the conventional methods. Ziegler- Nichols, tuning method was applied in the PID tuning and results were compared with the PSO-Based PID for optimum control. Simulation results are presented to show that the PSO-Based optimized PID controller is capable of providing an improved closed-loop performance over the Ziegler- Nichols tuned PID controller Parameters. Compared to the heuristic PID tuning method of Ziegler-Nichols, the proposed method was more efficient in improving the step response characteristics such as, reducing the steady-states error; rise time, settling time and maximum overshoot in speed control of DC motor.
Interval type-2 fuzzy PID controller for uncertain nonlinear inverted pendulum system.
El-Bardini, Mohammad; El-Nagar, Ahmad M
2014-05-01
In this paper, the interval type-2 fuzzy proportional-integral-derivative controller (IT2F-PID) is proposed for controlling an inverted pendulum on a cart system with an uncertain model. The proposed controller is designed using a new method of type-reduction that we have proposed, which is called the simplified type-reduction method. The proposed IT2F-PID controller is able to handle the effect of structure uncertainties due to the structure of the interval type-2 fuzzy logic system (IT2-FLS). The results of the proposed IT2F-PID controller using a new method of type-reduction are compared with the other proposed IT2F-PID controller using the uncertainty bound method and the type-1 fuzzy PID controller (T1F-PID). The simulation and practical results show that the performance of the proposed controller is significantly improved compared with the T1F-PID controller. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Multi-Objective PID-Controller Tuning for a Magnetic Levitation System using NSGA-II
DEFF Research Database (Denmark)
Pedersen, Gerulf K. M.; Yang, Zhenyu
2006-01-01
This paper investigates the issue of PID-controller parameter tuning for a magnetic levitation system using the non-dominated sorting genetic algorithm (NSGA-II). The magnetic levitation system is inherently unstable and the PID-controller parameters are hard to find using conventional methods....... Based on four different performance measures, derived from the step response of the levitation system, the algorithm is used to find a set of non-dominated parameters for a PID-controller that can stabilize the system and minimize the performance measures....
PID and predictive control of electrical drives and power converters using MATLAB/Simulink
Wang, Liuping; Yoo, Dae; Gan, Lu; Ng, Ki
2015-01-01
A timely introduction to current research on PID and predictive control by one of the leading authors on the subject PID and Predictive Control of Electric Drives and Power Supplies using MATLAB/Simulink examines the classical control system strategies, such as PID control, feed-forward control and cascade control, which are widely used in current practice. The authors share their experiences in actual design and implementation of the control systems on laboratory test-beds, taking the reader from the fundamentals through to more sophisticated design and analysis. The book contains secti
Outdoor altitude stabilization of QuadRotor based on type-2 fuzzy and fuzzy PID
Wicaksono, H.; Yusuf, Y. G.; Kristanto, C.; Haryanto, L.
2017-11-01
This paper presents a design of altitude stabilization of QuadRotor based on type-2 fuzzy and fuzzy PID. This practical design is implemented outdoor. Barometric and sonar sensor were used in this experiment as an input for the controller YoHe. The throttle signal as a control input was provided by the controller to leveling QuadRotor in particular altitude and known well as altitude stabilization. The parameter of type-2 fuzzy and fuzzy PID was tuned in several heights to get the best control parameter for any height. Type-2 fuzzy produced better result than fuzzy PID but had a slow response in the beginning.
de Souza Granja Barros, Juliana; Rossi, Luiz Antonio; Sartor, Karina
2016-08-01
The use of smarter temperature control technologies in heating systems can optimize the use of electric power and performance of piglets. Two control technologies of a resistive heating system were assessed in a pig nursery: a PID (proportional, integral, and derivative) controller and a thermostat. The systems were evaluated regarding thermal environment, piglet performance, and use of electric power for 99 days. The heating system with PID controller improved the thermal environment conditions and was significantly (P PID-controlled heating system is more efficient in electricity use and provides better conditions for thermal comfort and animal performance than heating with thermostat.
PSO-RBF Neural Network PID Control Algorithm of Electric Gas Pressure Regulator
Directory of Open Access Journals (Sweden)
Yuanchang Zhong
2014-01-01
Full Text Available The current electric gas pressure regulator often adopts the conventional PID control algorithm to take drive control of the core part (micromotor of electric gas pressure regulator. In order to further improve tracking performance and to shorten response time, this paper presents an improved PID intelligent control algorithm which applies to the electric gas pressure regulator. The algorithm uses the improved RBF neural network based on PSO algorithm to make online adjustment on PID parameters. Theoretical analysis and simulation result show that the algorithm shortens the step response time and improves tracking performance.
Hou, Yi-You
2017-09-01
This article addresses an evolutionary programming (EP) algorithm technique-based and proportional-integral-derivative (PID) control methods are established to guarantee synchronization of the master and slave Rikitake chaotic systems. For PID synchronous control, the evolutionary programming (EP) algorithm is used to find the optimal PID controller parameters k p , k i , k d by integrated absolute error (IAE) method for the convergence conditions. In order to verify the system performance, the basic electronic components containing operational amplifiers (OPAs), resistors, and capacitors are used to implement the proposed chaotic Rikitake systems. Finally, the experimental results validate the proposed Rikitake chaotic synchronization approach. Copyright © 2017. Published by Elsevier Ltd.
Didactic System for the Experimental Study of Digital PID Control Structures
Directory of Open Access Journals (Sweden)
Stelian-Emilian OLTEAN
2016-12-01
Full Text Available The proportional integral derivative (PID controller has a known structure used in feedback control of industrial processes. One of the most common applications is the control of the DC motor. The paper presents a didactic system designed for educational purposes used for studying various conventional PID structures and the influence of the PID components in the control process of the DC motor’s speed. The system contains a low cost acquisition board based on PIC 16F628A microcontroller. The experimental results are shown graphically using a PC application made in Matlab environment.
Skopina, Maria; Protasov, Vladimir
2016-01-01
This book presents a systematic study of multivariate wavelet frames with matrix dilation, in particular, orthogonal and bi-orthogonal bases, which are a special case of frames. Further, it provides algorithmic methods for the construction of dual and tight wavelet frames with a desirable approximation order, namely compactly supported wavelet frames, which are commonly required by engineers. It particularly focuses on methods of constructing them. Wavelet bases and frames are actively used in numerous applications such as audio and graphic signal processing, compression and transmission of information. They are especially useful in image recovery from incomplete observed data due to the redundancy of frame systems. The construction of multivariate wavelet frames, especially bases, with desirable properties remains a challenging problem as although a general scheme of construction is well known, its practical implementation in the multidimensional setting is difficult. Another important feature of wavelet is ...
Multivariate calculus and geometry
Dineen, Seán
2014-01-01
Multivariate calculus can be understood best by combining geometric insight, intuitive arguments, detailed explanations and mathematical reasoning. This textbook has successfully followed this programme. It additionally provides a solid description of the basic concepts, via familiar examples, which are then tested in technically demanding situations. In this new edition the introductory chapter and two of the chapters on the geometry of surfaces have been revised. Some exercises have been replaced and others provided with expanded solutions. Familiarity with partial derivatives and a course in linear algebra are essential prerequisites for readers of this book. Multivariate Calculus and Geometry is aimed primarily at higher level undergraduates in the mathematical sciences. The inclusion of many practical examples involving problems of several variables will appeal to mathematics, science and engineering students.
Intelligent multivariate process supervision
International Nuclear Information System (INIS)
Visuri, Pertti.
1986-01-01
This thesis addresses the difficulties encountered in managing large amounts of data in supervisory control of complex systems. Some previous alarm and disturbance analysis concepts are reviewed and a method for improving the supervision of complex systems is presented. The method, called multivariate supervision, is based on adding low level intelligence to the process control system. By using several measured variables linked together by means of deductive logic, the system can take into account the overall state of the supervised system. Thus, it can present to the operators fewer messages with higher information content than the conventional control systems which are based on independent processing of each variable. In addition, the multivariate method contains a special information presentation concept for improving the man-machine interface. (author)
Multivariate rational data fitting
Cuyt, Annie; Verdonk, Brigitte
1992-12-01
Sections 1 and 2 discuss the advantages of an object-oriented implementation combined with higher floating-point arithmetic, of the algorithms available for multivariate data fitting using rational functions. Section 1 will in particular explain what we mean by "higher arithmetic". Section 2 will concentrate on the concepts of "object orientation". In sections 3 and 4 we shall describe the generality of the data structure that can be dealt with: due to some new results virtually every data set is acceptable right now, with possible coalescence of coordinates or points. In order to solve the multivariate rational interpolation problem the data sets are fed to different algorithms depending on the structure of the interpolation points in then-variate space.
Transient multivariable sensor evaluation
Energy Technology Data Exchange (ETDEWEB)
Vilim, Richard B.; Heifetz, Alexander
2017-02-21
A method and system for performing transient multivariable sensor evaluation. The method and system includes a computer system for identifying a model form, providing training measurement data, generating a basis vector, monitoring system data from sensor, loading the system data in a non-transient memory, performing an estimation to provide desired data and comparing the system data to the desired data and outputting an alarm for a defective sensor.
Simulation research on multivariable fuzzy model predictive control of nuclear power plant
International Nuclear Information System (INIS)
Su Jie
2012-01-01
To improve the dynamic control capabilities of the nuclear power plant, the algorithm of the multivariable nonlinear predictive control based on the fuzzy model was applied in the main parameters control of the nuclear power plant, including control structure and the design of controller in the base of expounding the math model of the turbine and the once-through steam generator. The simulation results show that the respond of the change of the gas turbine speed and the steam pressure under the algorithm of multivariable fuzzy model predictive control is faster than that under the PID control algorithm, and the output value of the gas turbine speed and the steam pressure under the PID control algorithm is 3%-5% more than that under the algorithm of multi-variable fuzzy model predictive control. So it shows that the algorithm of multi-variable fuzzy model predictive control can control the output of the main parameters of the nuclear power plant well and get better control effect. (author)
Application of Genetic Algorithm for Tuning of a PID Controller for a Real Time Industrial Process
Directory of Open Access Journals (Sweden)
S. M. Giri RAJKUMAR
2010-10-01
Full Text Available PID (Proportional Integral Derivative controller has become inevitable in the process control industries due to its simplicity and effectiveness, but the real challenge lies in tuning them to meet the expectations. Although a host of methods already exist there is still a need for an advanced system for tuning these controllers. Computational intelligence (CI has caught the eye of the researchers due to its simplicity, low computational cost and good performance, makes it a possible choice for tuning of PID controllers, to increase their performance. This paper discusses in detail about Genetic Algorithm (GA, a CI technique, and its implementation in PID tuning for a real time industrial process which is closed loop in nature. Compared to other conventional PID tuning methods, the result shows that better performance can be achieved with the proposed method.
Yang, Xiaoping; Chen, Xueying; Xia, Riting; Qian, Zhihong
2018-04-19
Aiming at the problem of network congestion caused by the large number of data transmissions in wireless routing nodes of wireless sensor network (WSN), this paper puts forward an algorithm based on standard particle swarm⁻neural PID congestion control (PNPID). Firstly, PID control theory was applied to the queue management of wireless sensor nodes. Then, the self-learning and self-organizing ability of neurons was used to achieve online adjustment of weights to adjust the proportion, integral and differential parameters of the PID controller. Finally, the standard particle swarm optimization to neural PID (NPID) algorithm of initial values of proportion, integral and differential parameters and neuron learning rates were used for online optimization. This paper describes experiments and simulations which show that the PNPID algorithm effectively stabilized queue length near the expected value. At the same time, network performance, such as throughput and packet loss rate, was greatly improved, which alleviated network congestion and improved network QoS.
Effect of PID Power System Stabilizer for a Synchronous Machine in Simulink Environment
International Nuclear Information System (INIS)
Yi, Tan Qian; Kasilingam, Gowrishankar; Raguraman, Raman
2013-01-01
This paper presents the use of Proportional-Integral-Derivative (PID) Controller with power system stabilizer (PSS) in a single machine infinite bus system. A PSS is used to generate supplementary damping control signals for an excitation system in order to damp out low frequency oscillations (LFO) of an electric power system. The paper is modelled in the MATLAB Simulink Environment to analyze the performance of a synchronous machine under a wide range of operating conditions. The functional blocks of PID controller with PSS are generated and the simulation studies are conducted based on different test cases to observe the dynamic performance of the power system. Analysis in this paper reveals that the PID-PSS gives better dynamic performance as compared to that of conventional power system stabilizer and also the optimal gain settings of PID PSS obtained at normal operating condition works well to other operating condition without much deterioration of the dynamic responses.
Comparison of tuning methods for design of PID controller as an A VR
International Nuclear Information System (INIS)
Sheikh, S.A.; Ahmed, I.; Unar, M.A.
2009-01-01
The primary means of generator reactive power control is the generator-excitation Control, using Automatic Voltage Regulator (A VR). The role of A VR is to hold the terminal voltage magnitude of Synchronous generator at a specified level. This paper presents the design of a proportional integral-derivative (PID) controller as an A VR. The PID controller has been tuned by various tuning methods. From all methods, PID parameters are computed through various techniques i.e. Process-reaction curve, Closed-loop system, open-loop system gain margin and phase-margin specifications. From these methods, it has been found that Zhaung- Atherton method and Ho, Hang and Cao method are much superior to the conventional Ziegler-Nichols rules. The performance of the controller has been evaluated through Simulation Studies in MATLAB environment. It has been demonstrated that the PID controller, tuned with the said methods, yields highly satisfactory closed-loop performance. (author)
Research on Environmental Adjustment of Cloud Ranch Based on BP Neural Network PID Control
Ren, Jinzhi; Xiang, Wei; Zhao, Lin; Wu, Jianbo; Huang, Lianzhen; Tu, Qinggang; Zhao, Heming
2018-01-01
In order to make the intelligent ranch management mode replace the traditional artificial one gradually, this paper proposes a pasture environment control system based on cloud server, and puts forward the PID control algorithm based on BP neural network to control temperature and humidity better in the pasture environment. First, to model the temperature and humidity (controlled object) of the pasture, we can get the transfer function. Then the traditional PID control algorithm and the PID one based on BP neural network are applied to the transfer function. The obtained step tracking curves can be seen that the PID controller based on BP neural network has obvious superiority in adjusting time and error, etc. This algorithm, calculating reasonable control parameters of the temperature and humidity to control environment, can be better used in the cloud service platform.
PID Neural Network Based Speed Control of Asynchronous Motor Using Programmable Logic Controller
Directory of Open Access Journals (Sweden)
MARABA, V. A.
2011-11-01
Full Text Available This paper deals with the structure and characteristics of PID Neural Network controller for single input and single output systems. PID Neural Network is a new kind of controller that includes the advantages of artificial neural networks and classic PID controller. Functioning of this controller is based on the update of controller parameters according to the value extracted from system output pursuant to the rules of back propagation algorithm used in artificial neural networks. Parameters obtained from the application of PID Neural Network training algorithm on the speed model of the asynchronous motor exhibiting second order linear behavior were used in the real time speed control of the motor. Programmable logic controller (PLC was used as real time controller. The real time control results show that reference speed successfully maintained under various load conditions.
Wireless Intelligent Monitoring and Control System of Greenhouse Temperature Based on Fuzzy-PID
Directory of Open Access Journals (Sweden)
Mei ZHAN
2014-03-01
Full Text Available Control effect is not ideal for traditional control method and wired control system, since greenhouse temperature has such characteristics as nonlinear and longtime lag. Therefore, Fuzzy- PID control method was introduced and radio frequency chip CC1110 was applied to design greenhouse wireless intelligent monitoring and control system. The design of the system, the component of nodes and the developed intelligent management software system were explained in this paper. Then describe the design of the control algorithm Fuzzy-PID. By simulating the new method in Matlab software, the results showed that Fuzzy-PID method small overshoot and better dynamic performance compared with general PID control. It has shorter settling time and no steady-state error compared with fuzzy control. It can meet requirements in greenhouse production.
Tuning PID attitude stabilization of a quadrotor using particle swarm optimization (experimental
Directory of Open Access Journals (Sweden)
Khodja Mohammed Abdallah
2017-01-01
Full Text Available Proportional, Integral and Derivative (PID controllers are the most popular type of controller used in industrial applications because of their notable simplicity and effective implementation. However, manual tuning of these controllers is tedious and often leads to poor performance. The conventional Ziegler-Nichols (Z-N method of PID tuning was done experimentally enables easy identification stable PID parameters in a short time, but is accompanied by overshoot, high steady-state error, and large rise time. Therefore, in this study, the modern heuristics approach of Particle Swarm Optimization (PSO was employed to enhance the capabilities of the conventional Z-N technique. PSO with the constriction coefficient method experimentally demonstrated the ability to efficiently and effectively identify optimal PID controller parameters for attitude stabilization of a quadrotor.
Effects of a PID Control System on Electromagnetic Fields in an nEDM Experiment
Molina, Daniel
2017-09-01
The Kellogg Radiation Laboratory is currently testing a prototype for an experiment that hopes to identify the electric dipole moment of the neutron. As part of this testing, we have developed a PID (proportional, integral, derivative) feedback system that uses large coils to fix the value of local external magnetic fields, up to linear gradients. PID algorithms compare the current value to a set-point and use the integral and derivative of the field with respect to the set-point to maintain constant fields. We have also developed a method for zeroing linear gradients within the experimental apparatus. In order to determine the performance of the PID algorithm, measurements of both the internal and external fields were obtained with and without the algorithm running, and these results were compared for noise and time stability. We have seen that the PID algorithm can reduce the effect of disturbance to the field by a factor of 10.
Fractional order PID controller for improvement of PMSM speed control in aerospace applications
Energy Technology Data Exchange (ETDEWEB)
Saraji, Ali Motalebi [Young Researchers and Elite Club, AliAbad Katoul Branch, Islamic Azad University, AliAbad Katoul (Iran, Islamic Republic of); Ghanbari, Mahmood [Department of Electrical Engineering, AliAbad Katoul Branch, Islamic Azad University, AliAbad Katoul (Iran, Islamic Republic of)
2014-12-10
Because of the benefits reduced size, cost and maintenance, noise, CO2 emissions and increased control flexibility and precision, to meet these expectations, electrical equipment increasingly utilize in modern aircraft systems and aerospace industry rather than conventional mechanic, hydraulic, and pneumatic power systems. Electric motor drives are capable of converting electrical power to drive actuators, pumps, compressors, and other subsystems at variable speeds. In the past decades, permanent magnet synchronous motor (PMSM) and brushless dc (BLDC) motor were investigated for aerospace applications such as aircraft actuators. In this paper, the fractional-order PID controller is used in the design of speed loop of PMSM speed control system. Having more parameters for tuning fractional order PID controller lead to good performance ratio to integer order. This good performance is shown by comparison fractional order PID controller with the conventional PI and tuned PID controller by Genetic algorithm in MATLAB soft wear.
Research on reactor power controller based on artificial immune P and PID cascade control technology
International Nuclear Information System (INIS)
Cheng Shouyu; Peng Minjun; Liu Xinkai
2014-01-01
The Reactor Power control system usually adopts the traditional PID controller, the traditional PID controller can meet the operating requirements, but the control effect is not very good. In order to improve this condition, the paper proposes an immune P and PID cascade controller which based the immune mechanism of B-cell co-operating with T-cell, the nuclear power controller based on artificial immune is less reported. In order to verify and validate the control strategy, the designed controller debugs with the full-scope real-time simulation system of nuclear power plants. The simulation results shows that the immune controller can effectively improve the dynamic operating characteristics of the reactor system, and the immune controller is superior to the traditional PID controller in control performance. (authors)
Effects of a GPC-PID control strategy with hierarchical structure for a cooling coil unit
International Nuclear Information System (INIS)
Xu Min; Li Shaoyuan; Cai Wenjian; Lu Lu
2006-01-01
This paper presents a GPC-PID control strategy for a cooling-coil unit in heating, ventilation and air conditioning systems. By analysis of the cooling towers and chillers, different models in the occupied period are considered in each operating condition. Because of the complication of components, well tuned PID controllers are unsatisfied, and the results are poor over a wide range of operation conditions. To solve this problem, a GPC-PID controller with hierarchical structure is proposed based on minimizing the generalized predictive control criterion to tune conventional PID controller parameters. Simulation and experiments show that the proposed controller is able to deal with a wide range of operating conditions and to achieve better performance than conventional methods
Fractional order PID controller for improvement of PMSM speed control in aerospace applications
International Nuclear Information System (INIS)
Saraji, Ali Motalebi; Ghanbari, Mahmood
2014-01-01
Because of the benefits reduced size, cost and maintenance, noise, CO2 emissions and increased control flexibility and precision, to meet these expectations, electrical equipment increasingly utilize in modern aircraft systems and aerospace industry rather than conventional mechanic, hydraulic, and pneumatic power systems. Electric motor drives are capable of converting electrical power to drive actuators, pumps, compressors, and other subsystems at variable speeds. In the past decades, permanent magnet synchronous motor (PMSM) and brushless dc (BLDC) motor were investigated for aerospace applications such as aircraft actuators. In this paper, the fractional-order PID controller is used in the design of speed loop of PMSM speed control system. Having more parameters for tuning fractional order PID controller lead to good performance ratio to integer order. This good performance is shown by comparison fractional order PID controller with the conventional PI and tuned PID controller by Genetic algorithm in MATLAB soft wear
Introduction to multivariate discrimination
Kégl, Balázs
2013-07-01
Multivariate discrimination or classification is one of the best-studied problem in machine learning, with a plethora of well-tested and well-performing algorithms. There are also several good general textbooks [1-9] on the subject written to an average engineering, computer science, or statistics graduate student; most of them are also accessible for an average physics student with some background on computer science and statistics. Hence, instead of writing a generic introduction, we concentrate here on relating the subject to a practitioner experimental physicist. After a short introduction on the basic setup (Section 1) we delve into the practical issues of complexity regularization, model selection, and hyperparameter optimization (Section 2), since it is this step that makes high-complexity non-parametric fitting so different from low-dimensional parametric fitting. To emphasize that this issue is not restricted to classification, we illustrate the concept on a low-dimensional but non-parametric regression example (Section 2.1). Section 3 describes the common algorithmic-statistical formal framework that unifies the main families of multivariate classification algorithms. We explain here the large-margin principle that partly explains why these algorithms work. Section 4 is devoted to the description of the three main (families of) classification algorithms, neural networks, the support vector machine, and AdaBoost. We do not go into the algorithmic details; the goal is to give an overview on the form of the functions these methods learn and on the objective functions they optimize. Besides their technical description, we also make an attempt to put these algorithm into a socio-historical context. We then briefly describe some rather heterogeneous applications to illustrate the pattern recognition pipeline and to show how widespread the use of these methods is (Section 5). We conclude the chapter with three essentially open research problems that are either
Introduction to multivariate discrimination
International Nuclear Information System (INIS)
Kegl, B.
2013-01-01
Multivariate discrimination or classification is one of the best-studied problem in machine learning, with a plethora of well-tested and well-performing algorithms. There are also several good general textbooks [1-9] on the subject written to an average engineering, computer science, or statistics graduate student; most of them are also accessible for an average physics student with some background on computer science and statistics. Hence, instead of writing a generic introduction, we concentrate here on relating the subject to a practitioner experimental physicist. After a short introduction on the basic setup (Section 1) we delve into the practical issues of complexity regularization, model selection, and hyper-parameter optimization (Section 2), since it is this step that makes high-complexity non-parametric fitting so different from low-dimensional parametric fitting. To emphasize that this issue is not restricted to classification, we illustrate the concept on a low-dimensional but non-parametric regression example (Section 2.1). Section 3 describes the common algorithmic-statistical formal framework that unifies the main families of multivariate classification algorithms. We explain here the large-margin principle that partly explains why these algorithms work. Section 4 is devoted to the description of the three main (families of) classification algorithms, neural networks, the support vector machine, and AdaBoost. We do not go into the algorithmic details; the goal is to give an overview on the form of the functions these methods learn and on the objective functions they optimize. Besides their technical description, we also make an attempt to put these algorithm into a socio-historical context. We then briefly describe some rather heterogeneous applications to illustrate the pattern recognition pipeline and to show how widespread the use of these methods is (Section 5). We conclude the chapter with three essentially open research problems that are either
Sanjay Kr. Singh; D. Boolchandani; S.G. Modani; Nitish Katal
2014-01-01
This study focuses on multi-objective optimization of the PID controllers for optimal speed control for an isolated steam turbine. In complex operations, optimal tuning plays an imperative role in maintaining the product quality and process safety. This study focuses on the comparison of the optimal PID tuning using Multi-objective Genetic Algorithm (NSGA-II) against normal genetic algorithm and Ziegler Nichols methods for the speed control of an isolated steam turbine. Isolated steam turbine...
Distribution épidémiologique de l'infection à VIH chez les femmes ...
African Journals Online (AJOL)
Introduction: le Cameroun se situe dans un contexte d'épidémie généralisée du VIH. La sous-population des femmes enceintes, facilement accessible au sein de la population générale, représente une cible robante pour mener la surveillance du VIH et estimer l'évolution épidémiologique. L'objectif de notre étude était ...
Caractéristiques épidémiologiques, cliniques, histo-pathologiques ...
African Journals Online (AJOL)
N. Harir
Objectifs : Notre étude avait pour objectif d'effectuer une étude épidémiologique rétrospective afin de déterminer les caractéristiques .... nous nous sommes fixé comme objectif d'étudier les différents aspects épidémiologiques, .... A l'issue de notre recrutement, nous avons obtenu 115 patients atteints d'un cancer du rein sur ...
Utis Sutisna; Wahyu Diputra Siregar; Siswanto Nurhadiyono
2017-01-01
Dalam penelitian ini dirancang sistem kendali hybrid logika fuzzy-PID untuk mengendalikan navigasi pada robot wall follower. Sistem logika fuzzy dirancang untuk mengatur nilai-nilai parameter kendali PID berdasarkan dua masukan, yaitu error dan perubahan error.Nilai error didapat dari selisih antara set point jarak yang ditetapkan dengan nilai pembacaan sensor jarak, sedangkan nilai perubahan error didapat dari selisih antara error sekarang dengan error sebelumnya saat robot bernavigasi. Kelu...
Adaptive fuzzy PID control of hydraulic servo control system for large axial flow compressor
Wang, Yannian; Wu, Peizhi; Liu, Chengtao
2017-09-01
To improve the stability of the large axial compressor, an efficient and special intelligent hydraulic servo control system is designed and implemented. The adaptive fuzzy PID control algorithm is used to control the position of the hydraulic servo cylinder steadily, which overcomes the drawback that the PID parameters should be adjusted based on the different applications. The simulation and the test results show that the system has a better dynamic property and a stable state performance.
Improved Artificial Fish Algorithm for Parameters Optimization of PID Neural Network
Jing Wang; Yourui Huang
2013-01-01
In order to solve problems such as initial weights are difficult to be determined, training results are easy to trap in local minima in optimization process of PID neural network parameters by traditional BP algorithm, this paper proposed a new method based on improved artificial fish algorithm for parameters optimization of PID neural network. This improved artificial fish algorithm uses a composite adaptive artificial fish algorithm based on optimal artificial fish and nearest artificial fi...
Control Multivariable Centralizado con Desacoplo para Aerogeneradores de Velocidad Variable
Directory of Open Access Journals (Sweden)
Miguel E. González
2010-10-01
Full Text Available Resumen: El diseño de sistemas de control para aerogeneradores de velocidad variable representa un reto importante ya que se trata de procesos multivariables no lineales, con fuertes perturbaciones, diversas restricciones y gran interacción entre sus variables. Bajo este escenario se debe generar eficientemente la potencia eléctrica y al mismo tiempo regular la velocidad de giro de la turbina. En este trabajo se proponen varios esquemas de control multivariable, con el objetivo de mejorar el rendimiento de los aerogeneradores atenuando los efectos de la interacción entre sus variables. La solución propuesta se basa en controladores PID con diseños del tipo descentralizado, centralizado con diversas redes de desacoplo y un esquema con cuatro PI. El comportamiento del aerogenerador se describe mediante un modelo matemático no lineal, que se linealiza para obtener una matriz de funciones de transferencia, a partir de la cual se diseñan los controladores. Finalmente se realiza un análisis comparativo para determinar qué controlador presenta mejores resultados, aplicando perturbaciones con un modelo de la velocidad del viento y cambios aleatorios de la carga eléctrica. Palabras Clave: Aerogenerador, Control Multivariable, Modelado e Interacción
Dominant pole placement with fractional order PID controllers: D-decomposition approach.
Mandić, Petar D; Šekara, Tomislav B; Lazarević, Mihailo P; Bošković, Marko
2017-03-01
Dominant pole placement is a useful technique designed to deal with the problem of controlling a high order or time-delay systems with low order controller such as the PID controller. This paper tries to solve this problem by using D-decomposition method. Straightforward analytic procedure makes this method extremely powerful and easy to apply. This technique is applicable to a wide range of transfer functions: with or without time-delay, rational and non-rational ones, and those describing distributed parameter systems. In order to control as many different processes as possible, a fractional order PID controller is introduced, as a generalization of classical PID controller. As a consequence, it provides additional parameters for better adjusting system performances. The design method presented in this paper tunes the parameters of PID and fractional PID controller in order to obtain good load disturbance response with a constraint on the maximum sensitivity and sensitivity to noise measurement. Good set point response is also one of the design goals of this technique. Numerous examples taken from the process industry are given, and D-decomposition approach is compared with other PID optimization methods to show its effectiveness. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Performance-based parameter tuning method of model-driven PID control systems.
Zhao, Y M; Xie, W F; Tu, X W
2012-05-01
In this paper, performance-based parameter tuning method of model-driven Two-Degree-of-Freedom PID (MD TDOF PID) control system has been proposed to enhance the control performances of a process. Known for its ability of stabilizing the unstable processes, fast tracking to the change of set points and rejecting disturbance, the MD TDOF PID has gained research interest recently. The tuning methods for the reported MD TDOF PID are based on internal model control (IMC) method instead of optimizing the performance indices. In this paper, an Integral of Time Absolute Error (ITAE) zero-position-error optimal tuning and noise effect minimizing method is proposed for tuning two parameters in MD TDOF PID control system to achieve the desired regulating and disturbance rejection performance. The comparison with Two-Degree-of-Freedom control scheme by modified smith predictor (TDOF CS MSP) and the designed MD TDOF PID tuned by the IMC tuning method demonstrates the effectiveness of the proposed tuning method. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.
The Design of Optimal PID Control Method for Quadcopter Movement Control
Directory of Open Access Journals (Sweden)
Hanum Arrosida
2018-02-01
Full Text Available Nowadays, quadcopter motion control has become a popular research topic because of its versatile ability as an unmanned aircraft can be used to alleviate human labor and also be able to reach dangerous areas or areas which is unreachable to humans. On the other hand, the Optimal PID control method, which incorporates PID and Linear Quadratic Regulator (LQR control methods, has also been widely used in industry and research field because it has advantages that are easy to operate, easy design, and a good level of precision. In the PID control method, the main problem to be solved is the accuracy of the gain value Kp, Ki, and Kd because the inappropriateness of those value will result in an imprecise control action. Based on these problems and referring to the previous study, the optimal PID control method was developed by using PID controller structure with tuning gain parameter of PID through Linear Quadratic Regulator (LQR method. Through the integration of these two control methods, the optimum solutions can be obtained: easier controller design process for quadcopter control when crossing the determined trajectories, steady state error values less than 5% and a stable quadcopter movement with roll and pitch angle stabilization at position 0 radians with minimum energy function.
Longitudinal control of aircraft dynamics based on optimization of PID parameters
Deepa, S. N.; Sudha, G.
2016-03-01
Recent years many flight control systems and industries are employing PID controllers to improve the dynamic behavior of the characteristics. In this paper, PID controller is developed to improve the stability and performance of general aviation aircraft system. Designing the optimum PID controller parameters for a pitch control aircraft is important in expanding the flight safety envelope. Mathematical model is developed to describe the longitudinal pitch control of an aircraft. The PID controller is designed based on the dynamic modeling of an aircraft system. Different tuning methods namely Zeigler-Nichols method (ZN), Modified Zeigler-Nichols method, Tyreus-Luyben tuning, Astrom-Hagglund tuning methods are employed. The time domain specifications of different tuning methods are compared to obtain the optimum parameters value. The results prove that PID controller tuned by Zeigler-Nichols for aircraft pitch control dynamics is better in stability and performance in all conditions. Future research work of obtaining optimum PID controller parameters using artificial intelligence techniques should be carried out.
Design of a self-adaptive fuzzy PID controller for piezoelectric ceramics micro-displacement system
Zhang, Shuang; Zhong, Yuning; Xu, Zhongbao
2008-12-01
In order to improve control precision of the piezoelectric ceramics (PZT) micro-displacement system, a self-adaptive fuzzy Proportional Integration Differential (PID) controller is designed based on the traditional digital PID controller combining with fuzzy control. The arithmetic gives a fuzzy control rule table with the fuzzy control rule and fuzzy reasoning, through this table, the PID parameters can be adjusted online in real time control. Furthermore, the automatic selective control is achieved according to the change of the error. The controller combines the good dynamic capability of the fuzzy control and the high stable precision of the PID control, adopts the method of using fuzzy control and PID control in different segments of time. In the initial and middle stage of the transition process of system, that is, when the error is larger than the value, fuzzy control is used to adjust control variable. It makes full use of the fast response of the fuzzy control. And when the error is smaller than the value, the system is about to be in the steady state, PID control is adopted to eliminate static error. The problems of PZT existing in the field of precise positioning are overcome. The results of the experiments prove that the project is correct and practicable.
Directory of Open Access Journals (Sweden)
Barlian Henryranu P.
2014-07-01
Full Text Available Abstrak Dengan menggabungkan Sistem Kontrol, sensor dan motor Servo diharapkan Robot segway dapat direalisasikan. Dalam penelitian ini Sistem Kontrol yang digunakan adalah metode PID, sedangkan sensor yang akan digunakan adalah cahaya yang merepresentasikan sudut kemiringan terhadap bumi. Dengan input berupa Error sudut dan Del Error sudut terhadap bumi maka didapatkan hasil PID kontroller berupa angular rate yang digunakan untuk mengontrol kedua rodanya. Robot Segway memiliki rise time/fall time, settling time dan Robot Segway mampu mencapai kesetimbangannya kembali (steady state setelah mendapatkan gangguan dari luar. Kata kunci: Robot kesetimbangan, sensor cahaya, PID kontroler Abstract By combining the Control System, sensors and Servos motors are expected to Segway can be realized. In this research use the PID method, while the sensor to be used is the light that represents the elevation angle of the earth. With the input is angel Error and angel Del Error of the earth then the results obtained in the form of angular rate PID Controller is used to Control the two wheels. Segway Robot has a rise time / fall time, settling time and Segway Robot can reach the balance again (steady state after get a outside disturbance. Keywords: Self-balancing robot, light sensor, PID Controller
A survey on the autotuning of PID parameter
International Nuclear Information System (INIS)
Lee, Yoon Hee; Ha, Jae Hong; Sin, Hae Kon; Kim, Dong Wan; Nam, Sang Ku
1996-06-01
A significant advance in science and technology during the last few decades has resulted in the evolution and use of automatic control equipment in various areas of industry. The automatic control equipment monitor various parameters associated with the process and make decisions accordingly. In the area of process control, extensive research has been carried out for PID parameter auto-tunig techniques since the middle of 1980's. This paper covers two auto-tuning techniques namely system transient response performance and experimental method to analyze dynamic characteristics of process systems. In this paper auto-tunig technology used in commercial models is analyzed in detail. It is reported by industry that by optimum application of the auto-tuning controller, the operator load is significantly reduced while the reliability of process control is greatly enhanced. It is recommended that the application of auto-tuning controller should be evaluated for automatic process control in nuclear plant. 4 tabs., 12 figs., 21 refs. (Author)
Aerogel RICH for the Belle II forward PID
Energy Technology Data Exchange (ETDEWEB)
Nishida, S., E-mail: shohei.nishida@kek.jp [High Energy Accelerator Research Organization (KEK), Tsukuba (Japan); Adachi, I. [High Energy Accelerator Research Organization (KEK), Tsukuba (Japan); Hamada, N. [Toho University, Funabashi (Japan); Hara, K. [High Energy Accelerator Research Organization (KEK), Tsukuba (Japan); Iijima, T. [Nagoya University, Nagoya (Japan); Iwata, S.; Kakuno, H. [Tokyo Metropolitan University, Hachioji (Japan); Kawai, H. [Chiba University, Chiba (Japan); Korpar, S.; Krizan, P. [Jozef Stefan Institute, Ljubljana (Slovenia); Ogawa, S. [Toho University, Funabashi (Japan); Pestotnik, R.; Ŝantelj, L.; Seljak, A. [Jozef Stefan Institute, Ljubljana (Slovenia); Sumiyoshi, T. [Tokyo Metropolitan University, Hachioji (Japan); Tabata, M. [Japan Aerospace Exploration Agency (JAXA), Sagamihara (Japan); Tahirovic, E. [Jozef Stefan Institute, Ljubljana (Slovenia); Yoshida, K. [Tokyo Metropolitan University, Hachioji (Japan); Yusa, Y. [Niigata University, Niigata (Japan)
2014-12-01
The Belle II spectrometer, a follow up of the very successful Belle experiment, is under construction at the SuperKEKB electron–positron collider at KEK in Japan. For the PID system in the forward region of the spectrometer, a proximity focusing ring-imaging Cherenkov (RICH) counter with an aerogel radiator is being developed. The counter will provide a 4σ separation of pions and kaons up to momenta of 4 GeV/c. For the position sensitive photon sensor, a 144-channel Hybrid Avalanche Photo-Detector (HAPD) has been developed with Hamamatsu Photonics K.K. The readout electronics is based on the custom developed ASIC. The design of the components is currently being finalized and part of their mass production have already started. Herein, we report the final design of the counter and a prototype test conducted with test beams at DESY. - Highlights: • We are constructing a RICH counter with aerogel radiator for Belle II. • Beam test for the prototype Aerogel RICH shows its good performance. • The effect of the neutron irradiation of the photodetector is examined.
Multivariate Term Structure Models with Level and Heteroskedasticity Effects
DEFF Research Database (Denmark)
Christiansen, Charlotte
2005-01-01
The paper introduces and estimates a multivariate level-GARCH model for the long rate and the term-structure spread where the conditional volatility is proportional to the ãth power of the variable itself (level effects) and the conditional covariance matrix evolves according to a multivariate GA...... and the level model. GARCH effects are more important than level effects. The results are robust to the maturity of the interest rates. Udgivelsesdato: MAY...
Multivariable calculus with applications
Lax, Peter D
2017-01-01
This text in multivariable calculus fosters comprehension through meaningful explanations. Written with students in mathematics, the physical sciences, and engineering in mind, it extends concepts from single variable calculus such as derivative, integral, and important theorems to partial derivatives, multiple integrals, Stokes’ and divergence theorems. Students with a background in single variable calculus are guided through a variety of problem solving techniques and practice problems. Examples from the physical sciences are utilized to highlight the essential relationship between calculus and modern science. The symbiotic relationship between science and mathematics is shown by deriving and discussing several conservation laws, and vector calculus is utilized to describe a number of physical theories via partial differential equations. Students will learn that mathematics is the language that enables scientific ideas to be precisely formulated and that science is a source for the development of mathemat...
Multivariate Statistical Process Control
DEFF Research Database (Denmark)
Kulahci, Murat
2013-01-01
As sensor and computer technology continues to improve, it becomes a normal occurrence that we confront with high dimensional data sets. As in many areas of industrial statistics, this brings forth various challenges in statistical process control (SPC) and monitoring for which the aim...... is to identify “out-of-control” state of a process using control charts in order to reduce the excessive variation caused by so-called assignable causes. In practice, the most common method of monitoring multivariate data is through a statistic akin to the Hotelling’s T2. For high dimensional data with excessive...... amount of cross correlation, practitioners are often recommended to use latent structures methods such as Principal Component Analysis to summarize the data in only a few linear combinations of the original variables that capture most of the variation in the data. Applications of these control charts...
Hu, Wuhua; Xiao, Gaoxi; Li, Xiumin
2011-04-01
In this paper, an analytical method is proposed for proportional-integral/proportional-derivative/proportional-integral-derivative (PI/PD/PID) controller tuning with specified gain and phase margins (GPMs) for integral plus time delay (IPTD) processes. Explicit formulas are also obtained for estimating the GPMs resulting from given PI/PD/PID controllers. The proposed method indicates a general form of the PID parameters and unifies a large number of existing rules as PI/PD/PID controller tuning with various GPM specifications. The GPMs realized by existing PID tuning rules are computed and documented as a reference for control engineers to tune the PID controllers. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.
Zhang, Jianming
2017-03-01
An improved proportional-integral-derivative (PID) controller based on predictive functional control (PFC) is proposed and tested on the chamber pressure in an industrial coke furnace. The proposed design is motivated by the fact that PID controllers for industrial processes with time delay may not achieve the desired control performance because of the unavoidable model/plant mismatches, while model predictive control (MPC) is suitable for such situations. In this paper, PID control and PFC algorithm are combined to form a new PID controller that has the basic characteristic of PFC algorithm and at the same time, the simple structure of traditional PID controller. The proposed controller was tested in terms of set-point tracking and disturbance rejection, where the obtained results showed that the proposed controller had the better ensemble performance compared with traditional PID controllers. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Multivariable adaptive control of bio process
Energy Technology Data Exchange (ETDEWEB)
Maher, M.; Bahhou, B.; Roux, G. [Centre National de la Recherche Scientifique (CNRS), 31 - Toulouse (France); Maher, M. [Faculte des Sciences, Rabat (Morocco). Lab. de Physique
1995-12-31
This paper presents a multivariable adaptive control of a continuous-flow fermentation process for the alcohol production. The linear quadratic control strategy is used for the regulation of substrate and ethanol concentrations in the bioreactor. The control inputs are the dilution rate and the influent substrate concentration. A robust identification algorithm is used for the on-line estimation of linear MIMO model`s parameters. Experimental results of a pilot-plant fermenter application are reported and show the control performances. (authors) 8 refs.
Parametric synthesis of a robust controller on a base of mathematical programming method
Khozhaev, I. V.; Gayvoronskiy, S. A.; Ezangina, T. A.
2018-05-01
Considered paper is dedicated to deriving sufficient conditions, linking root indices of robust control quality with coefficients of interval characteristic polynomial, on the base of mathematical programming method. On the base of these conditions, a method of PI- and PID-controllers, providing aperiodic transient process with acceptable stability degree and, subsequently, acceptable setting time, synthesis was developed. The method was applied to a problem of synthesizing a controller for a depth control system of an unmanned underwater vehicle.
International Nuclear Information System (INIS)
Jahedi, G.; Ardehali, M.M.
2011-01-01
The simplicity in coding the heuristic judgment of experienced operator by means of fuzzy logic can be exploited for enhancement of energy efficiency. Fuzzy logic has been used as an effective tool for scheduling conventional PID controllers gain coefficients (F-PID). However, to search for the most desirable fuzzy system characteristics that allow for best performance of the energy system with minimum energy input, optimization techniques such as genetic algorithm (GA) could be utilized and the control methodology is identified as GA-based F-PID (GA-F-PID). The objective of this study is to examine the performance of PID, F-PID, and GA-F-PID controllers for enhancement of energy efficiency of a dynamic energy system. The performance evaluation of the controllers is accomplished by means of two cost functions that are based on the quadratic forms of the energy input and deviation from a setpoint temperature, referred to as energy and comfort costs, respectively. The GA-F-PID controller is examined in two different forms, namely, global form and local form. For the global form, all possible combinations of fuzzy system characteristics in the search domain are explored by GA for finding the fittest chromosome for all discrete time intervals during the entire operation period. For the local form, however, GA is used in each discrete time interval to find the fittest chromosome for implementation. The results show that the global form GA-F-PID and local form GA-F-PID control methodologies, in comparison with PID controller, achieve higher energy efficiency by lowering energy costs by 51.2%, and 67.8%, respectively. Similarly, the comfort costs for deviation from setpoint are enhanced by 54.4%, and 62.4%, respectively. It is determined that GA-F-PID performs better in local from than global form.
Khulood A. Dagher; Ahmed S. Al-Araji
2013-01-01
A particle swarm optimization algorithm and neural network like self-tuning PID controller for CSTR system is presented. The scheme of the discrete-time PID control structure is based on neural network and tuned the parameters of the PID controller by using a particle swarm optimization PSO technique as a simple and fast training algorithm. The proposed method has advantage that it is not necessary to use a combined structure of identification and decision because it used PSO. Simulation resu...
Robotic excavator trajectory control using an improved GA based PID controller
Feng, Hao; Yin, Chen-Bo; Weng, Wen-wen; Ma, Wei; Zhou, Jun-jing; Jia, Wen-hua; Zhang, Zi-li
2018-05-01
In order to achieve excellent trajectory tracking performances, an improved genetic algorithm (IGA) is presented to search for the optimal proportional-integral-derivative (PID) controller parameters for the robotic excavator. Firstly, the mathematical model of kinematic and electro-hydraulic proportional control system of the excavator are analyzed based on the mechanism modeling method. On this basis, the actual model of the electro-hydraulic proportional system are established by the identification experiment. Furthermore, the population, the fitness function, the crossover probability and mutation probability of the SGA are improved: the initial PID parameters are calculated by the Ziegler-Nichols (Z-N) tuning method and the initial population is generated near it; the fitness function is transformed to maintain the diversity of the population; the probability of crossover and mutation are adjusted automatically to avoid premature convergence. Moreover, a simulation study is carried out to evaluate the time response performance of the proposed controller, i.e., IGA based PID against the SGA and Z-N based PID controllers with a step signal. It was shown from the simulation study that the proposed controller provides the least rise time and settling time of 1.23 s and 1.81 s, respectively against the other tested controllers. Finally, two types of trajectories are designed to validate the performances of the control algorithms, and experiments are performed on the excavator trajectory control experimental platform. It was demonstrated from the experimental work that the proposed IGA based PID controller improves the trajectory accuracy of the horizontal line and slope line trajectories by 23.98% and 23.64%, respectively in comparison to the SGA tuned PID controller. The results further indicate that the proposed IGA tuning based PID controller is effective for improving the tracking accuracy, which may be employed in the trajectory control of an actual excavator.
Energy Technology Data Exchange (ETDEWEB)
Harvey, Steven P [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Moseley, John [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Norman, Andrew [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Hacke, Peter L [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Johnston, Steven [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Al-Jassim, Mowafak M [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Stokes, Adam [Colorado School of Mines; Gorman, Brian [Colorado School of Mines
2018-02-27
We investigated the potential-induced degradation (PID) shunting mechanism in multicrystalline-silicon photovoltaic modules by using a multiscale, multitechnique characterization approach. Both field-stressed modules and laboratory-stressed mini modules were studied. We used photoluminescence, electroluminescence, and dark lock-in thermography imaging to identify degraded areas at the module scale. Small samples were then removed from degraded areas, laser marked, and imaged by scanning electron microscopy. We used simultaneous electron-beam induced current imaging and focused ion beam milling to mark around PID shunts for chemical analysis by time-of-flight secondary-ion mass spectrometry or to isolate individual shunt defects for transmission electron microscopy and atom-probe tomography analysis. By spanning a range of 10 orders of magnitude in size, this approach enabled us to investigate the root-cause mechanisms for PID shunting. We observed a direct correlation between recombination active shunts and sodium content. The sodium content in shunted areas peaks at the SiNX/Si interface and is consistently observed at a concentration of 0.1% to 2% in shunted areas. Analysis of samples subjected to PID recovery, either activated by electron beam or thermal effects only, reveals that recovery of isolated shunts correlates with diffusion of sodium out of the structural defects to the silicon surface. We observed the role of oxygen and chlorine in PID shunting and found that those species - although sometimes present in structural defects where PID shunting was observed - do not play a consistent role in PID shunting.
Monitoring System and Temperature Controlling on PID Based Poultry Hatching Incubator
Shafiudin, S.; Kholis, N.
2018-04-01
Poultry hatching cultivation is essential to be observed in terms of temperature stability by using artificial penetration incubator which applies On/Off control. The On/Off control produces relatively long response time to reach steady-state conditions. Moreover, how the system works makes the component worn out because the lamp is on-off periodically. Besides, the cultivation in the market is less suitable to be used in an environment which has fluctuating temperature because it may influence plant’s temperature stability. The study aims to design automatic poultry hatching cultivation that can repair the temperature’s response of plant incubator to keep stable and in line with the intended set-point temperature value by using PID controller. The method used in PID controlling is designed to identify plant using ARX (Auto Regressive eXogenous) MATLAB which is dynamic/non-linear to obtain mathematical model and PID constants value that is appropriate to system. The hardware design for PID-based egg incubator uses Arduino Uno R3, as the main controller that includes PID source, and PWM, to keep plant temperature stability, which is integrated with incandescent light actuators and sensors where DHTI 1 sensor as the reader as temperature condition and plant humidity. The result of the study showed that PID constants value of each plant is different. For parallel 15 Watt plant, Kp = 3.9956, Ki = 0.361, Kd = 0, while for parallel 25 Watt plant, the value of Kp = 5.714, Ki = 0.351, Kd = 0. The PID constants value were capable to produce stable system response which is based on set-point with steady state error’s value is around 5%, that is 2.7%. With hatching percentage of 70-80%, the hatching process is successful in air-conditioned environment (changeable).
EFFECT OF PARTICLE SIZE AND PACKING RATIO OF PID ON VIBRATION AMPLITUDE OF BEAM
Directory of Open Access Journals (Sweden)
P.S. Kachare
2013-06-01
Full Text Available Everything in the universe that has mass possesses stiffness and intrinsic damping. Owing to the stiffness property, mass will vibrate when excited and its intrinsic damping property will act to stop the vibration. The particle impact damper (PID is a very interesting damper that affects impact and friction effects of particles by means of energy dissipation. PID is a means for achieving high structural damping by using a particle-filled enclosure attached to a structure. The particles absorb the kinetic energy of the structure and convert it into heat through inelastic collisions between the particles themselves and between the particles and the walls of the enclosure. In this work, PID is measured for a cantilever mild steel beam with an enclosure attached to its free end; copper particles are used in this study. The PID is found to be highly nonlinear. The most useful observation is that for a very small weight penalty (about 7% to 8 %, the maximum damped amplitude of vibration at resonance with a PID, is about 9 to 10 times smaller than that without a PID. It is for more than that of with only intrinsic material damping of a majority of structural metals. A satisfactory comparison of damping with and without particles through experimentation is observed. The effect of the size of the particles on the damping performance of the beam and the effective packing ratio can be identified. It is also shown that as the packing ratio changes, the contributions of the phenomena of impact and friction towards damping also change. It is encouraging that despite its deceptive simplicity, the model captures the essential physics of PID.
Pan, Indranil; Das, Saptarshi; Gupta, Amitava
2011-01-01
An optimal PID and an optimal fuzzy PID have been tuned by minimizing the Integral of Time multiplied Absolute Error (ITAE) and squared controller output for a networked control system (NCS). The tuning is attempted for a higher order and a time delay system using two stochastic algorithms viz. the Genetic Algorithm (GA) and two variants of Particle Swarm Optimization (PSO) and the closed loop performances are compared. The paper shows that random variation in network delay can be handled efficiently with fuzzy logic based PID controllers over conventional PID controllers. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.
Multivariate statistical methods a primer
Manly, Bryan FJ
2004-01-01
THE MATERIAL OF MULTIVARIATE ANALYSISExamples of Multivariate DataPreview of Multivariate MethodsThe Multivariate Normal DistributionComputer ProgramsGraphical MethodsChapter SummaryReferencesMATRIX ALGEBRAThe Need for Matrix AlgebraMatrices and VectorsOperations on MatricesMatrix InversionQuadratic FormsEigenvalues and EigenvectorsVectors of Means and Covariance MatricesFurther Reading Chapter SummaryReferencesDISPLAYING MULTIVARIATE DATAThe Problem of Displaying Many Variables in Two DimensionsPlotting index VariablesThe Draftsman's PlotThe Representation of Individual Data P:ointsProfiles o
Chen, Zhihuan; Yuan, Yanbin; Yuan, Xiaohui; Huang, Yuehua; Li, Xianshan; Li, Wenwu
2015-05-01
A hydraulic turbine regulating system (HTRS) is one of the most important components of hydropower plant, which plays a key role in maintaining safety, stability and economical operation of hydro-electrical installations. At present, the conventional PID controller is widely applied in the HTRS system for its practicability and robustness, and the primary problem with respect to this control law is how to optimally tune the parameters, i.e. the determination of PID controller gains for satisfactory performance. In this paper, a kind of multi-objective evolutionary algorithms, named adaptive grid particle swarm optimization (AGPSO) is applied to solve the PID gains tuning problem of the HTRS system. This newly AGPSO optimized method, which differs from a traditional one-single objective optimization method, is designed to take care of settling time and overshoot level simultaneously, in which a set of non-inferior alternatives solutions (i.e. Pareto solution) is generated. Furthermore, a fuzzy-based membership value assignment method is employed to choose the best compromise solution from the obtained Pareto set. An illustrative example associated with the best compromise solution for parameter tuning of the nonlinear HTRS system is introduced to verify the feasibility and the effectiveness of the proposed AGPSO-based optimization approach, as compared with two another prominent multi-objective algorithms, i.e. Non-dominated Sorting Genetic Algorithm II (NSGAII) and Strength Pareto Evolutionary Algorithm II (SPEAII), for the quality and diversity of obtained Pareto solutions set. Consequently, simulation results show that this AGPSO optimized approach outperforms than compared methods with higher efficiency and better quality no matter whether the HTRS system works under unload or load conditions. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Robust statistics and geochemical data analysis
International Nuclear Information System (INIS)
Di, Z.
1987-01-01
Advantages of robust procedures over ordinary least-squares procedures in geochemical data analysis is demonstrated using NURE data from the Hot Springs Quadrangle, South Dakota, USA. Robust principal components analysis with 5% multivariate trimming successfully guarded the analysis against perturbations by outliers and increased the number of interpretable factors. Regression with SINE estimates significantly increased the goodness-of-fit of the regression and improved the correspondence of delineated anomalies with known uranium prospects. Because of the ubiquitous existence of outliers in geochemical data, robust statistical procedures are suggested as routine procedures to replace ordinary least-squares procedures
Position Control of a Pneumatic Muscle Actuator Using RBF Neural Network Tuned PID Controller
Directory of Open Access Journals (Sweden)
Jie Zhao
2015-01-01
Full Text Available Pneumatic Muscle Actuator (PMA has a broad application prospect in soft robotics. However, PMA has highly nonlinear and hysteretic properties among force, displacement, and pressure, which lead to difficulty in accurate position control. A phenomenological model is developed to portray the hysteretic behavior of PMA. This phenomenological model consists of linear component and hysteretic component force. The latter component is described by Duhem model. An experimental apparatus is built up and sets of experimental data are acquired. Based on the experimental data, parameters of the model are identified. Validation of the model is performed. Then a novel cascade position PID controller is devised for a 1-DOF manipulator actuated by PMA. The outer loop of the controller is to cope with position control whilst the inner loop deals with pressure dynamics within PMA. To enhance the adaptability of the PID algorithm to the high nonlinearities of the manipulator, PID parameters are tuned online using RBF Neural Network. Experiments are performed and comparison between position response of RBF Neural Network based PID controller and that of classic PID controller demonstrates the effectiveness of the novel adaptive controller on the manipulator.
PID Control in the Third Millennium Lessons Learned and New Approaches
Visioli, Antonio
2012-01-01
The early 21st century has seen a renewed interest in research in the widely-adopted proportional-integral-derivative (PID) controllers. PID Control in the Third Millennium provides an overview of the advances made as a result. Featuring: · new approaches for controller tuning; · control structures and configurations for more efficient control; · practical issues in PID implementation; and · non-standard approaches to PID including fractional-order, event-based, nonlinear, data-driven and predictive control; the nearly twenty chapters provide a state-of-the-art resumé of PID controller theory, design and realization. Each chapter has specialist authorship and ideas clearly characterized from both academic and industrial viewpoints. Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series o...
Directory of Open Access Journals (Sweden)
Dimas Kunto Ariwibowo
2017-01-01
Full Text Available Pertahanan negara pada hakikatnya adalah segala upaya pertahanan yang bersifat semesta yang didasarkan pada kesadaran atas hak dan kewajiban warga negara serta keyakinan pada kekuatan sendiri dengan tujuan untuk menjaga dan melindungi kedaulatan negara, keutuhan wilayah NKRI dan keselamatan segenap bangsa. Salah satu alat pendukung pertahanan yaitu senjata laras panjang, Turret-Gun. Adapun langkah-langkah yang dilakukan dalam merancang pengendali PID Turret-Gun kaliber 20mm ini diawali dengan studi literatur serta studi lapangan mengenai mekanisme dan parameter-parameter yang terdapat pada Turret-Gun pada sumbu elevasi. Setelah itu dilakukan perancangan transmisi dan sistem kontrol Turret-Gun untuk dievaluasi grafik responnya yang akan digunakan sebagai acuan untuk merancang pengendali PID yang sesuai. Selanjutnya pengendali PID yang telah dirancang lalu disimulasikan, sehingga menghasilkan grafik respon yang sesuai dengan kriteria yang dibutuhkan. Hasil yang telah didapatkan dari penelitian ini adalah konstanta PID yang direkomendasikan untuk , , dan secara berturut-turut adalah sebesar 23061.024, 37820.07 dan 3515.4 yang menghasilkan transient response dengan nilai overshoot sebesar 19.9 % , steady state error sebesar 0 % serta settling time sebesar 0.935 detik. Hasil analisa kestabilan untuk sistem kontrol dengan konstanta PID tersebut menunjukkan bahwa sistem kontrol telah stabil, baik menggunakan metode Root Locus maupun metode Routh-Hurwitz.
Demonstration of the improved PID method for the accurate temperature control of ADRs
International Nuclear Information System (INIS)
Shinozaki, K.; Hoshino, A.; Ishisaki, Y.; Mihara, T.
2006-01-01
Microcalorimeters require extreme stability (-bar 10μK) of thermal bath at low temperature (∼100mK). We have developed a portable adiabatic demagnetization refrigerator (ADR) system for ground experiments with TES microcalorimeters, in which we observed residual temperature between aimed and measured values when magnet current was controlled with the standard Proportional, Integral, and Derivative control (PID) method. The difference increases in time as the magnet current decreases. This phenomenon can be explained by the theory of the magnetic cooling, and we have introduced a new functional parameter to improve the PID method. With this improvement, long-term stability of the ADR temperature about 10μK rms is obtained up to the period of ∼15ks down to almost zero magnet current. We briefly describe our ADR system and principle of the improved PID method, showing the temperature control result. It is demonstrated that the controlled time of the aimed temperature can be extended by about 30% longer than the standard PID method in our system. The improved PID method is considered to be of great advantage especially in the range of small magnet current
Experimental studies on active vibration control of a smart composite beam using a PID controller
International Nuclear Information System (INIS)
Jovanović, Miroslav M; Lukić, Nebojša S; Ilić, Slobodan S; Simonović, Aleksandar M; Zorić, Nemanja D; Stupar, Slobodan N
2013-01-01
This paper presents experimental verification of the active vibration control of a smart cantilever composite beam using a PID controller. In order to prevent negative occurrences in the derivative and integral terms in a PID controller, first-order low-pass filters are implemented in the derivative action and in the feedback of the integral action. The proposed application setup consists of a composite cantilever beam with a fiber-reinforced piezoelectric actuator and strain gage sensors. The beam is modeled using a finite element method based on third-order shear deformation theory. The experiment considers vibration control under periodic excitation and an initial static deflection. A control algorithm was implemented on a PIC32MX440F256H microcontroller. Experimental results corresponding to the proposed PID controller are compared with corresponding results using proportional (P) control, proportional–integral (PI) control and proportional–derivative (PD) control. Experimental results indicate that the proposed PID controller provides 8.93% more damping compared to a PD controller, 14.41% more damping compared to a PI controller and 19.04% more damping compared to a P controller in the case of vibration under periodic excitation. In the case of free vibration control, the proposed PID controller shows better performance (settling time 1.2 s) compared to the PD controller (settling time 1.5 s) and PI controller (settling time 2.5 s). (paper)
Robust Geometric Control of a Distillation Column
DEFF Research Database (Denmark)
Kymmel, Mogens; Andersen, Henrik Weisberg
1987-01-01
A frequency domain method, which makes it possible to adjust multivariable controllers with respect to both nominal performance and robustness, is presented. The basic idea in the approach is that the designer assigns objectives such as steady-state tracking, maximum resonance peaks, bandwidth, m...... is used to examine and improve geometric control of a binary distillation column....
Methods for robustness programming
Olieman, N.J.
2008-01-01
Robustness of an object is defined as the probability that an object will have properties as required. Robustness Programming (RP) is a mathematical approach for Robustness estimation and Robustness optimisation. An example in the context of designing a food product, is finding the best composition
Star, L.
2008-01-01
The aim of the project ‘The genetics of robustness in laying hens’ was to investigate nature and regulation of robustness in laying hens under sub-optimal conditions and the possibility to increase robustness by using animal breeding without loss of production. At the start of the project, a robust
Multivariate statistics exercises and solutions
Härdle, Wolfgang Karl
2015-01-01
The authors present tools and concepts of multivariate data analysis by means of exercises and their solutions. The first part is devoted to graphical techniques. The second part deals with multivariate random variables and presents the derivation of estimators and tests for various practical situations. The last part introduces a wide variety of exercises in applied multivariate data analysis. The book demonstrates the application of simple calculus and basic multivariate methods in real life situations. It contains altogether more than 250 solved exercises which can assist a university teacher in setting up a modern multivariate analysis course. All computer-based exercises are available in the R language. All R codes and data sets may be downloaded via the quantlet download center www.quantlet.org or via the Springer webpage. For interactive display of low-dimensional projections of a multivariate data set, we recommend GGobi.
Control of suspended low-gravity simulation system based on self-adaptive fuzzy PID
Chen, Zhigang; Qu, Jiangang
2017-09-01
In this paper, an active suspended low-gravity simulation system is proposed to follow the vertical motion of the spacecraft. Firstly, working principle and mathematical model of the low-gravity simulation system are shown. In order to establish the balance process and suppress the strong position interference of the system, the idea of self-adaptive fuzzy PID control strategy is proposed. It combines the PID controller with a fuzzy controll strategy, the control system can be automatically adjusted by changing the proportional parameter, integral parameter and differential parameter of the controller in real-time. At last, we use the Simulink tools to verify the performance of the controller. The results show that the system can reach balanced state quickly without overshoot and oscillation by the method of the self-adaptive fuzzy PID, and follow the speed of 3m/s, while simulation degree of accuracy of system can reach to 95.9% or more.
Note: Split PID control--two sensors can be better than one.
Znaimer, Leith; Bechhoefer, John
2014-10-01
The traditional proportional-integral-derivative (PID) algorithm for regulation suffers from a tradeoff: placing the sensor near the sample being regulated ensures that its steady-state temperature matches the desired setpoint. However, the propagation delay (lag) between heater and sample can limit the control bandwidth. Moving the sensor closer to the heater reduces the lag and increases the bandwidth but introduces offsets and drifts into the temperature of the sample. Here, we explore the consequences of using two probes-one near the heater, one near the sample-and assigning the integral term to the sample probe and the other terms to the heater probe. The split-PID algorithm can outperform PID control loops based on one sensor.
PID controller auto-tuning based on process step response and damping optimum criterion.
Pavković, Danijel; Polak, Siniša; Zorc, Davor
2014-01-01
This paper presents a novel method of PID controller tuning suitable for higher-order aperiodic processes and aimed at step response-based auto-tuning applications. The PID controller tuning is based on the identification of so-called n-th order lag (PTn) process model and application of damping optimum criterion, thus facilitating straightforward algebraic rules for the adjustment of both the closed-loop response speed and damping. The PTn model identification is based on the process step response, wherein the PTn model parameters are evaluated in a novel manner from the process step response equivalent dead-time and lag time constant. The effectiveness of the proposed PTn model parameter estimation procedure and the related damping optimum-based PID controller auto-tuning have been verified by means of extensive computer simulations. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.
Design of PID controller as an AVR in frequency-domain
International Nuclear Information System (INIS)
Shaikh, S.A.; Ahmed, I.
2008-01-01
The primary means of generator reactive-power control is the generator-excitation control, using Automatic Voltage Regulator (AVR). The role of AVR is to hold the terminal-voltage of Synchronous generator at a specified level. This paper presents the design of a proportional integral- derivative (PID) controller to work as an A VR. The PID controller has been tuned by HO-HANG-CAO method. In this method, pm parameters are computed from the gain-margin and phase-margin specifications. This method has been found much superior to the conventional Ziegler- Nichols rules. The performance of the controller has been evaluated through Simulation Studies in MATLAB environment. It has been demonstrated that the PID controller, tuned with the said method, yields highly satisfactory closed loop performance. (author)
Application of an improved PSO algorithm to optimal tuning of PID gains for water turbine governor
International Nuclear Information System (INIS)
Fang Hongqing; Chen Long; Shen Zuyi
2011-01-01
In this paper, an improved particle swarm optimization (IPSO) algorithm is proposed. Besides the individual best position and the global best position, a nominal average position of the swarm is introduced in IPSO. The performance of IPSO is compared to different PSO variants with five well-known benchmark functions. The experimental results show that the proposed IPSO algorithm improves the searching performance on the benchmark functions. And then, IPSO, as well as other PSO variants, is applied to optimal tuning of Proportional-Integral-Derivative (PID) gains for a typical PID control system of water turbine governor. The computer simulation results of an actual hydro power plant in China show that IPSO algorithm has stable convergence characteristic and good computational ability, and it is an effective and easily implemented method for optimal tuning of PID gains of water turbine governor.
PID self tuning control based on Mamdani fuzzy logic control for quadrotor stabilization
Energy Technology Data Exchange (ETDEWEB)
Priyambodo, Tri Kuntoro, E-mail: mastri@ugm.ac.id; Putra, Agfianto Eko [Aerospace and Aeronautics Electronics Research Group, Universitas Gadjah Mada, Yogyakarta (Indonesia); Department of Computer Science and Electronics, Universitas Gadjah Mada, Yogyakarta (Indonesia); Dharmawan, Andi, E-mail: andi-dharmawan@ugm.ac.id [Department of Computer Science and Electronics, Universitas Gadjah Mada, Yogyakarta (Indonesia)
2016-02-01
Quadrotor as one type of UAV have the ability to perform Vertical Take Off and Landing (VTOL). It allows the Quadrotor to be stationary hovering in the air. PID (Proportional Integral Derivative) control system is one of the control methods that are commonly used. It is usually used to optimize the Quadrotor stabilization at least based on the three Eulerian angles (roll, pitch, and yaw) as input parameters for the control system. The three constants of PID can be obtained in various methods. The simplest method is tuning manually. This method has several weaknesses. For example if the three constants are not exact, the resulting response will deviate from the desired result. By combining the methods of PID with fuzzy logic systems where human expertise is implemented into the machine language is expected to further optimize the control system.
Directory of Open Access Journals (Sweden)
V. Balaji
2016-12-01
Full Text Available pH control plays a important role in any chemical plant and process industries. For the past four decades the classical PID controller has been occupied by the industries. Due to the faster computing technology in the industry demands a tighter advanced control strategy. To fulfill the needs and requirements Model Predictive Control (MPC is the best among all the advanced control algorithms available in the present scenario. The study and analysis has been done for First Order plus Delay Time (FOPDT model controlled by Proportional Integral Derivative (PID and MPC using the Matlab software. This paper explores the capability of the MPC strategy, analyze and compare the control effects with conventional control strategy in pH control. A comparison results between the PID and MPC is plotted using the software. The results clearly show that MPC provide better performance than the classical controller.
JACoW Automatic PID performance monitoring applied to LHC cryogenics
Bradu, Benjamin; Marti, Ruben; Tilaro, Filippo
2018-01-01
At CERN, the LHC (Large Hadron Collider) cryogenic system employs about 5000 PID (Proportional Integral Derivative) regulation loops distributed over the 27 km of the accelerator. Tuning all these regulation loops is a complex task and the systematic monitoring of them should be done in an automated way to be sure that the overall plant performance is improved by identifying the poorest performing PID controllers. It is nearly impossible to check the performance of a regulation loop with a classical threshold technique as the controlled variables could evolve in large operation ranges and the amount of data cannot be manually checked daily. This paper presents the adaptation and the application of an existing regulation indicator performance algorithm on the LHC cryogenic system and the different results obtained in the past year of operation. This technique is generic for any PID feedback control loop, it does not use any process model and needs only a few tuning parameters. The publication also describes th...
Directory of Open Access Journals (Sweden)
Jesus Patricio Ordaz Oliver
2015-01-01
Full Text Available This paper presents a stability analysis for LNDS (Lagrangian nonlinear dynamical systems with dynamic uncertain using a PID controller with external disturbances rejection based on attractive ellipsoid methods, since the PID-CT (proportional integral derivative computed torque compensator has been used for the nonlinear trajectory tracking of an LNDS, when there are external perturbations and system uncertainties. The global system convergence of the trivial solution has not been proved. In this sense, we propose an approach to find the gains of the nonlinear PID-CT controller to guarantee the boundedness of the trivial solution by means of the concept of the UUB (uniform-ultimately bounded stability. In order to show the effectiveness of the methodology proposed, we applied it in a real 2-DoF robot system.
Aspects épidémiologiques du suicide à Dakar
Soumah, Mohamed Maniboliot; Eboué, Brice Angwé; Ndiaye, Mor; Sow, Mamadou Lamine
2013-01-01
Introduction Le suicidé est le sujet mort par suicide et le suicidant est la personne ayant fait des tentatives de suicide. L'objectif de cette étude porte sur l'analyse épidémiologique des suicides dans la région de Dakar. Méthodes Par une étude rétrospective portant sur les registres du service d'anatomie pathologique de l'Hôpital Aristide Le Dantec, nous rapportons 143 suicides sur 10 ans. Le traitement et l'analyse des données ont été faits sur Epidata version 2.1 b pour la saisie et Epiinfo version 6.04 fr pour l'analyse. Résultats A Dakar, les morts par suicide restent peu fréquentes au regard de la mortalité générale. Les hommes se suicident deux fois plus que les femmes et le suicide reste l'apanage de l'adulte jeune dont l'âge se situe entre 21 et 30 ans. Les suicidés résident le plus souvent en zone périurbaine et ils commettent cet acte dans la majorité des cas en période de froid (pendant les mois de janvier, février et mars), plus avant midi et en soirée qu'en après-midi. Aussi 97.2% des suicidés ont utilisé un seul moyen pour se suicider et le suicide complexe (utilisation de plusieurs moyens) a concerné seulement un cas dans notre étude. La pendaison reste le mode le plus utilisé. Conclusion Les hommes préfèrent donc des moyens de suicides violents (pendaison, arme à feu et arme blanche) alors que les femmes et les adolescents (tout sexe confondu) utilisent les intoxications. Le recueil des facteurs concourant au suicide permettrait une prévention de ce dernier. PMID:23847707
Mitigation of PID in commercial PV modules using current interruption method
Bora, Birinchi; Oh, Jaewon; Tatapudi, Sai; Sastry, Oruganty S.; Kumar, Rajesh; Prasad, Basudev; Tamizhmani, Govindasamy
2017-08-01
Potential-induced degradation (PID) is known to have a very severe effect on the reliability of PV modules. PID is caused due to the leakage of current from the cell circuit to the grounded frame under humid conditions of high voltage photovoltaic (PV) systems. There are multiple paths for the current leakage. The most dominant leakage path is from the cell to the frame through encapsulant, glass bulk and glass surface. This dominant path can be prevented by interrupting the electrical conductivity at the glass surface. In our previous works related to this topic, we demonstrated the effectiveness of glass surface conductivity interruption technique using one-cell PV coupons. In this work, we demonstrate the effectiveness of this technique using a full size commercial module susceptible to PID. The interruption of surface conductivity of the commercial module was achieved by attaching a narrow, thin flexible glass strips, from Corning, called Willow Glass on the glass surface along the inner edges of the frame. The flexible glass strip was attached to the module glass surface by heating the glass strip with an ionomer adhesive underneath using a handheld heat gun. The PID stress test was performed at 60°C and 85% RH for 96 hours at -600 V. Pre- and post-PID characterizations including I-V and electroluminescence were carried out to determine the performance loss and affected cell areas. This work demonstrates that the PID issue can be effectively addressed by using this current interruption technique. An important benefit of this approach is that this interruption technique can be applied after manufacturing the modules and after installing the modules in the field as well.
Control de velocidad de un motor de CD con un controlador PID Wavenet
Directory of Open Access Journals (Sweden)
Abraham Christian Pedroza Araujo
2014-01-01
Full Text Available El controlador más utilizado actualmente en la industria es el controlador PID. Sin embargo, el algoritmo PID lineal tiene bajo desempeño cuando el proceso a controlar presenta dinámicas complejas como zonas muertas y características no lineales. El funcionamiento del controlador PID en general, se basa en la actuación en forma proporcional, integral y derivativa sobre la señal de error e(t, definida como e(t = yref(t - y(t, con la finalidad de efectuar la señal de control u(t que manipula la salida del proceso en forma deseada como se muestra la Figura 1. Figura 1. Esquema de un control clásico. Figura 1. Esquema de un control clásico. Las constantes kp ki kd son las ganancias del PID. Existen distintas técnicas analíticas y experimentales con el fin de sintonizar esas ganancias. Una alternativa a este problema de sintonización es el controlador PID wavenet, donde por medio de una wavenet y un filtro IIR se estima la salida del sistema a controlar, lo cual se utiliza para re-sintonizar las ganancias de un PID discreto, todo esto en línea. Esta es la alternativa que se emplea en el presente trabajo de investigación y enfocada a la simulación y control de un motor de cd obteniendo resultados.
Neural Network-Based Self-Tuning PID Control for Underwater Vehicles.
Hernández-Alvarado, Rodrigo; García-Valdovinos, Luis Govinda; Salgado-Jiménez, Tomás; Gómez-Espinosa, Alfonso; Fonseca-Navarro, Fernando
2016-09-05
For decades, PID (Proportional + Integral + Derivative)-like controllers have been successfully used in academia and industry for many kinds of plants. This is thanks to its simplicity and suitable performance in linear or linearized plants, and under certain conditions, in nonlinear ones. A number of PID controller gains tuning approaches have been proposed in the literature in the last decades; most of them off-line techniques. However, in those cases wherein plants are subject to continuous parametric changes or external disturbances, online gains tuning is a desirable choice. This is the case of modular underwater ROVs (Remotely Operated Vehicles) where parameters (weight, buoyancy, added mass, among others) change according to the tool it is fitted with. In practice, some amount of time is dedicated to tune the PID gains of a ROV. Once the best set of gains has been achieved the ROV is ready to work. However, when the vehicle changes its tool or it is subject to ocean currents, its performance deteriorates since the fixed set of gains is no longer valid for the new conditions. Thus, an online PID gains tuning algorithm should be implemented to overcome this problem. In this paper, an auto-tune PID-like controller based on Neural Networks (NN) is proposed. The NN plays the role of automatically estimating the suitable set of PID gains that achieves stability of the system. The NN adjusts online the controller gains that attain the smaller position tracking error. Simulation results are given considering an underactuated 6 DOF (degrees of freedom) underwater ROV. Real time experiments on an underactuated mini ROV are conducted to show the effectiveness of the proposed scheme.
Oscillations-free PID control of anesthetic drug delivery in neuromuscular blockade.
Medvedev, Alexander; Zhusubaliyev, Zhanybai T; Rosén, Olov; Silva, Margarida M
2016-07-25
The PID-control of drug delivery or the neuromuscular blockade (NMB) in closed-loop anesthesia is considered. The NMB system dynamics portrayed by a Wiener model can exhibit sustained nonlinear oscillations under realistic PID gains and for physiologically feasible values of the model parameters. Such oscillations, also repeatedly observed in clinical trials, lead to under- and over-dosing of the administered drug and undermine patient safety. This paper proposes a tuning policy for the proportional PID gain that via bifurcation analysis ensures oscillations-free performance of the control loop. Online estimates of the Wiener model parameters are needed for the controller implementation and monitoring of the closed-loop proximity to oscillation. The nonlinear dynamics of the PID-controlled NMB system are studied by bifurcation analysis. A database of patient models estimated under PID-controlled neuromuscular blockade during general anesthesia is utilized, along with the corresponding clinical measurements. The performance of three recursive algorithms is compared in the application at hand: an extended Kalman filter, a conventional particle filter (PF), and a PF making use of an orthonormal basis to estimate the probability density function from the particle set. It is shown that with a time-varying proportional PID gain, the type of equilibria of the closed-loop system remains the same as in the case of constant controller gains. The recovery time and frequency of oscillations are also evaluated in simulation over the database of patient models. Nonlinear identification techniques based on model linearization yield biased parameter estimates and thus introduce superfluous uncertainty. The bias and variance of the estimated models are related to the computational complexity of the identification algorithms, highlighting the superiority of the PFs in this safety-critical application. The study demonstrates feasibility of the proposed oscillation-free control
International Nuclear Information System (INIS)
Ardehali, M.M.; Saboori, M.; Teshnelab, M.
2004-01-01
Energy efficiency enhancement is achieved by utilizing control algorithms that reduce overshoots and undershoots as well as unnecessary fluctuations in the amount of energy input to energy consuming systems during transient operation periods. It is hypothesized that application of control methodologies with characteristics that change with time and according to the system dynamics, identified as dynamic energy efficiency measures (DEEM), achieves the desired enhancement. The objective of this study is to simulate and analyze the effects of fuzzy logic based tuning of proportional integral derivative (F-PID) and proportional sum derivative (F-PSD) controllers for a heating and cooling energy system while accounting for the dynamics of the major system components. The procedure to achieve the objective includes utilization of fuzzy logic rules to determine the PID and PSD controllers gain coefficients so that the control laws for regulating the heat exchangers heating or cooling energy inputs are determined in each time step of the operation period. The performances of the F-PID and F-PSD controllers are measured by means of two cost functions that are based on quadratic forms of the energy input and deviation from a set point temperature. It is found that application of the F-PID control algorithm, as a DEEM, results in lower costs for energy input and deviation from a set point temperature by 24% and 17% as compared to a PID and 13% and 8% as compared to a PSD, respectively. It is also shown that the F-PSD performance is better than that of the F-PID controller
Neural Network-Based Self-Tuning PID Control for Underwater Vehicles
Directory of Open Access Journals (Sweden)
Rodrigo Hernández-Alvarado
2016-09-01
Full Text Available For decades, PID (Proportional + Integral + Derivative-like controllers have been successfully used in academia and industry for many kinds of plants. This is thanks to its simplicity and suitable performance in linear or linearized plants, and under certain conditions, in nonlinear ones. A number of PID controller gains tuning approaches have been proposed in the literature in the last decades; most of them off-line techniques. However, in those cases wherein plants are subject to continuous parametric changes or external disturbances, online gains tuning is a desirable choice. This is the case of modular underwater ROVs (Remotely Operated Vehicles where parameters (weight, buoyancy, added mass, among others change according to the tool it is fitted with. In practice, some amount of time is dedicated to tune the PID gains of a ROV. Once the best set of gains has been achieved the ROV is ready to work. However, when the vehicle changes its tool or it is subject to ocean currents, its performance deteriorates since the fixed set of gains is no longer valid for the new conditions. Thus, an online PID gains tuning algorithm should be implemented to overcome this problem. In this paper, an auto-tune PID-like controller based on Neural Networks (NN is proposed. The NN plays the role of automatically estimating the suitable set of PID gains that achieves stability of the system. The NN adjusts online the controller gains that attain the smaller position tracking error. Simulation results are given considering an underactuated 6 DOF (degrees of freedom underwater ROV. Real time experiments on an underactuated mini ROV are conducted to show the effectiveness of the proposed scheme.
Directory of Open Access Journals (Sweden)
Eugen Răduca
2016-10-01
Full Text Available The paper presents an application based on a PLC Simatic S7-1200, using the "PID_Compact" logical function, which can be used for the improvement of control systems. We also present a practical application: a system for the improvement of the transportation system of the flour in a grain mill using "PID Compact" .
The performance of the DC motor by the PID controlling PWM DC-DC boost converter
Can, Erol; Sayan, Hasan Hüseyin
2017-01-01
This paper presents the PID controlling direct current (DC) to the direct current boost converter feds DC motor which has a 3.68 kW and 240 V of DC voltage input on its characteristics. What is first formed is the boost converter mathematical model at the design stage. Secondly, a mathematical model of the DC motor is created so that the boost converter with the machine can be established and modeled at the Matlab Simulink. The PID controller is considered for arranging a pulse width modulati...
A fast PID controller Design for Modern PLC for Process Control Application
International Nuclear Information System (INIS)
Mirza, A.; Nafis, A.; Anees, R.M.; Idris, S.
2004-01-01
PID is the most widely used control scheme in the process industry. Pill controllers are utilized for the control of such varied parameters as pressure, flow, temperature, etc. One characteristic of these parameters is that they posses slow dynamics. Most of the available digital controllers can manipulate only a single parameter- multiple controllers are required for control of more than one parameter. The Fast PID Controller for Modem PLC (Programmable Logic Controller) developed by the authors, provides control of several parameters at a time (through a single Pill control element), enhanced programmability including variable sampling period, parameter monitoring and data storage, which may be easily implemented in a PLC. (author)
Personality Inventory for DSM-5 (PID-5) in Clinical Versus Nonclinical Individuals
DEFF Research Database (Denmark)
Bach, Bo; Sellbom, Martin; Simonsen, Erik
2017-01-01
The Personality Inventory for Diagnostic and Statistical Manual of Mental Disorders-Fifth Edition (PID-5) was developed for the assessment of pathological traits in clinical settings. However, most research on the PID-5 is derived from nonclinical samples. To date, the comparability...... with nonpsychotic disorders (81% women; mean age = 28.95), whereas a matched nonclinical sample ( n = 598) comprised community-dwelling individuals (81% women; mean age = 29.59). Measurement invariance was analyzed using a 13-step, two-group exploratory structural equation modeling approach. The results...
Directory of Open Access Journals (Sweden)
Cheng-Yu Yeh
2012-01-01
Full Text Available This study aimed at the implementation and synchronization control of cardiac circuit. First, the MATLAB-Simulink was used to simulate the dynamic behavior of cardiac chaotic circuit, and simple electronic modules were used to implement the cardiac system. Then the Particle Swarm Optimization (PSO was used to seek for the proportional, integral, and derivative gains of optimal PID controller, and the PID controller which could synchronize the slave cardiac circuit and the master cardiac circuit was obtained, in order to synchronize the master/slave chaotic cardiac circuits. This method can be provided for cardiac doctors to diagnose and medicate cardiac abnormality.
Multivariate analysis: models and method
International Nuclear Information System (INIS)
Sanz Perucha, J.
1990-01-01
Data treatment techniques are increasingly used since computer methods result of wider access. Multivariate analysis consists of a group of statistic methods that are applied to study objects or samples characterized by multiple values. A final goal is decision making. The paper describes the models and methods of multivariate analysis
Model Checking Multivariate State Rewards
DEFF Research Database (Denmark)
Nielsen, Bo Friis; Nielson, Flemming; Nielson, Hanne Riis
2010-01-01
We consider continuous stochastic logics with state rewards that are interpreted over continuous time Markov chains. We show how results from multivariate phase type distributions can be used to obtain higher-order moments for multivariate state rewards (including covariance). We also generalise...
Multivariate analysis methods in physics
International Nuclear Information System (INIS)
Wolter, M.
2007-01-01
A review of multivariate methods based on statistical training is given. Several multivariate methods useful in high-energy physics analysis are discussed. Selected examples from current research in particle physics are discussed, both from the on-line trigger selection and from the off-line analysis. Also statistical training methods are presented and some new application are suggested [ru
Immune algorithm based active PID control for structure systems
International Nuclear Information System (INIS)
Lee, Young Jin; Cho, Hyun Cheol; Lee, Kwon Soon
2006-01-01
An immune algorithm is a kind of evolutional computation strategies, which is developed in the basis of a real immune mechanism in the human body. Recently, scientific or engineering applications using this scheme are remarkably increased due to its significant ability in terms of adaptation and robustness for external disturbances. Particularly, this algorithm is efficient to search optimal parameters against complicated dynamic systems with uncertainty and perturbation. In this paper, we investigate an immune algorithm embedded Proportional Integral Derivate (called I P ID) control, in which an optimal parameter vector of the controller is determined offline by using a cell-mediated immune response of the immunized mechanism. For evaluation, we apply the proposed control to mitigation of vibrations for nonlinear structural systems, cased by external environment load such as winds and earthquakes. Comparing to traditional controls under same simulation scenarios, we demonstrate the innovation control is superior especially in robustness aspect
Multivariate covariance generalized linear models
DEFF Research Database (Denmark)
Bonat, W. H.; Jørgensen, Bent
2016-01-01
are fitted by using an efficient Newton scoring algorithm based on quasi-likelihood and Pearson estimating functions, using only second-moment assumptions. This provides a unified approach to a wide variety of types of response variables and covariance structures, including multivariate extensions......We propose a general framework for non-normal multivariate data analysis called multivariate covariance generalized linear models, designed to handle multivariate response variables, along with a wide range of temporal and spatial correlation structures defined in terms of a covariance link...... function combined with a matrix linear predictor involving known matrices. The method is motivated by three data examples that are not easily handled by existing methods. The first example concerns multivariate count data, the second involves response variables of mixed types, combined with repeated...
Directory of Open Access Journals (Sweden)
DAHIYA, P.
2015-05-01
Full Text Available This paper presents the application of hybrid opposition based disruption operator in gravitational search algorithm (DOGSA to solve automatic generation control (AGC problem of four area hydro-thermal-gas interconnected power system. The proposed DOGSA approach combines the advantages of opposition based learning which enhances the speed of convergence and disruption operator which has the ability to further explore and exploit the search space of standard gravitational search algorithm (GSA. The addition of these two concepts to GSA increases its flexibility for solving the complex optimization problems. This paper addresses the design and performance analysis of DOGSA based proportional integral derivative (PID and fractional order proportional integral derivative (FOPID controllers for automatic generation control problem. The proposed approaches are demonstrated by comparing the results with the standard GSA, opposition learning based GSA (OGSA and disruption based GSA (DGSA. The sensitivity analysis is also carried out to study the robustness of DOGSA tuned controllers in order to accommodate variations in operating load conditions, tie-line synchronizing coefficient, time constants of governor and turbine. Further, the approaches are extended to a more realistic power system model by considering the physical constraints such as thermal turbine generation rate constraint, speed governor dead band and time delay.
DEFF Research Database (Denmark)
Pedersen, Søren Nygaard
The research presented in this PhD thesis has focused on a perceptual approach to robust design. The results of the research and the original contribution to knowledge is a preliminary framework for understanding, positioning, and applying perceptual robust design. Product quality is a topic...... been presented. Therefore, this study set out to contribute to the understanding and application of perceptual robust design. To achieve this, a state-of-the-art and current practice review was performed. From the review two main research problems were identified. Firstly, a lack of tools...... for perceptual robustness was found to overlap with the optimum for functional robustness and at most approximately 2.2% out of the 14.74% could be ascribed solely to the perceptual robustness optimisation. In conclusion, the thesis have offered a new perspective on robust design by merging robust design...
Implementation of PID Controller in MATLAB for Real Time DC Motor Speed Control System
Directory of Open Access Journals (Sweden)
Manjunatha Reddy H. K.
2011-03-01
Full Text Available In this paper the implementation of PIDC (proportional + integral + derivative controller in MATLAB environment for real time DC motor speed control is presented. The MATLAB environment is chosen because of availability of tool boxes which allows the effective way of implementation and analysis of the control system. The performance of PID controller for different inputs is studied. To establish a communication between PC and process parameter, an indigenous Analog to digital and digital to analog (AD-DA board is designed. This board consists of 12-bit A/D converter and 12-bit D/A converter to facilitate the data acquisition and control. In the present study Advantech make PCI-1751 DIOT card is used to interface AD-DA board to PC externally. The data between the AD-DA board and the PC is communicated through the script file written in MATLAB environment. By applying different standard test commands such as step, square, staircase and triangular, the performance of PID controller is studied. The PID controller provides better system response in terms of transient as well as steady-state performances. The controller parameters are manually tuned (kp=0.232, ki=0.078 and kd=0.035 and the results of the best tuned PID controller are presented.
Natural variation of rice blast resistance gene Pi-d2
Studying natural variation of rice resistance (R) genes in cultivated and wild rice relatives can predict resistance stability to rice blast fungus. In the present study, the protein coding regions of rice R gene Pi-d2 in 35 rice accessions of subgroups, aus (AUS), indica (IND), temperate japonica (...
Directory of Open Access Journals (Sweden)
Mundher H.A. Yaseen
Full Text Available Magnetic levitation is a technique to suspend an object without any mechanical support. The main objective of this study is to demonstrate stabilized closed loop control of 1-DOF Maglev experimentally using real-time control simulink feature of (SIMLAB microcontroller. Proportional Integral Derivative (PID and Linear Quadratic Regulator (LQR controllers are employed to examine the stability performance of the Maglev control system under effect of unbalanced change of load and wave signal on Maglev plane. The effect of unbalanced change of applied load on single point, line and plane are presented. Furthermore, in order to study the effect of sudden change in input signal, the input of wave signal has been applied on all points of the prototype maglev plate simultaneously. The results of pulse width modulation (PWM reveal that the control system using LQR controller provides faster response to adjust the levitated plane comparing to PID controller. Moreover, the air gap distance that controlled using PID controller is rather stable with little oscillation. Meanwhile, LQR controller provided more stability and homogeneous response. Keywords: Magnetic levitation (Maglev, Linear Quadratic Regulator (LQR, PID controller, SIMLAB Platform
Yang, Xiaoping; Chen, Xueying; Xia, Riting; Qian, Zhihong
2018-01-01
Aiming at the problem of network congestion caused by the large number of data transmissions in wireless routing nodes of wireless sensor network (WSN), this paper puts forward an algorithm based on standard particle swarm–neural PID congestion control (PNPID). Firstly, PID control theory was applied to the queue management of wireless sensor nodes. Then, the self-learning and self-organizing ability of neurons was used to achieve online adjustment of weights to adjust the proportion, integral and differential parameters of the PID controller. Finally, the standard particle swarm optimization to neural PID (NPID) algorithm of initial values of proportion, integral and differential parameters and neuron learning rates were used for online optimization. This paper describes experiments and simulations which show that the PNPID algorithm effectively stabilized queue length near the expected value. At the same time, network performance, such as throughput and packet loss rate, was greatly improved, which alleviated network congestion and improved network QoS. PMID:29671822
Air Compressor Pressure Control System Based On Gearshift Integral PID Controller
PAN Chunyue
2017-01-01
The application of gearshift integral PID controller to air compressor pressure control system is introduced, Its kernel is single chip microcomputer PIC16F877.The design of hardware and solfware are introduced too. Practical application shows that this system has many advantages.
Air Compressor Pressure Control System Based On Gearshift Integral PID Controller
Directory of Open Access Journals (Sweden)
PAN Chunyue
2017-01-01
Full Text Available The application of gearshift integral PID controller to air compressor pressure control system is introduced, Its kernel is single chip microcomputer PIC16F877.The design of hardware and solfware are introduced too. Practical application shows that this system has many advantages.
The speed control of DC motor under the load condition using PI and PID controllers
Corapsiz, Muhammed Reşit; Kahveci, Hakan
2017-04-01
In this study, it was aimed to compare PI (Proportional-Integral) and PID (Proportional-Integral-Derivative) controllers for speed control of Permanent Magnet Direct Current (PMDC) motor under both load and without load. For this purpose, firstly, the mathematical model was obtained from the dynamic equations of the PMDC motor and the obtained mathematical model was transferred to the simulation environment and modeled using Matlab/SIMULINK. Following the modeling process, PI and PID controller structures were formed, respectively. Secondly, after these structures were formed, the PMDC motor was run without any controller. Then, the control of the PMDC motor with no load was provided by using PI and PID controllers. Finally, the PMDC motor were loaded under the constant load (TL = 3 N.m.) for each condition and selected time period (t = 3 s). The obtained result for each control operations was comparatively given by observing effects of loading process on systems. When the obtained results were evaluated for each condition, it was observed that PID controller have the best performance with respect to PI controller.
Dynamic modelling and PID loop control of an oil-injected screw compressor package
Poli, G. W.; Milligan, W. J.; McKenna, P.
2017-08-01
A significant amount of time is spent tuning the PID (Proportional, Integral and Derivative) control loops of a screw compressor package due to the unique characteristics of the system. Common mistakes incurred during the tuning of a PID control loop include improper PID algorithm selection and unsuitable tuning parameters of the system resulting in erratic and inefficient operation. This paper details the design and development of software that aims to dynamically model the operation of a single stage oil injected screw compressor package deployed in upstream oil and gas applications. The developed software will be used to assess and accurately tune PID control loops present on the screw compressor package employed in controlling the oil pressures, temperatures and gas pressures, in a bid to improve control of the operation of the screw compressor package. Other applications of the modelling software will include its use as an evaluation tool that can estimate compressor package performance during start up, shutdown and emergency shutdown processes. The paper first details the study into the fundamental operational characteristics of each of the components present on the API 619 screw compressor package and then discusses the creation of a dynamic screw compressor model within the MATLAB/Simulink software suite. The paper concludes by verifying and assessing the accuracy of the created compressor model using data collected from physical screw compressor packages.
TRENTELMAN, HL
1984-01-01
This note generalizes the geometric theory around minimal and reduced order observers to the situation in which differentiation of certain components of the observed output is allowed. A geometric theory involving the notion of PID-observer is introduced, using the concept of almost complementary
Closed-loop step response for tuning PID-fractional-order-filter controllers.
Amoura, Karima; Mansouri, Rachid; Bettayeb, Maâmar; Al-Saggaf, Ubaid M
2016-09-01
Analytical methods are usually applied for tuning fractional controllers. The present paper proposes an empirical method for tuning a new type of fractional controller known as PID-Fractional-Order-Filter (FOF-PID). Indeed, the setpoint overshoot method, initially introduced by Shamsuzzoha and Skogestad, has been adapted for tuning FOF-PID controller. Based on simulations for a range of first order with time delay processes, correlations have been derived to obtain PID-FOF controller parameters similar to those obtained by the Internal Model Control (IMC) tuning rule. The setpoint overshoot method requires only one closed-loop step response experiment using a proportional controller (P-controller). To highlight the potential of this method, simulation results have been compared with those obtained with the IMC method as well as other pertinent techniques. Various case studies have also been considered. The comparison has revealed that the proposed tuning method performs as good as the IMC. Moreover, it might offer a number of advantages over the IMC tuning rule. For instance, the parameters of the fractional controller are directly obtained from the setpoint closed-loop response data without the need of any model of the plant to be controlled. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Designing an Energy Storage System Fuzzy PID Controller for Microgrid Islanded Operation
Directory of Open Access Journals (Sweden)
Jin-Hong Jeon
2011-09-01
Full Text Available Recently, interest in microgrids, which are composed of distributed generation (DG, distributed storage (DS, and loads, has been growing as a potentially effective clean energy system to mitigate against climate change. The microgrid is operated in the grid-connected mode and the islanded mode according to the conditions of the upstream power grid. The role of the energy storage system (ESS is especially important to maintain constant the frequency and voltage of an islanded microgrid. For this reason, various approaches for ESS control have been put forth. In this paper, a fuzzy PID controller is proposed to improve the frequency control performance of the ESS. This fuzzy PID controller consists of a fuzzy logic controller and a conventional PI controller, connected in series. The fuzzy logic controller has two input signals, and then the output signal of the fuzzy logic controller is the input signal of the conventional PI controller. For comparison of control performance, gains of each PI controller and fuzzy PID controller are tuned by the particle swam optimization (PSO algorithm. In the simulation study, the control performance of the fuzzy PID was also tested under various operating conditions using the PSCAD/EMTDC simulation platform.
Designing of new structure PID controller of boost converter for solar photovoltaic stability
Shabrina, Hanifati Nur; Setiawan, Eko Adhi; Sabirin, Chip Rinaldi
2017-03-01
Nowadays, the utilization of renewable energy as the source on distributed generation system is increasing. It aims to reduce reliance and power losses from utility grid and improve power stability in near loads. One example of renewable energy technology that have been highly proven on the market is solar photovoltaic (PV). This technology converts photon from sunlight into electricity. However, the fluctuation of solar radiation that often occurs become the main problem for this system. Due to this condition, the power conversion is needed to convert the change frequently in photovoltaic panel into a stable voltage to the system. Developing control of boost converter has important role to keep ability of system stabilization. A conventional PID (Proportional, Integral, Derivative) control is mostly used to achieve this goal. In this research, a design of new structure PID controller of boost converter is offered to better optimize system stability comparing to the conventional PID. Parameters obtained from this PID structure have been successfully yield a stable boost converter output at 200 V with 10% overshoot, 1.5 seconds of settling time, and 1.5% of steady-state error.
Directory of Open Access Journals (Sweden)
Muhammad Jadid Anggarjito
2013-09-01
Full Text Available Quadcopter merupakan salah salah satu jenis rotorcraft yang memiliki 4 buah rotor yang harus dikendalikan masing-masing rotornya untuk dapat menggerakkan quadcopter. Gerak lateral merupakan gerak quadcopter secara horizontal pada ketinggian atau gerak translasi, gerakan ini sangat vital untuk memenuhi kebutuhan quadcopter dalam mencapai way-to-way point yang telah ditentukan. Pada tugas akhir ini untuk mengatur gerakan lateral dari quadcopter digunakan sistem kendali PID dengan Decoupling Nonlinear. Ada 2 buah kontroler individual yang digunakan yaitu kontroler PID dengan Nonlinear Decoupling untuk mengatur pitch dan roll gerak rotasi, serta kontroler PD untuk mengatur translasi sumbu X dan sumbu Y. Perancangan sistem kontrol PID Decoupling Nonlinear pada simulasi yang digunakan untuk mempertahankan gerak lateral quadcopter dalam mencapai way-to-way point yang ditentukan. Nilai parameter yang didapatkan dari hasil tuning terstruktur pada simulasi adalah pada kontroler PID dengan Nonlinear Decoupling pitch dan roll Kp=5 Ki=0,01 Kd=10 sedangkan pada kontroler PD sumbu X dan sumbu Y Kp=0,05 Kd=0,2. Respon hasil implementasi pada quadcopter belum sesuai pada hasil simulasi. Pada hasil simulasi masih terdapat koreksi pada translasi sumbu X dan sumbu Y masih terdapat kesalahan sebesar ± 0,02 cm, sedangkan pada implementasi gerak lateral menggunakan remote control sistem dapat bergerak stabil menuju way-to-way point yang ditentukan.
Profil épidémiologique, diagnostique, thérapeutique et évolutif du ...
African Journals Online (AJOL)
K. Tengue
Épidémiologie diagnostic;. Traitement; ... soit 6,4 % et le traitement hormonal dans 93,1 % des cas. Le taux de décès .... avaient permis la recherche de localisation secondaire et la classi- .... de plateau technique adéquat dans nos structures.
Speed response of brushless DC motor using fuzzy PID controller under varying load condition
Directory of Open Access Journals (Sweden)
Akash Varshney
2017-09-01
Full Text Available The increasing trend towards usage of precisely controlled, high torque, efficient and low noise motors for dedicated applications has attracted the attention of researcher in Brushless DC (BLDC motors. BLDC motors can act as an acceptable alternative to the conventional motors like Induction Motors, Switched Reluctance Motors etc. This paper presents a detailed study on the performance of a BLDC motor supplying different types of loads, and at the same time, deploying different control techniques. An advance Fuzzy PID controller is compared with the commonly used PID controller. The load variations considered are of the most common types, generally encountered in practice. A comparison has been carried out in this paper by observing the dynamic speed response of motor at the time of application as well as at the time of removal of the load. The BLDC motors suffer from a major drawback of having jerky behaviour at the time of load removal. The study reveals that irrespective of the type of controller used, the gradual load variation produces better results as against sudden load variations. It is further observed that in addition to other dynamic features, the jerks produced at the time of load removal also get improved to a large extent with Fuzzy PID controller.The speed torque characteristics unraveled the fact that the jerks are minimum at the time of gradual load removal with Fuzzy PID controller in place. An attempt has been made to define these jerks by ‘Perturbation Window’.
PID-Controller Tuning Optimization with Genetic Algorithms in Servo Systems
Directory of Open Access Journals (Sweden)
Arturo Y. Jaen-Cuellar
2013-09-01
Full Text Available Performance improvement is the main goal of the study of PID control and much research has been conducted for this purpose. The PID filter is implemented in almost all industrial processes because of its well-known beneficial features. In general, the whole system's performance strongly depends on the controller's efficiency and hence the tuning process plays a key role in the system's behaviour. In this work, the servo systems will be analysed, specifically the positioning control systems. Among the existent tuning methods, the Gain-Phase Margin method based on Frequency Response analysis is the most adequate for controller tuning in positioning control systems. Nevertheless, this method can be improved by integrating an optimization technique. The novelty of this work is the development of a new methodology for PID control tuning by coupling the Gain-Phase Margin method with the Genetic Algorithms in which the micro-population concept and adaptive mutation probability are applied. Simulations using a positioning system model in MATLAB and experimental tests in two CNC machines and an industrial robot are carried out in order to show the effectiveness of the proposal. The obtained results are compared with both the classical Gain-Phase Margin tuning and with a recent PID controller optimization using Genetic Algorithms based on real codification. The three methodologies are implemented using software.
Integrated tuning of PID-derivative load frequency controller for two ...
African Journals Online (AJOL)
Results of the proposed derivative controller have been compared with conventional proportional integral derivative controller in time domain analysis. A remarkable improvement in stability of the system has ... the feasibility of the proposed PID-derivative filter controller. Keywords: controller; derivative filter; tie line; two area ...
Directory of Open Access Journals (Sweden)
Ahmad M. El-Nagar
2014-06-01
Full Text Available In this study, we propose an embedded real-time interval type-2 fuzzy proportional – integral – derivative (IT2F-PID controller which is a parallel combination of the interval type-2 fuzzy proportional – integral (IT2F-PI controller and the interval type-2 fuzzy proportional – derivative (IT2F-PD controller. The proposed IT2F-PID controller is able to handle the effect of the system uncertainties due to the structure of the interval type-2 fuzzy logic controller. The proposed IT2F-PID controller is implemented practically using a low cost PIC microcontroller for controlling the uncertain nonlinear inverted pendulum to minimize the effect of the system uncertainties due to the uncertainty in the mass of the pendulum, the measurement error in the rotation angle of the pendulum and the structural uncertainty. The test is carried out using the hardware-in-the-loop (HIL simulation. The experimental results show that the performance of the IT2F-PID controller improves significantly the performance over a wide range of system uncertainties.
A primer of multivariate statistics
Harris, Richard J
2014-01-01
Drawing upon more than 30 years of experience in working with statistics, Dr. Richard J. Harris has updated A Primer of Multivariate Statistics to provide a model of balance between how-to and why. This classic text covers multivariate techniques with a taste of latent variable approaches. Throughout the book there is a focus on the importance of describing and testing one's interpretations of the emergent variables that are produced by multivariate analysis. This edition retains its conversational writing style while focusing on classical techniques. The book gives the reader a feel for why
A design of LED adaptive dimming lighting system based on incremental PID controller
He, Xiangyan; Xiao, Zexin; He, Shaojia
2010-11-01
As a new generation energy-saving lighting source, LED is applied widely in various technology and industry fields. The requirement of its adaptive lighting technology is more and more rigorous, especially in the automatic on-line detecting system. In this paper, a closed loop feedback LED adaptive dimming lighting system based on incremental PID controller is designed, which consists of MEGA16 chip as a Micro-controller Unit (MCU), the ambient light sensor BH1750 chip with Inter-Integrated Circuit (I2C), and constant-current driving circuit. A given value of light intensity required for the on-line detecting environment need to be saved to the register of MCU. The optical intensity, detected by BH1750 chip in real time, is converted to digital signal by AD converter of the BH1750 chip, and then transmitted to MEGA16 chip through I2C serial bus. Since the variation law of light intensity in the on-line detecting environment is usually not easy to be established, incremental Proportional-Integral-Differential (PID) algorithm is applied in this system. Control variable obtained by the incremental PID determines duty cycle of Pulse-Width Modulation (PWM). Consequently, LED's forward current is adjusted by PWM, and the luminous intensity of the detection environment is stabilized by self-adaptation. The coefficients of incremental PID are obtained respectively after experiments. Compared with the traditional LED dimming system, it has advantages of anti-interference, simple construction, fast response, and high stability by the use of incremental PID algorithm and BH1750 chip with I2C serial bus. Therefore, it is suitable for the adaptive on-line detecting applications.
Pinsker, Jordan E; Lee, Joon Bok; Dassau, Eyal; Seborg, Dale E; Bradley, Paige K; Gondhalekar, Ravi; Bevier, Wendy C; Huyett, Lauren; Zisser, Howard C; Doyle, Francis J
2016-07-01
To evaluate two widely used control algorithms for an artificial pancreas (AP) under nonideal but comparable clinical conditions. After a pilot safety and feasibility study (n = 10), closed-loop control (CLC) was evaluated in a randomized, crossover trial of 20 additional adults with type 1 diabetes. Personalized model predictive control (MPC) and proportional integral derivative (PID) algorithms were compared in supervised 27.5-h CLC sessions. Challenges included overnight control after a 65-g dinner, response to a 50-g breakfast, and response to an unannounced 65-g lunch. Boluses of announced dinner and breakfast meals were given at mealtime. The primary outcome was time in glucose range 70-180 mg/dL. Mean time in range 70-180 mg/dL was greater for MPC than for PID (74.4 vs. 63.7%, P = 0.020). Mean glucose was also lower for MPC than PID during the entire trial duration (138 vs. 160 mg/dL, P = 0.012) and 5 h after the unannounced 65-g meal (181 vs. 220 mg/dL, P = 0.019). There was no significant difference in time with glucose PID control for the AP indicates that MPC performed particularly well, achieving nearly 75% time in the target range, including the unannounced meal. Although both forms of CLC provided safe and effective glucose management, MPC performed as well or better than PID in all metrics. © 2016 by the American Diabetes Association. Readers may use this article as long as the work is properly cited, the use is educational and not for profit, and the work is not altered.
Design and implementation of a new fuzzy PID controller for networked control systems.
Fadaei, A; Salahshoor, K
2008-10-01
This paper presents a practical network platform to design and implement a networked-based cascade control system linking a Smar Foundation Fieldbus (FF) controller (DFI-302) and a Siemens programmable logic controller (PLC-S7-315-2DP) through Industrial Ethernet to a laboratory pilot plant. In the presented network configuration, the Smar OPC tag browser and Siemens WinCC OPC Channel provide the communicating interface between the two controllers. The paper investigates the performance of a PID controller implemented in two different possible configurations of FF function block (FB) and networked control system (NCS) via a remote Siemens PLC. In the FB control system implementation, the desired set-point is provided by the Siemens Human-Machine Interface (HMI) software (i.e, WinCC) via an Ethernet Modbus link. While, in the NCS implementation, the cascade loop is realized in remote Siemens PLC station and the final element set-point is sent to the Smar FF station via Ethernet bus. A new fuzzy PID control strategy is then proposed to improve the control performances of the networked-based control systems due to an induced transmission delay degradation effect. The proposed strategy utilizes an innovative idea based on sectionalizing the error signal of the step response into three different functional zones. The supporting philosophy behind these three functional zones is to decompose the desired control objectives in terms of rising time, settling time and steady-state error measures maintained by an appropriate PID-type controller in each zone. Then, fuzzy membership factors are defined to configure the control signal on the basis of the fuzzy weighted PID outputs of all three zones. The obtained results illustrate the effectiveness of the proposed fuzzy PID control scheme in improving the performances of the implemented NCS for different transportation delays.
Institute of Scientific and Technical Information of China (English)
谭冠政; 曾庆冬; 李文斌
2004-01-01
A designing method of intelligent proportional-integral-derivative(PID) controllers was proposed based on the ant system algorithm and fuzzy inference. This kind of controller is called Fuzzy-ant system PID controller. It consists of an off-line part and an on-line part. In the off-line part, for a given control system with a PID controller,by taking the overshoot, setting time and steady-state error of the system unit step response as the performance indexes and by using the ant system algorithm, a group of optimal PID parameters K*p , Ti* and T*d can be obtained, which are used as the initial values for the on-line tuning of PID parameters. In the on-line part, based on Kp* , Ti*and Td* and according to the current system error e and its time derivative, a specific program is written, which is used to optimize and adjust the PID parameters on-line through a fuzzy inference mechanism to ensure that the system response has optimal transient and steady-state performance. This kind of intelligent PID controller can be used to control the motor of the intelligent bionic artificial leg designed by the authors. The result of computer simulation experiment shows that the controller has less overshoot and shorter setting time.
Multivariate and semiparametric kernel regression
Härdle, Wolfgang; Müller, Marlene
1997-01-01
The paper gives an introduction to theory and application of multivariate and semiparametric kernel smoothing. Multivariate nonparametric density estimation is an often used pilot tool for examining the structure of data. Regression smoothing helps in investigating the association between covariates and responses. We concentrate on kernel smoothing using local polynomial fitting which includes the Nadaraya-Watson estimator. Some theory on the asymptotic behavior and bandwidth selection is pro...
Robustness of Structural Systems
DEFF Research Database (Denmark)
Canisius, T.D.G.; Sørensen, John Dalsgaard; Baker, J.W.
2007-01-01
The importance of robustness as a property of structural systems has been recognised following several structural failures, such as that at Ronan Point in 1968,where the consequenceswere deemed unacceptable relative to the initiating damage. A variety of research efforts in the past decades have...... attempted to quantify aspects of robustness such as redundancy and identify design principles that can improve robustness. This paper outlines the progress of recent work by the Joint Committee on Structural Safety (JCSS) to develop comprehensive guidance on assessing and providing robustness in structural...... systems. Guidance is provided regarding the assessment of robustness in a framework that considers potential hazards to the system, vulnerability of system components, and failure consequences. Several proposed methods for quantifying robustness are reviewed, and guidelines for robust design...
Directory of Open Access Journals (Sweden)
I Made Ginarsa
2013-11-01
Full Text Available Chaos and voltage collapse occurred in critical power systems due to disturbing of energy. PID-SVC layered reccurrent neural network-based (LRN-based PID-SVC was proposed to solve this problem. A PID was used to control chaos and voltage collapse. Then, an SVC LRN-based to maintan the load voltage. By using the proposed controller, chaos and voltage collapse were able to suppress and maintain the load voltage around the setting value. Furthemore, the proposed controller gives better response than PI-SVC controller.
Boosted Multivariate Trees for Longitudinal Data
Pande, Amol; Li, Liang; Rajeswaran, Jeevanantham; Ehrlinger, John; Kogalur, Udaya B.; Blackstone, Eugene H.; Ishwaran, Hemant
2017-01-01
Machine learning methods provide a powerful approach for analyzing longitudinal data in which repeated measurements are observed for a subject over time. We boost multivariate trees to fit a novel flexible semi-nonparametric marginal model for longitudinal data. In this model, features are assumed to be nonparametric, while feature-time interactions are modeled semi-nonparametrically utilizing P-splines with estimated smoothing parameter. In order to avoid overfitting, we describe a relatively simple in sample cross-validation method which can be used to estimate the optimal boosting iteration and which has the surprising added benefit of stabilizing certain parameter estimates. Our new multivariate tree boosting method is shown to be highly flexible, robust to covariance misspecification and unbalanced designs, and resistant to overfitting in high dimensions. Feature selection can be used to identify important features and feature-time interactions. An application to longitudinal data of forced 1-second lung expiratory volume (FEV1) for lung transplant patients identifies an important feature-time interaction and illustrates the ease with which our method can find complex relationships in longitudinal data. PMID:29249866
Estimating uncertainty in multivariate responses to selection.
Stinchcombe, John R; Simonsen, Anna K; Blows, Mark W
2014-04-01
Predicting the responses to natural selection is one of the key goals of evolutionary biology. Two of the challenges in fulfilling this goal have been the realization that many estimates of natural selection might be highly biased by environmentally induced covariances between traits and fitness, and that many estimated responses to selection do not incorporate or report uncertainty in the estimates. Here we describe the application of a framework that blends the merits of the Robertson-Price Identity approach and the multivariate breeder's equation to address these challenges. The approach allows genetic covariance matrices, selection differentials, selection gradients, and responses to selection to be estimated without environmentally induced bias, direct and indirect selection and responses to selection to be distinguished, and if implemented in a Bayesian-MCMC framework, statistically robust estimates of uncertainty on all of these parameters to be made. We illustrate our approach with a worked example of previously published data. More generally, we suggest that applying both the Robertson-Price Identity and the multivariate breeder's equation will facilitate hypothesis testing about natural selection, genetic constraints, and evolutionary responses. © 2013 The Author(s). Evolution © 2013 The Society for the Study of Evolution.
Development of a robust model-based reactivity control system
International Nuclear Information System (INIS)
Rovere, L.A.; Otaduy, P.J.; Brittain, C.R.
1990-01-01
This paper describes the development and implementation of a digital model-based reactivity control system that incorporates a knowledge of the plant physics into the control algorithm to improve system performance. This controller is composed of a model-based module and modified proportional-integral-derivative (PID) module. The model-based module has an estimation component to synthesize unmeasurable process variables that are necessary for the control action computation. These estimated variables, besides being used within the control algorithm, will be used for diagnostic purposes by a supervisory control system under development. The PID module compensates for inaccuracies in model coefficients by supplementing the model-based output with a correction term that eliminates any demand tracking or steady state errors. This control algorithm has been applied to develop controllers for a simulation of liquid metal reactors in a multimodular plant. It has shown its capability to track demands in neutron power much more accurately than conventional controllers, reducing overshoots to almost negligible value while providing a good degree of robustness to unmodeled dynamics. 10 refs., 4 figs
Robust feedback zoom tracking for digital video surveillance.
Zou, Tengyue; Tang, Xiaoqi; Song, Bao; Wang, Jin; Chen, Jihong
2012-01-01
Zoom tracking is an important function in video surveillance, particularly in traffic management and security monitoring. It involves keeping an object of interest in focus during the zoom operation. Zoom tracking is typically achieved by moving the zoom and focus motors in lenses following the so-called "trace curve", which shows the in-focus motor positions versus the zoom motor positions for a specific object distance. The main task of a zoom tracking approach is to accurately estimate the trace curve for the specified object. Because a proportional integral derivative (PID) controller has historically been considered to be the best controller in the absence of knowledge of the underlying process and its high-quality performance in motor control, in this paper, we propose a novel feedback zoom tracking (FZT) approach based on the geometric trace curve estimation and PID feedback controller. The performance of this approach is compared with existing zoom tracking methods in digital video surveillance. The real-time implementation results obtained on an actual digital video platform indicate that the developed FZT approach not only solves the traditional one-to-many mapping problem without pre-training but also improves the robustness for tracking moving or switching objects which is the key challenge in video surveillance.
Multivariate Statistical Process Control Charts: An Overview
Bersimis, Sotiris; Psarakis, Stelios; Panaretos, John
2006-01-01
In this paper we discuss the basic procedures for the implementation of multivariate statistical process control via control charting. Furthermore, we review multivariate extensions for all kinds of univariate control charts, such as multivariate Shewhart-type control charts, multivariate CUSUM control charts and multivariate EWMA control charts. In addition, we review unique procedures for the construction of multivariate control charts, based on multivariate statistical techniques such as p...
Multivariate Generalized Multiscale Entropy Analysis
Directory of Open Access Journals (Sweden)
Anne Humeau-Heurtier
2016-11-01
Full Text Available Multiscale entropy (MSE was introduced in the 2000s to quantify systems’ complexity. MSE relies on (i a coarse-graining procedure to derive a set of time series representing the system dynamics on different time scales; (ii the computation of the sample entropy for each coarse-grained time series. A refined composite MSE (rcMSE—based on the same steps as MSE—also exists. Compared to MSE, rcMSE increases the accuracy of entropy estimation and reduces the probability of inducing undefined entropy for short time series. The multivariate versions of MSE (MMSE and rcMSE (MrcMSE have also been introduced. In the coarse-graining step used in MSE, rcMSE, MMSE, and MrcMSE, the mean value is used to derive representations of the original data at different resolutions. A generalization of MSE was recently published, using the computation of different moments in the coarse-graining procedure. However, so far, this generalization only exists for univariate signals. We therefore herein propose an extension of this generalized MSE to multivariate data. The multivariate generalized algorithms of MMSE and MrcMSE presented herein (MGMSE and MGrcMSE, respectively are first analyzed through the processing of synthetic signals. We reveal that MGrcMSE shows better performance than MGMSE for short multivariate data. We then study the performance of MGrcMSE on two sets of short multivariate electroencephalograms (EEG available in the public domain. We report that MGrcMSE may show better performance than MrcMSE in distinguishing different types of multivariate EEG data. MGrcMSE could therefore supplement MMSE or MrcMSE in the processing of multivariate datasets.
A Robust Bayesian Approach for Structural Equation Models with Missing Data
Lee, Sik-Yum; Xia, Ye-Mao
2008-01-01
In this paper, normal/independent distributions, including but not limited to the multivariate t distribution, the multivariate contaminated distribution, and the multivariate slash distribution, are used to develop a robust Bayesian approach for analyzing structural equation models with complete or missing data. In the context of a nonlinear…
DEFF Research Database (Denmark)
Faber, Michael Havbro; Vrouwenvelder, A.C.W.M.; Sørensen, John Dalsgaard
2011-01-01
In 2005, the Joint Committee on Structural Safety (JCSS) together with Working Commission (WC) 1 of the International Association of Bridge and Structural Engineering (IABSE) organized a workshop on robustness of structures. Two important decisions resulted from this workshop, namely...... ‘COST TU0601: Robustness of Structures’ was initiated in February 2007, aiming to provide a platform for exchanging and promoting research in the area of structural robustness and to provide a basic framework, together with methods, strategies and guidelines enhancing robustness of structures...... the development of a joint European project on structural robustness under the COST (European Cooperation in Science and Technology) programme and the decision to develop a more elaborate document on structural robustness in collaboration between experts from the JCSS and the IABSE. Accordingly, a project titled...
Doppelhofer, Gernot; Weeks, Melvyn
2011-01-01
This paper investigates the robustness of determinants of economic growth in the presence of model uncertainty, parameter heterogeneity and outliers. The robust model averaging approach introduced in the paper uses a flexible and parsi- monious mixture modeling that allows for fat-tailed errors compared to the normal benchmark case. Applying robust model averaging to growth determinants, the paper finds that eight out of eighteen variables found to be significantly related to economic growth ...
Bishop , Matt; Elliott , Chip
2011-01-01
Part 2: WISE 7; International audience; Robust programming lies at the heart of the type of coding called “secure programming”. Yet it is rarely taught in academia. More commonly, the focus is on how to avoid creating well-known vulnerabilities. While important, that misses the point: a well-structured, robust program should anticipate where problems might arise and compensate for them. This paper discusses one view of robust programming and gives an example of how it may be taught.
Applied multivariate statistics with R
Zelterman, Daniel
2015-01-01
This book brings the power of multivariate statistics to graduate-level practitioners, making these analytical methods accessible without lengthy mathematical derivations. Using the open source, shareware program R, Professor Zelterman demonstrates the process and outcomes for a wide array of multivariate statistical applications. Chapters cover graphical displays, linear algebra, univariate, bivariate and multivariate normal distributions, factor methods, linear regression, discrimination and classification, clustering, time series models, and additional methods. Zelterman uses practical examples from diverse disciplines to welcome readers from a variety of academic specialties. Those with backgrounds in statistics will learn new methods while they review more familiar topics. Chapters include exercises, real data sets, and R implementations. The data are interesting, real-world topics, particularly from health and biology-related contexts. As an example of the approach, the text examines a sample from the B...
Multivariate stochastic simulation with subjective multivariate normal distributions
P. J. Ince; J. Buongiorno
1991-01-01
In many applications of Monte Carlo simulation in forestry or forest products, it may be known that some variables are correlated. However, for simplicity, in most simulations it has been assumed that random variables are independently distributed. This report describes an alternative Monte Carlo simulation technique for subjectively assesed multivariate normal...
Tahoun, A H
2017-01-01
In this paper, the stabilization problem of actuators saturation in uncertain chaotic systems is investigated via an adaptive PID control method. The PID control parameters are auto-tuned adaptively via adaptive control laws. A multi-level augmented error is designed to account for the extra terms appearing due to the use of PID and saturation. The proposed control technique uses both the state-feedback and the output-feedback methodologies. Based on Lyapunov׳s stability theory, new anti-windup adaptive controllers are proposed. Demonstrative examples with MATLAB simulations are studied. The simulation results show the efficiency of the proposed adaptive PID controllers. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Multivariate Matrix-Exponential Distributions
DEFF Research Database (Denmark)
Bladt, Mogens; Nielsen, Bo Friis
2010-01-01
be written as linear combinations of the elements in the exponential of a matrix. For this reason we shall refer to multivariate distributions with rational Laplace transform as multivariate matrix-exponential distributions (MVME). The marginal distributions of an MVME are univariate matrix......-exponential distributions. We prove a characterization that states that a distribution is an MVME distribution if and only if all non-negative, non-null linear combinations of the coordinates have a univariate matrix-exponential distribution. This theorem is analog to a well-known characterization theorem...
Multivariate Analysis for the Processing of Signals
Directory of Open Access Journals (Sweden)
Beattie J.R.
2014-01-01
Full Text Available Real-world experiments are becoming increasingly more complex, needing techniques capable of tracking this complexity. Signal based measurements are often used to capture this complexity, where a signal is a record of a sample’s response to a parameter (e.g. time, displacement, voltage, wavelength that is varied over a range of values. In signals the responses at each value of the varied parameter are related to each other, depending on the composition or state sample being measured. Since signals contain multiple information points, they have rich information content but are generally complex to comprehend. Multivariate Analysis (MA has profoundly transformed their analysis by allowing gross simplification of the tangled web of variation. In addition MA has also provided the advantage of being much more robust to the influence of noise than univariate methods of analysis. In recent years, there has been a growing awareness that the nature of the multivariate methods allows exploitation of its benefits for purposes other than data analysis, such as pre-processing of signals with the aim of eliminating irrelevant variations prior to analysis of the signal of interest. It has been shown that exploiting multivariate data reduction in an appropriate way can allow high fidelity denoising (removal of irreproducible non-signals, consistent and reproducible noise-insensitive correction of baseline distortions (removal of reproducible non-signals, accurate elimination of interfering signals (removal of reproducible but unwanted signals and the standardisation of signal amplitude fluctuations. At present, the field is relatively small but the possibilities for much wider application are considerable. Where signal properties are suitable for MA (such as the signal being stationary along the x-axis, these signal based corrections have the potential to be highly reproducible, and highly adaptable and are applicable in situations where the data is noisy or
Sohaib Aslam; Sundas Hannan; Umar Sajjad; Waheed Zafar
2016-01-01
Speed control of DC motor is very critical in most of the industrial systems where accuracy and protection are of essence. This paper presents the simulations of Proportional Integral Derivative Controller (PID) on a 16-bit PIC 24F series microcontroller for speed control of a DC motor in the presence of load torque. The PID gains have been tuned by Linear Quadratic Regulator (LQR) technique and then it is implemented on microcontroller using MPLAB and finally simulated for speed control of D...
BP neural network tuned PID controller for position tracking of a pneumatic artificial muscle.
Fan, Jizhuang; Zhong, Jun; Zhao, Jie; Zhu, Yanhe
2015-01-01
Although Pneumatic Artificial Muscle (PAM) has a promising future in rehabilitation robots, it's difficult to realize accurate position control due to its highly nonlinear properties. This paper deals with position control of PAM. To describe the hysteresis inside PAM, a polynomial based phenomenological function is developed. Based on the phenomenological model for PAM and analysis of pressure dynamics within PAM, an adaptive cascade controller is proposed. Both outer loop and inner loop employ BP Neural Network tuned PID algorithm. The outer loop is to handle high nonlinearities and unmodeled dynamics of PAM, while the inner loop is responsible for nonlinearities caused by pressure dynamics. Experimental results show high tracking accuracy as compared with a convention PID controller. The proposed controller is effective in improving performance of PAM and will be implemented in a rehabilitation robot.
Design and Research on Vehicles Motor Testing System Based on Improvement PID
Directory of Open Access Journals (Sweden)
Fan Kuangang
2014-08-01
Full Text Available Motor is the important parts in vehicles. It is the key parts for achieving automation. It is the critical technology to test vehicle motors. We take the PID (Proportion Integration Differentiation as based fundamental controlling algorithm, and we test motor parameters through LabVIEW for single-chip AT89C52. According to practical working condition, we build circuit electric field boundary, and analyze electric field distribution of hard circuit. In addition, we also design filtering circuit for main interrupt frequency (below 1 kHz, and we improved PID for direct motor speed which is controlled by PWM (pulse-width modulation to reach speed astatic regulation. At the same time, the system achieves soft start-up.
PID Testing Method Suitable for Process Control of Solar Cells Mass Production
Directory of Open Access Journals (Sweden)
Xianfang Gou
2015-01-01
Full Text Available Voltage bias of several hundred volts which are applied between solar cells and module frames may lead to significant power losses, so-called potential-induced degradation (PID, in normal photovoltaic (PV installations system. Modules and minimodules are used to conduct PID test of solar cells. The test procedure is time consuming and of high cost, which cannot be used as process monitoring method during solar cells fabrication. In this paper, three kinds of test including minimodule, Rsh, and V-Q test are conducted on solar cells or wafers with SiNx of different refractive index. All comparisons between test results of Rsh, V-Q, and minimodule tests have shown equal results. It is shown that Rsh test can be used as quality inspection of solar cells and V-Q test of coated wafer can be used as process control of solar cells.
Directory of Open Access Journals (Sweden)
Zhekang Dong
2014-01-01
Full Text Available In this paper, we present an implementation scheme of memristor-based multilayer feedforward small-world neural network (MFSNN inspirited by the lack of the hardware realization of the MFSNN on account of the need of a large number of electronic neurons and synapses. More specially, a mathematical closed-form charge-governed memristor model is presented with derivation procedures and the corresponding Simulink model is presented, which is an essential block for realizing the memristive synapse and the activation function in electronic neurons. Furthermore, we investigate a more intelligent memristive PID controller by incorporating the proposed MFSNN into intelligent PID control based on the advantages of the memristive MFSNN on computation speed and accuracy. Finally, numerical simulations have demonstrated the effectiveness of the proposed scheme.
Dong, Zhekang; Duan, Shukai; Hu, Xiaofang; Wang, Lidan; Li, Hai
2014-01-01
In this paper, we present an implementation scheme of memristor-based multilayer feedforward small-world neural network (MFSNN) inspirited by the lack of the hardware realization of the MFSNN on account of the need of a large number of electronic neurons and synapses. More specially, a mathematical closed-form charge-governed memristor model is presented with derivation procedures and the corresponding Simulink model is presented, which is an essential block for realizing the memristive synapse and the activation function in electronic neurons. Furthermore, we investigate a more intelligent memristive PID controller by incorporating the proposed MFSNN into intelligent PID control based on the advantages of the memristive MFSNN on computation speed and accuracy. Finally, numerical simulations have demonstrated the effectiveness of the proposed scheme.
Adaptive Functional-Based Neuro-Fuzzy-PID Incremental Controller Structure
Directory of Open Access Journals (Sweden)
Ashraf Ahmed Fahmy
2014-03-01
Full Text Available This paper presents an adaptive functional-based Neuro-fuzzy-PID incremental (NFPID controller structure that can be tuned either offline or online according to required controller performance. First, differential membership functions are used to represent the fuzzy membership functions of the input-output space of the three term controller. Second, controller rules are generated based on the discrete proportional, derivative, and integral function for the fuzzy space. Finally, a fully differentiable fuzzy neural network is constructed to represent the developed controller for either offline or online controller parameter adaptation. Two different adaptation methods are used for controller tuning, offline method based on controller transient performance cost function optimization using Bees Algorithm, and online method based on tracking error minimization using back-propagation with momentum algorithm. The proposed control system was tested to show the validity of the controller structure over a fixed PID controller gains to control SCARA type robot arm.
A GA-based PID active queue management control design for TCP/IP networks
Energy Technology Data Exchange (ETDEWEB)
Kuo, H-H; Chen, C-K; Liao, T-L [Department of Engineering Science, National Cheng Kung University, Tainan 701, Taiwan (China); Yan, J-J [Department of Computer and Communication, Shu-Te University, Kaohsiung 824, Taiwan (China)], E-mail: tlliao@mail.ncku.edu.tw
2008-02-15
In this paper, a genetic algorithm-based (GA-based) proportional-integral-derivative (PID) controller as an active queue manager for Internet routers is proposed to reduce packet loss and improve network utilization in TCP/IP networks. Based on the window-based nonlinear dynamics, the TCP network was modeled as a time-delayed system with a saturated input due to the limitations of packet-dropping probability and the effects of propagation delays in TCP networks. An improved genetic algorithm is employed to derive optimal or near optimal PID control gains such that a performance index of integrated-absolute error (IAE) in terms of the error between the router queue length and the desired queue length is minimized. The performance of the proposed control scheme was evaluated in various network scenarios via a series of numerical simulations. The simulation results confirm that the proposed scheme outperforms other AQM schemes.
A GA-based PID active queue management control design for TCP/IP networks
International Nuclear Information System (INIS)
Kuo, H-H; Chen, C-K; Liao, T-L; Yan, J-J
2008-01-01
In this paper, a genetic algorithm-based (GA-based) proportional-integral-derivative (PID) controller as an active queue manager for Internet routers is proposed to reduce packet loss and improve network utilization in TCP/IP networks. Based on the window-based nonlinear dynamics, the TCP network was modeled as a time-delayed system with a saturated input due to the limitations of packet-dropping probability and the effects of propagation delays in TCP networks. An improved genetic algorithm is employed to derive optimal or near optimal PID control gains such that a performance index of integrated-absolute error (IAE) in terms of the error between the router queue length and the desired queue length is minimized. The performance of the proposed control scheme was evaluated in various network scenarios via a series of numerical simulations. The simulation results confirm that the proposed scheme outperforms other AQM schemes
IMC-PID-fractional-order-filter controllers design for integer order systems.
Maâmar, Bettayeb; Rachid, Mansouri
2014-09-01
One of the reasons of the great success of standard PID controllers is the presence of simple tuning rules, of the automatic tuning feature and of tables that simplify significantly their design. For the fractional order case, some tuning rules have been proposed in the literature. However, they are not general because they are valid only for some model cases. In this paper, a new approach is investigated. The fractional property is not especially imposed by the controller structure but by the closed loop reference model. The resulting controller is fractional but it has a very interesting structure for its implementation. Indeed, the controller can be decomposed into two transfer functions: an integer transfer function which is generally an integer PID controller and a simple fractional filter. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Systematic design approach of fuzzy PID stabilizer for DC-DC converters
International Nuclear Information System (INIS)
Guesmi, K.; Essounbouli, N.; Hamzaoui, A.
2008-01-01
DC-DC converters process electrical energy by switching between a fixed number of configurations. The objective of controlling these systems is to provide better performances, ensure closed loop stability and guarantee a simple predictable behaviour. Based on a converter averaged model, we propose, in this paper, a systematic design approach of a fuzzy PID. The choice of controller parameters stands on the whole system stability requirements. Extension of the obtained asymptotic stability to structural stability is presented to show that the developed controller ensures also a simple and predictable behaviour of the converter. Finally, we illustrate the efficiency of the proposed fuzzy PID design approach through simulations in voltage mode as well as in current mode control
Yadav, Jyoti; Rani, Asha; Singh, Vijander
2016-12-01
This paper presents Fuzzy-PID (FPID) control scheme for a blood glucose control of type 1 diabetic subjects. A new metaheuristic Cuckoo Search Algorithm (CSA) is utilized to optimize the gains of FPID controller. CSA provides fast convergence and is capable of handling global optimization of continuous nonlinear systems. The proposed controller is an amalgamation of fuzzy logic and optimization which may provide an efficient solution for complex problems like blood glucose control. The task is to maintain normal glucose levels in the shortest possible time with minimum insulin dose. The glucose control is achieved by tuning the PID (Proportional Integral Derivative) and FPID controller with the help of Genetic Algorithm and CSA for comparative analysis. The designed controllers are tested on Bergman minimal model to control the blood glucose level in the facets of parameter uncertainties, meal disturbances and sensor noise. The results reveal that the performance of CSA-FPID controller is superior as compared to other designed controllers.
Autotuning of PID controller by means of human machine interface device
Directory of Open Access Journals (Sweden)
Michał Awtoniuk
2017-06-01
Full Text Available More and more control systems are based on industry microprocessors like PLC controllers (Programmable Logic Controller. The most commonly used control algorithm is PID (Proportional-Integral-Derivative algorithm. Autotuning procedure is not available in every PLC. These controllers are typically used in cooperation with HMI (Human Machine Interface devices. In the study two procedures of autotuning of the PID controller were implemented in the HMI device: step method and relay method. Six tuning rules for step methods and one for relay method were chosen. The autotuning procedures on simulated controlled object and PLC controller without build-in autotuning were tested. The object of control was first order system plus time delay.
Neuron-Adaptive PID Based Speed Control of SCSG Wind Turbine System
Directory of Open Access Journals (Sweden)
Shan Zuo
2014-01-01
Full Text Available In searching for methods to increase the power capacity of wind power generation system, superconducting synchronous generator (SCSG has appeared to be an attractive candidate to develop large-scale wind turbine due to its high energy density and unprecedented advantages in weight and size. In this paper, a high-temperature superconducting technology based large-scale wind turbine is considered and its physical structure and characteristics are analyzed. A simple yet effective single neuron-adaptive PID control scheme with Delta learning mechanism is proposed for the speed control of SCSG based wind power system, in which the RBF neural network (NN is employed to estimate the uncertain but continuous functions. Compared with the conventional PID control method, the simulation results of the proposed approach show a better performance in tracking the wind speed and maintaining a stable tip-speed ratio, therefore, achieving the maximum wind energy utilization.
Directory of Open Access Journals (Sweden)
Gang Qin
2015-01-01
Full Text Available The acceleration performance of EV, which affects a lot of performances of EV such as start-up, overtaking, driving safety, and ride comfort, has become increasingly popular in recent researches. An improved variable gain PID control algorithm to improve the acceleration performance is proposed in this paper. The results of simulation with Matlab/Simulink demonstrate the effectiveness of the proposed algorithm through the control performance of motor velocity, motor torque, and three-phase current of motor. Moreover, it is investigated that the proposed controller is valid by comparison with the other PID controllers. Furthermore, the AC induction motor experiment set is constructed to verify the effect of proposed controller.
Experimental results on the design for the APS PID global orbit control system
International Nuclear Information System (INIS)
Chung, Y.; Kirchman, J. A.
1997-01-01
The Advanced Photon Source third generation synchrotrons light source needs a stabilized particle beam position to produce high brightness and low emittance radiation. Global orbit correction control is introduced and is utilized to satisfy the demanding needs of the accelerator. This paper presents the experimental results for determining an effective and optimal controller to meet the global orbit correction requirements. These requirements include frequency/time domain demands consisting of vibrational noise attenuation, limiting of controller gains for stability and improving the system time response. Experiments were conducted with a digital signal processor implementing various PID sets to make comparisons between simulations and experiments. Measurements at these PID sets supported the results of software simulation
Control of a Quadrotor Using a Smart Self-Tuning Fuzzy PID Controller
Directory of Open Access Journals (Sweden)
Deepak Gautam
2013-11-01
Full Text Available This paper deals with the modelling, simulation-based controller design and path planning of a four rotor helicopter known as a quadrotor. All the drags, aerodynamic, coriolis and gyroscopic effect are neglected. A Newton-Euler formulation is used to derive the mathematical model. A smart self-tuning fuzzy PID controller based on an EKF algorithm is proposed for the attitude and position control of the quadrotor. The PID gains are tuned using a self-tuning fuzzy algorithm. The self-tuning of fuzzy parameters is achieved based on an EKF algorithm. A smart selection technique and exclusive tuning of active fuzzy parameters is proposed to reduce the computational time. Dijkstra's algorithm is used for path planning in a closed and known environment filled with obstacles and/or boundaries. The Dijkstra algorithm helps avoid obstacle and find the shortest route from a given initial position to the final position.
Systematic design approach of fuzzy PID stabilizer for DC-DC converters
Energy Technology Data Exchange (ETDEWEB)
Guesmi, K.; Essounbouli, N.; Hamzaoui, A. [CReSTIC, IUT de Troyes 09, rue de Quebec BP. 396, 10026 Troyes (France)
2008-10-15
DC-DC converters process electrical energy by switching between a fixed number of configurations. The objective of controlling these systems is to provide better performances, ensure closed loop stability and guarantee a simple predictable behaviour. Based on a converter averaged model, we propose, in this paper, a systematic design approach of a fuzzy PID. The choice of controller parameters stands on the whole system stability requirements. Extension of the obtained asymptotic stability to structural stability is presented to show that the developed controller ensures also a simple and predictable behaviour of the converter. Finally, we illustrate the efficiency of the proposed fuzzy PID design approach through simulations in voltage mode as well as in current mode control. (author)
The hierarchical expert tuning of PID controllers using tools of soft computing.
Karray, F; Gueaieb, W; Al-Sharhan, S
2002-01-01
We present soft computing-based results pertaining to the hierarchical tuning process of PID controllers located within the control loop of a class of nonlinear systems. The results are compared with PID controllers implemented either in a stand alone scheme or as a part of conventional gain scheduling structure. This work is motivated by the increasing need in the industry to design highly reliable and efficient controllers for dealing with regulation and tracking capabilities of complex processes characterized by nonlinearities and possibly time varying parameters. The soft computing-based controllers proposed are hybrid in nature in that they integrate within a well-defined hierarchical structure the benefits of hard algorithmic controllers with those having supervisory capabilities. The controllers proposed also have the distinct features of learning and auto-tuning without the need for tedious and computationally extensive online systems identification schemes.
Directory of Open Access Journals (Sweden)
Ziółkowskia E.
2012-09-01
Full Text Available Foundry resistance furnaces are thermal devices with a relatively large time delay in their response to a change in power parameters. Commonly used in automation classical PID controllers do not meet the requirements of high-quality control. Developed in recent years, fuzzy control theory is increasingly being used in various branches of economy and industry. Fuzzy controllers allow to introduce new developments in control systems of foundry furnaces as well. Correctly selected fuzzy controller can significantly reduce energy consumption in a controlled thermal process of heating equipment. The article presents a comparison of energy consumption by control system of foundry resistance furnace, equipped with either a PID controller or fuzzy controller optimally chosen.
Optimal Design for PID Controller Based on DE Algorithm in Omnidirectional Mobile Robot
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Wu Peizhang
2017-01-01
Full Text Available This paper introduces a omnidirectional mobile robot based on Mecanum wheel, which is used for conveying heavy load in a small space of the automatic warehousing logistics center. Then analyzes and establishes the omnidirectional chassis inverse and forward kinematic model. In order to improve the performance of motion, the paper proposes the optimal PID controller based on differential evolution algorithm. Finally, through MATLAB simulation, the results show that the kinematic model of mobile robot chassis is correct, further more the controller optimized by the DE algorithm working better than the traditional Z-N PID tuned. So the optimal scheme is reasonable and feasible, which has a value for engineering applications.
Control of baker’s yeast fermentation : PID and fuzzy algorithms
Machado, Carlos; Gomes, Pedro; Soares, Rui; Pereira, Silvia; Soares, Filomena
2001-01-01
A MATLAB/SIMULINK-based simulator was employed for studies concerning the control of baker’s yeast fed-batch fermentation. Four control algorithms were implemented and compared: the classical PID control, two discrete versions- modified velocity and position algorithms, and a fuzzy law. The simulation package was seen to be an efficient tool for the simulation and tests of control strategies of the non-linear process.
PID - 3D: a software to develop mathematical human phantoms for use in computational dosimetry
International Nuclear Information System (INIS)
Lima Filho, Jose de Melo; Vieira, Jose Wilson; Lima, Vanildo Junior de Melo; Lima, Fernando Roberto de Andrade
2009-01-01
The PID-3D software, written in Visual C++, contains tools developed for building and editing of three-dimensional geometric figures formed of voxels (volume pixels). These tools were projected to be used, together with those already developed by the Grupo de Dosimetria Numerica (GDN/CNPq), such as the FANTOMAS and DIP software, in computational dosimetry of ionizing radiation. The main objective of this paper is to develop various voxel-based geometric solids to build voxel phantoms (meaning models), anthropomorphic or not. The domain of this technique of development of geometric solids is important for the GDN/CNPq, because it allows the use of just one Monte Carlo code to simulate the transportation, interaction and deposition of radiation in tomographic and mathematical phantoms. Building a particular geometric solid the user needs to inform to the PID-3D software, the location and the size of the parallelepiped that involves it. Each built solid can be saved in a binary file of the type SGI (file containing the size and the numeric values that constitutes the 3D matrix that represents the solid, commonly used by GDN/CNPq). The final mathematical phantom is built starting from these SGI files and the SGI file resulting constitutes a voxel phantom. With this approach the software's user does not have to manipulate the equations and inequalities of the solids that represent the organs and tissues of the phantom. The 3D-PID software, associated with the FANTOMAS and DIP software are tools produced by GDN/CNPq, providing a new technique for building of 3D scenes in dosimetric evaluations using voxel phantoms. To validate the PID-3D software one built, step by step, a phantom similar to the MIRD-5 stylized phantom. (author)
Pappas, Iosif
2016-01-01
PID controllers are extensively used in industry. Although many tuning methodologies exist, finding good controller settings is not an easy task and frequently optimization-based design is preferred to satisfy more complex criteria. In this thesis, the focus was to find which tuning approaches, if any, present close to optimal behavior. Pareto-optimal controllers were found for different first and second-order processes with time delay. Performance was quantified in terms of the integrat...
Design of Intelligent Hydraulic Excavator Control System Based on PID Method
Zhang, Jun; Jiao, Shengjie; Liao, Xiaoming; Yin, Penglong; Wang, Yulin; Si, Kuimao; Zhang, Yi; Gu, Hairong
Most of the domestic designed hydraulic excavators adopt the constant power design method and set 85%~90% of engine power as the hydraulic system adoption power, it causes high energy loss due to mismatching of power between the engine and the pump. While the variation of the rotational speed of engine could sense the power shift of the load, it provides a new method to adjust the power matching between engine and pump through engine speed. Based on negative flux hydraulic system, an intelligent hydraulic excavator control system was designed based on rotational speed sensing method to improve energy efficiency. The control system was consisted of engine control module, pump power adjusted module, engine idle module and system fault diagnosis module. Special PLC with CAN bus was used to acquired the sensors and adjusts the pump absorption power according to load variation. Four energy saving control strategies with constant power method were employed to improve the fuel utilization. Three power modes (H, S and L mode) were designed to meet different working status; Auto idle function was employed to save energy through two work status detected pressure switches, 1300rpm was setting as the idle speed according to the engine consumption fuel curve. Transient overload function was designed for deep digging within short time without spending extra fuel. An increasing PID method was employed to realize power matching between engine and pump, the rotational speed's variation was taken as the PID algorithm's input; the current of proportional valve of variable displacement pump was the PID's output. The result indicated that the auto idle could decrease fuel consumption by 33.33% compared to work in maximum speed of H mode, the PID control method could take full use of maximum engine power at each power mode and keep the engine speed at stable range. Application of rotational speed sensing method provides a reliable method to improve the excavator's energy efficiency and
METİN, Muzaffer; GÜÇLÜ, Rahmi
2014-01-01
In this study, a conventional PID type fuzzy controller and parameter adaptive fuzzy controller are designed to control vibrations actively of a light rail transport vehicle which modeled as 6 degree-of-freedom system and compared performances of these two controllers. Rail vehicle model consists of a passenger seat and its suspension system, vehicle body, bogie, primary and secondary suspensions and wheels. The similarity between mathematical model and real system is shown by compar...
Profil épidémiologique, diagnostique, thérapeutique et évolutif du ...
African Journals Online (AJOL)
Objectifs: Étudier les aspects épidémiologiques, cliniques, thérapeutiques et évolutifs du cancer de la prostate dans le service d'urologie du CHU-Sylvanus Olympio du Togo. Patients et méthodes: Il s'agissait d'une étude prospective de mars 2011 à mars 2014 sur les patients suivis pour cancer de la prostate au Togo.
Desain Proportional Integral Derrivative (Pid) Controller Pada Model Arm Robot Manipulator
Pratama, Adhityanendra Pandu; Munadi, Munadi
2014-01-01
Dalam rangka menuju proses industrialisasi modern di negara Indonesia, harus didukung dengan teknologi yang canggih, contoh nya adalah arm robot manipulator. sebagai pelaku proses produksi sehingga dihasilkan ketepatan,kepresisian, dan kefektifan pada proses produksi. Dengan hal tersebut dibuat sebuah desain kontrol PID pada arm robot manipulator dengan tujuan menghasilkan tingkat presisi dan kestabilan yang lebih baik. Kontroler tersebut didesain, disimulasikan, dan diaplikasikan pada ha...
Genetic Algorithm Tuning of PID Controller in Smith Predictor for Glucose Concentration Control
Tsonyo Slavov; Olympia Roeva
2011-01-01
This paper focuses on design of a glucose concentration control system based on nonlinear model plant of E. coli MC4110 fed-batch cultivation process. Due to significant time delay in real time glucose concentration measurement, a correction is proposed in glucose concentration measurement and a Smith predictor (SP) control structure based on universal PID controller is designed. To reduce the influence of model error in SP structure the estimate of measured glucose concentration is used. For...
Effective and Robust Generalized Predictive Speed Control of Induction Motor
Directory of Open Access Journals (Sweden)
Patxi Alkorta
2013-01-01
Full Text Available This paper presents and validates a new proposal for effective speed vector control of induction motors based on linear Generalized Predictive Control (GPC law. The presented GPC-PI cascade configuration simplifies the design with regard to GPC-GPC cascade configuration, maintaining the advantages of the predictive control algorithm. The robust stability of the closed loop system is demonstrated by the poles placement method for several typical cases of uncertainties in induction motors. The controller has been tested using several simulations and experiments and has been compared with Proportional Integral Derivative (PID and Sliding Mode (SM control schemes, obtaining outstanding results in speed tracking even in the presence of parameter uncertainties, unknown load disturbance, and measurement noise in the loop signals, suggesting its use in industrial applications.
Robust Adaptive Reactive Power Control for Doubly Fed Induction Generator
Directory of Open Access Journals (Sweden)
Huabin Wen
2014-01-01
Full Text Available The problem of reactive power control for mains-side inverter (MSI in doubly fed induction generator (DFIG is studied in this paper. To accommodate the modelling nonlinearities and inherent uncertainties, a novel robust adaptive control algorithm for MSI is proposed by utilizing Lyapunov theory that ensures asymptotic stability of the system under unpredictable external disturbances and significant parametric uncertainties. The distinguishing benefit of the aforementioned scheme consists in its capabilities to maintain satisfactory performance under varying operation conditions without the need for manually redesigning or reprogramming the control gains in contrast to the commonly used PI/PID control. Simulations are also built to confirm the correctness and benefits of the control scheme.
Sharma, Richa; Kumar, Vikas; Gaur, Prerna; Mittal, A P
2016-05-01
Being complex, non-linear and coupled system, the robotic manipulator cannot be effectively controlled using classical proportional-integral-derivative (PID) controller. To enhance the effectiveness of the conventional PID controller for the nonlinear and uncertain systems, gains of the PID controller should be conservatively tuned and should adapt to the process parameter variations. In this work, a mix locally recurrent neural network (MLRNN) architecture is investigated to mimic a conventional PID controller which consists of at most three hidden nodes which act as proportional, integral and derivative node. The gains of the mix locally recurrent neural network based PID (MLRNNPID) controller scheme are initialized with a newly developed cuckoo search algorithm (CSA) based optimization method rather than assuming randomly. A sequential learning based least square algorithm is then investigated for the on-line adaptation of the gains of MLRNNPID controller. The performance of the proposed controller scheme is tested against the plant parameters uncertainties and external disturbances for both links of the two link robotic manipulator with variable payload (TL-RMWVP). The stability of the proposed controller is analyzed using Lyapunov stability criteria. A performance comparison is carried out among MLRNNPID controller, CSA optimized NNPID (OPTNNPID) controller and CSA optimized conventional PID (OPTPID) controller in order to establish the effectiveness of the MLRNNPID controller. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Saha, Suman; Das, Saptarshi; Das, Shantanu; Gupta, Amitava
2012-09-01
A novel conformal mapping based fractional order (FO) methodology is developed in this paper for tuning existing classical (Integer Order) Proportional Integral Derivative (PID) controllers especially for sluggish and oscillatory second order systems. The conventional pole placement tuning via Linear Quadratic Regulator (LQR) method is extended for open loop oscillatory systems as well. The locations of the open loop zeros of a fractional order PID (FOPID or PIλDμ) controller have been approximated in this paper vis-à-vis a LQR tuned conventional integer order PID controller, to achieve equivalent integer order PID control system. This approach eases the implementation of analog/digital realization of a FOPID controller with its integer order counterpart along with the advantages of fractional order controller preserved. It is shown here in the paper that decrease in the integro-differential operators of the FOPID/PIλDμ controller pushes the open loop zeros of the equivalent PID controller towards greater damping regions which gives a trajectory of the controller zeros and dominant closed loop poles. This trajectory is termed as "M-curve". This phenomena is used to design a two-stage tuning algorithm which reduces the existing PID controller's effort in a significant manner compared to that with a single stage LQR based pole placement method at a desired closed loop damping and frequency.
Directory of Open Access Journals (Sweden)
Puchalski Bartosz
2015-12-01
Full Text Available In the paper, analysis of multi-region fuzzy logic controller with local PID controllers for steam generator of pressurized water reactor (PWR working in wide range of thermal power changes is presented. The U-tube steam generator has a nonlinear dynamics depending on thermal power transferred from coolant of the primary loop of the PWR plant. Control of water level in the steam generator conducted by a traditional PID controller which is designed for nominal power level of the nuclear reactor operates insufficiently well in wide range of operational conditions, especially at the low thermal power level. Thus the steam generator is often controlled manually by operators. Incorrect water level in the steam generator may lead to accidental shutdown of the nuclear reactor and consequently financial losses. In the paper a comparison of proposed multi region fuzzy logic controller and traditional PID controllers designed only for nominal condition is presented. The gains of the local PID controllers have been derived by solving appropriate optimization tasks with the cost function in a form of integrated squared error (ISE criterion. In both cases, a model of steam generator which is readily available in literature was used for control algorithms synthesis purposes. The proposed multi-region fuzzy logic controller and traditional PID controller were subjected to broad-based simulation tests in rapid prototyping software - Matlab/Simulink. These tests proved the advantage of multi-region fuzzy logic controller with local PID controllers over its traditional counterpart.
The Multivariate Gaussian Probability Distribution
DEFF Research Database (Denmark)
Ahrendt, Peter
2005-01-01
This technical report intends to gather information about the multivariate gaussian distribution, that was previously not (at least to my knowledge) to be found in one place and written as a reference manual. Additionally, some useful tips and tricks are collected that may be useful in practical ...
A "Model" Multivariable Calculus Course.
Beckmann, Charlene E.; Schlicker, Steven J.
1999-01-01
Describes a rich, investigative approach to multivariable calculus. Introduces a project in which students construct physical models of surfaces that represent real-life applications of their choice. The models, along with student-selected datasets, serve as vehicles to study most of the concepts of the course from both continuous and discrete…
Robust procedures in chemometrics
DEFF Research Database (Denmark)
Kotwa, Ewelina
properties of the analysed data. The broad theoretical background of robust procedures was given as a very useful supplement to the classical methods, and a new tool, based on robust PCA, aiming at identifying Rayleigh and Raman scatters in excitation-mission (EEM) data was developed. The results show...
International Nuclear Information System (INIS)
Krull, I.S.; Swartz, M.; Driscoll, J.N.
1984-01-01
Pentafluorophenyldimethylsilyl chloride (flophemesyl chloride, Fl) is a well known derivatization reagent for improved electron capture detection (ECD) in gas chromatography (GC)(GC-ECD), but it has never been utilized for improved detectability and sensitivity in GC-photoionization detection (GC-PID). A wide variety of flophemesyl alcohol derivatives have been used in order to show a new approach for realizing greatly reduced minimum detection limits (MDL) of virtually all alcohol derivatives in GC-PID analysis. This particular derivatization approach is inexpensive and easy to apply, leading to quantitative or near 100% conversion of the starting alcohols to the expected flophemesyl ethers (silyl ethers). Detection limits can be lowered by 2-3 orders of magnitude for such derivatives when compared with the starting alcohols, along with calibration plots that are linear over 5-7 orders of magnitude. Specific GC conditions have been developed for many flophemesyl derivatives, in all cases using packed columns. Both ECD and PID relative response factors (RRFs) and normalized RRFs have been determined, and such ratios can now be used for improved analytic identification from complex sample matrices, where appropriate. 28 references, 2 figures, 5 tables
HYBRID SYSTEM BASED FUZZY-PID CONTROL SCHEMES FOR UNPREDICTABLE PROCESS
Directory of Open Access Journals (Sweden)
M.K. Tan
2011-07-01
Full Text Available In general, the primary aim of polymerization industry is to enhance the process operation in order to obtain high quality and purity product. However, a sudden and large amount of heat will be released rapidly during the mixing process of two reactants, i.e. phenol and formalin due to its exothermic behavior. The unpredictable heat will cause deviation of process temperature and hence affect the quality of the product. Therefore, it is vital to control the process temperature during the polymerization. In the modern industry, fuzzy logic is commonly used to auto-tune PID controller to control the process temperature. However, this method needs an experienced operator to fine tune the fuzzy membership function and universe of discourse via trial and error approach. Hence, the setting of fuzzy inference system might not be accurate due to the human errors. Besides that, control of the process can be challenging due to the rapid changes in the plant parameters which will increase the process complexity. This paper proposes an optimization scheme using hybrid of Q-learning (QL and genetic algorithm (GA to optimize the fuzzy membership function in order to allow the conventional fuzzy-PID controller to control the process temperature more effectively. The performances of the proposed optimization scheme are compared with the existing fuzzy-PID scheme. The results show that the proposed optimization scheme is able to control the process temperature more effectively even if disturbance is introduced.
MPC-based auto-tuned PID controller for the steam generator water level
International Nuclear Information System (INIS)
Na, Man Gyun
2001-01-01
In this work, proportional-integral-derivative (PID) control gains are automatically tuned by using a model predictive control (MPC) method. The MPC has received much attention as a powerful tool for the control of industrial process systems. An MPC-based PID controller can be derived from the second order linear model of a process. The steam generator is usually described by the well-known 4 th order linear model which consists of the mass capacity, reverse dynamics and mechanical oscillations terms. But the important terms in this linear model are the mass capacity and reverse dynamics terms, both of which can be described by a 2 nd order linear system. The proposed auto-tuned PID controller was applied to a linear model of steam generators. The parameters of a linear model for steam generators are very different according to the power levels. The proposed controller showed good performance for the water level deviation and sudden steam flow disturbances that are typical in the existing power plants by changing only the input-weighting factor according to the power level
Regular self-oscillating and chaotic behaviour of a PID controlled gimbal suspension gyro
International Nuclear Information System (INIS)
Perez Polo, Manuel F.; Perez Molina, Manuel
2004-01-01
The dynamics of a gyro in gimbal with a PID controller to obtain steady state, self-oscillating and chaotic motion is considered in this paper. The mathematical model of the whole system is deduced from the gyroscope nutation theory and from a feedback control system formed by a PID controller with constrained integral action. The paper shows that the gyro and the associated PID feedback control system have multiple equilibrium points, and from the analysis of a Poincare-Andronov-Hopf bifurcation at the equilibrium points, it is possible to deduce the conditions, which give regular and self-oscillating behaviour. The calculation of the first Lyapunov value is used to predict the motion of the gyro in order to obtain a desired equilibrium point or self-oscillating behaviour. The mechanism of the stability loss of the gyro under small vibrations of the gyro platform and the appearance of chaotic motion is also presented. Numerical simulations are performed to verify the analytical results
Yaseen, Mundher H. A.
Magnetic levitation is a technique to suspend an object without any mechanical support. The main objective of this study is to demonstrate stabilized closed loop control of 1-DOF Maglev experimentally using real-time control simulink feature of (SIMLAB) microcontroller. Proportional Integral Derivative (PID) and Linear Quadratic Regulator (LQR) controllers are employed to examine the stability performance of the Maglev control system under effect of unbalanced change of load and wave signal on Maglev plane. The effect of unbalanced change of applied load on single point, line and plane are presented. Furthermore, in order to study the effect of sudden change in input signal, the input of wave signal has been applied on all points of the prototype maglev plate simultaneously. The results of pulse width modulation (PWM) reveal that the control system using LQR controller provides faster response to adjust the levitated plane comparing to PID controller. Moreover, the air gap distance that controlled using PID controller is rather stable with little oscillation. Meanwhile, LQR controller provided more stability and homogeneous response.
Optimized linear motor and digital PID controller setup used in Mössbauer spectrometer
Kohout, Pavel; Kouřil, Lukáš; Navařík, Jakub; Novák, Petr; Pechoušek, Jiří
2014-10-01
Optimization of a linear motor and digital PID controller setup used in a Mössbauer spectrometer is presented. Velocity driving system with a digital PID feedback subsystem was developed in the LabVIEW graphical environment and deployed on the sbRIO real-time hardware device (National Instruments). The most important data acquisition processes are performed as real-time deterministic tasks on an FPGA chip. Velocity transducer of a double loudspeaker type with a power amplifier circuit is driven by the system. Series of calibration measurements were proceeded to find the optimal setup of the P, I, D parameters together with velocity error signal analysis. The shape and given signal characteristics of the velocity error signal are analyzed in details. Remote applications for controlling and monitoring the PID system from computer or smart phone, respectively, were also developed. The best setup and P, I, D parameters were set and calibration spectrum of α-Fe sample with an average nonlinearity of the velocity scale below 0.08% was collected. Furthermore, the width of the spectral line below 0.30 mm/s was observed. Powerful and complex velocity driving system was designed.
Dukic, Maja; Todorov, Vencislav; Andany, Santiago; Nievergelt, Adrian P.; Yang, Chen; Hosseini, Nahid; Fantner, Georg E.
2017-12-01
Nearly all scanning probe microscopes (SPMs) contain a feedback controller, which is used to move the scanner in the direction of the z-axis in order to maintain a constant setpoint based on the tip-sample interaction. The most frequently used feedback controller in SPMs is the proportional-integral (PI) controller. The bandwidth of the PI controller presents one of the speed limiting factors in high-speed SPMs, where higher bandwidths enable faster scanning speeds and higher imaging resolution. Most SPM systems use digital signal processor-based PI feedback controllers, which require analog-to-digital and digital-to-analog converters. These converters introduce additional feedback delays which limit the achievable imaging speed and resolution. In this paper, we present a digitally controlled analog proportional-integral-derivative (PID) controller. The controller implementation allows tunability of the PID gains over a large amplification and frequency range, while also providing precise control of the system and reproducibility of the gain parameters. By using the analog PID controller, we were able to perform successful atomic force microscopy imaging of a standard silicon calibration grating at line rates up to several kHz.
Design of Multiregional Supervisory Fuzzy PID Control of pH Reactors
Directory of Open Access Journals (Sweden)
Shebel AlSabbah
2015-01-01
Full Text Available This work concerns designing multiregional supervisory fuzzy PID (Proportional-Integral-Derivative control for pH reactors. The proposed work focuses, mainly, on two themes. The first one is to propose a multiregional supervisory fuzzy-based cascade control structure. It would enable modifying dynamics and enhance system’s stability. The fuzzy system (master loop has been chosen as a tuner for PID controller (slave loop. It takes into consideration parameters uncertainties and reference tracking. The second theme concerns designing a hybrid neural network-based pH estimator. The proposed estimator would overcome the industrial drawbacks, that is, cost and size, found with conventional methods for pH measurement. The final end-user-interface (EUI front panel and the results that evaluate the performance of the supervisory fuzzy PID-based control system and hybrid NN-based estimator have been presented using the compatibility found between LabView and MatLab. They lead to conclude that the proposed algorithms are appropriate to systems nonlinearities encountered with pH reactors.
Laser therapy in women genital Chlamydia trachomatis infection complicated with PID and infertility
Brinzan, Daniela; Paiusan, Lucian; Smeu, Claudia-Ramona
2018-04-01
Genital Chlamydia Trachomatis infection is one of the most common sexually transmitted infections with more than 50 million new cases occurred globally every year. Underdiagnosed and untreated, it can generate long term severe complications including PID, infertility, ectopic pregnancy and chronic pelvic pain. Among 20 patients diagnosed with PID and infertility in our medical office during one year, we selected a study group of 10 patients with genital Chlamydia Trachomatis infection. The diagnostic methods used were anamnesis, clinical examination, Pap smear, bacteriological and serological tests, ultra sound examination. The group of patients selected was monitored for one year. The treatment took into account general measures for both partners and specific measures (antibiotic treatment and focused laser therapy). The initial group was split in two, group A treated only with antibiotics and group B treated with both antibiotics and laser therapy. All the 5 patients of group B presented an improvement of the clinical manifestations and 3 of them ended up with pregnancy. On the other hand, in group B, only one patient manifested total disappearance of pains and the infertility persisted for all. It is noteworthy that the association of laser therapy in the treatment of Chlamydia Trachomatis infection has brought significant improvement in the inflammatory processes of internal genitalia (PID) and in the fertility of the couple.
Heat control in HVDC resistive divider by PID and NN controllers
International Nuclear Information System (INIS)
Yilmaz, S.; Dincer, H.; Eksin, I.; Kalenderli, O.
2007-01-01
In this study, a control system is presented that is devised to increase measurement precisions within a prototype high voltage DC resistive divider (HVDC-RD). Since one of the major sources of measurement errors in such devices is the self heating effect, a system controlling the temperature within the high voltage DC resistive divider is devised so that suitable and stable temperature conditions are maintained that, in return, will decrease the measurement errors. The resistive divider system is cooled by oil, and PID and neural network (NN) controllers try to keep the temperature within the prescribed limits. The system to be controlled exhibits a nonlinear character, and therefore, a control approach based on NN controllers is proposed. Thus, a system that can fulfill the various requirements dictated by the designer is constructed. The performance of the NN controller is compared with that of the PID controller developed for the same purpose, and the values of the performance indices indicate the superiority of the NN controller over that of the classical PID controller
Coordinate control of integral reactor based on single neuron PID controller
International Nuclear Information System (INIS)
Liu Yan; Xia Hong
2014-01-01
As one of the main type of reactors in the future, the development of the integral reactor has attracted worldwide attention. On the basis of understanding the background of the integral reactor, the author will be familiar with and master the power control of reactor and the feedwater flow control of steam generator, and the speed control of turbine (turbine speed control is associated with the turbine load control). According to the expectative program 'reactor power following turbine load' of the reactor, it will make coordinate control of the three and come to a overall control scheme. The author will use the supervisory learning algorithm of Hebb for single neuron PID controller with self-adaptation to study the coordinate control of integral reactor. Compared with conventional PI or PID controller, to a certain extent, it solves the problems that traditional PID controller is not easy to tune real-time parameters and lack of effective control for a number of complex processes and slow-varying parameter systems. It improves the security, reliability, stability and flexibility of control process and achieves effective control of the system. (authors)
Robustness Beamforming Algorithms
Directory of Open Access Journals (Sweden)
Sajad Dehghani
2014-04-01
Full Text Available Adaptive beamforming methods are known to degrade in the presence of steering vector and covariance matrix uncertinity. In this paper, a new approach is presented to robust adaptive minimum variance distortionless response beamforming make robust against both uncertainties in steering vector and covariance matrix. This method minimize a optimization problem that contains a quadratic objective function and a quadratic constraint. The optimization problem is nonconvex but is converted to a convex optimization problem in this paper. It is solved by the interior-point method and optimum weight vector to robust beamforming is achieved.
Directory of Open Access Journals (Sweden)
Jorge Villagrá
2010-10-01
Full Text Available Resumen: A pesar de sus limitaciones, la técnica de control mas utilizada en el mundo industrial sigue siendo todavía hoy el control PID. En este artículo se presenta un nuevo enfoque, el control basado en PID inteligentes (i-PID, que aprovecha las virtudes que han hecho tan popular al PID, mejorando uno de sus puntos débiles: la perdida de prestaciones en presencia de términos no-lineales o de dinámicas no modeladas. Para ilustrar las características del i-PID, se ha probado su comportamiento en una aplicación real, el control de crucero de un vehículo experimental a bajas velocidades. Palabras Clave: Controladores PID, Sistemas de control no lineales, Vehículos autónomos, Control de velocidad
Robust control for a biaxial servo with time delay system based on adaptive tuning technique.
Chen, Tien-Chi; Yu, Chih-Hsien
2009-07-01
A robust control method for synchronizing a biaxial servo system motion is proposed in this paper. A new network based cross-coupled control and adaptive tuning techniques are used together to cancel out the skew error. The conventional fixed gain PID cross-coupled controller (CCC) is replaced with the adaptive cross-coupled controller (ACCC) in the proposed control scheme to maintain biaxial servo system synchronization motion. Adaptive-tuning PID (APID) position and velocity controllers provide the necessary control actions to maintain synchronization while following a variable command trajectory. A delay-time compensator (DTC) with an adaptive controller was augmented to set the time delay element, effectively moving it outside the closed loop, enhancing the stability of the robust controlled system. This scheme provides strong robustness with respect to uncertain dynamics and disturbances. The simulation and experimental results reveal that the proposed control structure adapts to a wide range of operating conditions and provides promising results under parameter variations and load changes.
Multivariate Methods for Meta-Analysis of Genetic Association Studies.
Dimou, Niki L; Pantavou, Katerina G; Braliou, Georgia G; Bagos, Pantelis G
2018-01-01
Multivariate meta-analysis of genetic association studies and genome-wide association studies has received a remarkable attention as it improves the precision of the analysis. Here, we review, summarize and present in a unified framework methods for multivariate meta-analysis of genetic association studies and genome-wide association studies. Starting with the statistical methods used for robust analysis and genetic model selection, we present in brief univariate methods for meta-analysis and we then scrutinize multivariate methodologies. Multivariate models of meta-analysis for a single gene-disease association studies, including models for haplotype association studies, multiple linked polymorphisms and multiple outcomes are discussed. The popular Mendelian randomization approach and special cases of meta-analysis addressing issues such as the assumption of the mode of inheritance, deviation from Hardy-Weinberg Equilibrium and gene-environment interactions are also presented. All available methods are enriched with practical applications and methodologies that could be developed in the future are discussed. Links for all available software implementing multivariate meta-analysis methods are also provided.
Thimm, Jens C.; Jordan, Stian; Bach, Bo
2016-01-01
Background With the publication of the fifth edition of the Diagnostic and Statistical Manual of Mental Disorders (DSM-5), an alternative model for personality disorders based on personality dysfunction and pathological personality traits was introduced. The Personality Inventory for DSM-5 (PID-5) is a 220-item self-report inventory designed to assess the personality traits of this model. Recently, a short 100-item version of the PID-5 (PID-5-SF) has been developed. The aim of this study was ...
Robustness Metrics: Consolidating the multiple approaches to quantify Robustness
DEFF Research Database (Denmark)
Göhler, Simon Moritz; Eifler, Tobias; Howard, Thomas J.
2016-01-01
robustness metrics; 3) Functional expectancy and dispersion robustness metrics; and 4) Probability of conformance robustness metrics. The goal was to give a comprehensive overview of robustness metrics and guidance to scholars and practitioners to understand the different types of robustness metrics...
DEFF Research Database (Denmark)
Sørensen, John Dalsgaard
2008-01-01
This paper describes the background of the robustness requirements implemented in the Danish Code of Practice for Safety of Structures and in the Danish National Annex to the Eurocode 0, see (DS-INF 146, 2003), (DS 409, 2006), (EN 1990 DK NA, 2007) and (Sørensen and Christensen, 2006). More...... frequent use of advanced types of structures with limited redundancy and serious consequences in case of failure combined with increased requirements to efficiency in design and execution followed by increased risk of human errors has made the need of requirements to robustness of new structures essential....... According to Danish design rules robustness shall be documented for all structures in high consequence class. The design procedure to document sufficient robustness consists of: 1) Review of loads and possible failure modes / scenarios and determination of acceptable collapse extent; 2) Review...
DEFF Research Database (Denmark)
Vrouwenvelder, T.; Sørensen, John Dalsgaard
2009-01-01
After the collapse of the World Trade Centre towers in 2001 and a number of collapses of structural systems in the beginning of the century, robustness of structural systems has gained renewed interest. Despite many significant theoretical, methodical and technological advances, structural...... of robustness for structural design such requirements are not substantiated in more detail, nor have the engineering profession been able to agree on an interpretation of robustness which facilitates for its uantification. A European COST action TU 601 on ‘Robustness of structures' has started in 2007...... by a group of members of the CSS. This paper describes the ongoing work in this action, with emphasis on the development of a theoretical and risk based quantification and optimization procedure on the one side and a practical pre-normative guideline on the other....
Robust Approaches to Forecasting
Jennifer Castle; David Hendry; Michael P. Clements
2014-01-01
We investigate alternative robust approaches to forecasting, using a new class of robust devices, contrasted with equilibrium correction models. Their forecasting properties are derived facing a range of likely empirical problems at the forecast origin, including measurement errors, implulses, omitted variables, unanticipated location shifts and incorrectly included variables that experience a shift. We derive the resulting forecast biases and error variances, and indicate when the methods ar...
Robustness - theoretical framework
DEFF Research Database (Denmark)
Sørensen, John Dalsgaard; Rizzuto, Enrico; Faber, Michael H.
2010-01-01
More frequent use of advanced types of structures with limited redundancy and serious consequences in case of failure combined with increased requirements to efficiency in design and execution followed by increased risk of human errors has made the need of requirements to robustness of new struct...... of this fact sheet is to describe a theoretical and risk based framework to form the basis for quantification of robustness and for pre-normative guidelines....
Qualitative Robustness in Estimation
Directory of Open Access Journals (Sweden)
Mohammed Nasser
2012-07-01
Full Text Available Normal 0 false false false EN-US X-NONE X-NONE /* Style Definitions */ table.MsoNormalTable {mso-style-name:"Table Normal"; mso-tstyle-rowband-size:0; mso-tstyle-colband-size:0; mso-style-noshow:yes; mso-style-priority:99; mso-style-parent:""; mso-padding-alt:0in 5.4pt 0in 5.4pt; mso-para-margin:0in; mso-para-margin-bottom:.0001pt; mso-pagination:widow-orphan; font-size:11.0pt; font-family:"Times New Roman","serif";} Qualitative robustness, influence function, and breakdown point are three main concepts to judge an estimator from the viewpoint of robust estimation. It is important as well as interesting to study relation among them. This article attempts to present the concept of qualitative robustness as forwarded by first proponents and its later development. It illustrates intricacies of qualitative robustness and its relation with consistency, and also tries to remove commonly believed misunderstandings about relation between influence function and qualitative robustness citing some examples from literature and providing a new counter-example. At the end it places a useful finite and a simulated version of qualitative robustness index (QRI. In order to assess the performance of the proposed measures, we have compared fifteen estimators of correlation coefficient using simulated as well as real data sets.
Thimm, Jens C; Jordan, Stian; Bach, Bo
2016-12-07
With the publication of the fifth edition of the Diagnostic and Statistical Manual of Mental Disorders (DSM-5), an alternative model for personality disorders based on personality dysfunction and pathological personality traits was introduced. The Personality Inventory for DSM-5 (PID-5) is a 220-item self-report inventory designed to assess the personality traits of this model. Recently, a short 100-item version of the PID-5 (PID-5-SF) has been developed. The aim of this study was to investigate the score reliability and structure of the Norwegian PID-5-SF. Further, criterion validity with the five factor model of personality (FFM) and pathological personality beliefs was examined. A derivation sample of university students (N = 503) completed the PID-5, the Big Five Inventory (BFI), and the Personality Beliefs Questionnaire - Short Form (PBQ-SF), whereas a replication sample of 127 students completed the PID-5-SF along with the aforementioned measures. The short PID-5 showed overall good score reliability and structural validity. The associations with FFM traits and pathological personality beliefs were conceptually coherent and similar for the two forms of the PID-5. The results suggest that the Norwegian PID-5 short form is a reliable and efficient measure of the trait criterion of the alternative model for personality disorders in DSM-5.
Multivariate sensitivity to voice during auditory categorization.
Lee, Yune Sang; Peelle, Jonathan E; Kraemer, David; Lloyd, Samuel; Granger, Richard
2015-09-01
Past neuroimaging studies have documented discrete regions of human temporal cortex that are more strongly activated by conspecific voice sounds than by nonvoice sounds. However, the mechanisms underlying this voice sensitivity remain unclear. In the present functional MRI study, we took a novel approach to examining voice sensitivity, in which we applied a signal detection paradigm to the assessment of multivariate pattern classification among several living and nonliving categories of auditory stimuli. Within this framework, voice sensitivity can be interpreted as a distinct neural representation of brain activity that correctly distinguishes human vocalizations from other auditory object categories. Across a series of auditory categorization tests, we found that bilateral superior and middle temporal cortex consistently exhibited robust sensitivity to human vocal sounds. Although the strongest categorization was in distinguishing human voice from other categories, subsets of these regions were also able to distinguish reliably between nonhuman categories, suggesting a general role in auditory object categorization. Our findings complement the current evidence of cortical sensitivity to human vocal sounds by revealing that the greatest sensitivity during categorization tasks is devoted to distinguishing voice from nonvoice categories within human temporal cortex. Copyright © 2015 the American Physiological Society.
International Nuclear Information System (INIS)
Stenhouse, M.J.; Miller, W.M.; Chapman, N.A.
2001-05-01
Scenario development is a key component of the performance assessment (PA) process for radioactive waste disposal, the primary objective being to ensure that all relevant factors associated with the future evolution of the repository system are properly considered in PA. As part of scenario development, a list of features, events and processes (FEPs) are identified and assembled, representing the Process System, with interactions/influences between FEPs incorporated in a Process Influence Diagram (PID). This report documents the technical work conducted between 1997 and the end of 1999 under the Systems Studies Project. The overall objective of this project has been the construction of a PID for the SFR-1 repository (final repository for reactor waste), this PID being the first stage in the identification of scenarios to describe future evolution of this repository. The PIDs discussed in this report have been created using two software applications: existing commercial software (Business Modeller, Infotool AB. Stockholm, Sweden) and, more recently, a newly developed software tool SPARTA (Enviros QuantiSci, Henley, U.K.). Although the focus of this report is on the application of SPARTA to PID development, it is important to document the work carried out prior to SPARTA being available, in order to provide a complete record of the entire SFR-1 PID development effort as well as preserving the context of the multi-year project. Following a description of the different disposal sections of the SFR-1 and the various near-field barriers, the sequential development (i.e. near-field of Silo, BMA, BLA, BTF sections; far-field; integrated near-field + far-field) of the PID for SFR-1 repository system using Business Modeller is described. Owing to the complexity of the repository, in terms of number of both different disposal sections (Silo, BLA, BMA, BTF) and barriers associated with each section, the two-dimensional (2D) PID created for SFR-1 using Business Modeller is
Energy Technology Data Exchange (ETDEWEB)
Stenhouse, M.J. [Monitor Scientific, LLC, Denver, CO (United States); Miller, W.M.; Chapman, N.A. [QuantiSci Ltd., Melton Mowbray (United Kingdom)
2001-05-01
Scenario development is a key component of the performance assessment (PA) process for radioactive waste disposal, the primary objective being to ensure that all relevant factors associated with the future evolution of the repository system are properly considered in PA. As part of scenario development, a list of features, events and processes (FEPs) are identified and assembled, representing the Process System, with interactions/influences between FEPs incorporated in a Process Influence Diagram (PID). This report documents the technical work conducted between 1997 and the end of 1999 under the Systems Studies Project. The overall objective of this project has been the construction of a PID for the SFR-1 repository (final repository for reactor waste), this PID being the first stage in the identification of scenarios to describe future evolution of this repository. The PIDs discussed in this report have been created using two software applications: existing commercial software (Business Modeller, Infotool AB. Stockholm, Sweden) and, more recently, a newly developed software tool SPARTA (Enviros QuantiSci, Henley, U.K.). Although the focus of this report is on the application of SPARTA to PID development, it is important to document the work carried out prior to SPARTA being available, in order to provide a complete record of the entire SFR-1 PID development effort as well as preserving the context of the multi-year project. Following a description of the different disposal sections of the SFR-1 and the various near-field barriers, the sequential development (i.e. near-field of Silo, BMA, BLA, BTF sections; far-field; integrated near-field + far-field) of the PID for SFR-1 repository system using Business Modeller is described. Owing to the complexity of the repository, in terms of number of both different disposal sections (Silo, BLA, BMA, BTF) and barriers associated with each section, the two-dimensional (2D) PID created for SFR-1 using Business Modeller is
Likelihood estimators for multivariate extremes
Huser, Raphaë l; Davison, Anthony C.; Genton, Marc G.
2015-01-01
The main approach to inference for multivariate extremes consists in approximating the joint upper tail of the observations by a parametric family arising in the limit for extreme events. The latter may be expressed in terms of componentwise maxima, high threshold exceedances or point processes, yielding different but related asymptotic characterizations and estimators. The present paper clarifies the connections between the main likelihood estimators, and assesses their practical performance. We investigate their ability to estimate the extremal dependence structure and to predict future extremes, using exact calculations and simulation, in the case of the logistic model.
Sparse Linear Identifiable Multivariate Modeling
DEFF Research Database (Denmark)
Henao, Ricardo; Winther, Ole
2011-01-01
and bench-marked on artificial and real biological data sets. SLIM is closest in spirit to LiNGAM (Shimizu et al., 2006), but differs substantially in inference, Bayesian network structure learning and model comparison. Experimentally, SLIM performs equally well or better than LiNGAM with comparable......In this paper we consider sparse and identifiable linear latent variable (factor) and linear Bayesian network models for parsimonious analysis of multivariate data. We propose a computationally efficient method for joint parameter and model inference, and model comparison. It consists of a fully...
Improved multivariate polynomial factoring algorithm
International Nuclear Information System (INIS)
Wang, P.S.
1978-01-01
A new algorithm for factoring multivariate polynomials over the integers based on an algorithm by Wang and Rothschild is described. The new algorithm has improved strategies for dealing with the known problems of the original algorithm, namely, the leading coefficient problem, the bad-zero problem and the occurrence of extraneous factors. It has an algorithm for correctly predetermining leading coefficients of the factors. A new and efficient p-adic algorithm named EEZ is described. Bascially it is a linearly convergent variable-by-variable parallel construction. The improved algorithm is generally faster and requires less store then the original algorithm. Machine examples with comparative timing are included
Likelihood estimators for multivariate extremes
Huser, Raphaël
2015-11-17
The main approach to inference for multivariate extremes consists in approximating the joint upper tail of the observations by a parametric family arising in the limit for extreme events. The latter may be expressed in terms of componentwise maxima, high threshold exceedances or point processes, yielding different but related asymptotic characterizations and estimators. The present paper clarifies the connections between the main likelihood estimators, and assesses their practical performance. We investigate their ability to estimate the extremal dependence structure and to predict future extremes, using exact calculations and simulation, in the case of the logistic model.
Simulation of multivariate diffusion bridges
DEFF Research Database (Denmark)
Bladt, Mogens; Finch, Samuel; Sørensen, Michael
We propose simple methods for multivariate diffusion bridge simulation, which plays a fundamental role in simulation-based likelihood and Bayesian inference for stochastic differential equations. By a novel application of classical coupling methods, the new approach generalizes a previously...... proposed simulation method for one-dimensional bridges to the mulit-variate setting. First a method of simulating approzimate, but often very accurate, diffusion bridges is proposed. These approximate bridges are used as proposal for easily implementable MCMC algorithms that produce exact diffusion bridges...
Essentials of multivariate data analysis
Spencer, Neil H
2013-01-01
""… this text provides an overview at an introductory level of several methods in multivariate data analysis. It contains in-depth examples from one data set woven throughout the text, and a free [Excel] Add-In to perform the analyses in Excel, with step-by-step instructions provided for each technique. … could be used as a text (possibly supplemental) for courses in other fields where researchers wish to apply these methods without delving too deeply into the underlying statistics.""-The American Statistician, February 2015
Multivariate process monitoring of EAFs
Energy Technology Data Exchange (ETDEWEB)
Sandberg, E.; Lennox, B.; Marjanovic, O.; Smith, K.
2005-06-01
Improved knowledge of the effect of scrap grades on the electric steelmaking process and optimised scrap loading practices increase the potential for process automation. As part of an ongoing programme, process data from four Scandinavian EAFs have been analysed, using the multivariate process monitoring approach, to develop predictive models for end point conditions such as chemical composition, yield and energy consumption. The models developed generally predict final Cr, Ni and Mo and tramp element contents well, but electrical energy consumption, yield and content of oxidisable and impurity elements (C, Si, Mn, P, S) are at present more difficult to predict. Potential scrap management applications of the prediction models are also presented. (author)
Aspects of multivariate statistical theory
Muirhead, Robb J
2009-01-01
The Wiley-Interscience Paperback Series consists of selected books that have been made more accessible to consumers in an effort to increase global appeal and general circulation. With these new unabridged softcover volumes, Wiley hopes to extend the lives of these works by making them available to future generations of statisticians, mathematicians, and scientists. "". . . the wealth of material on statistics concerning the multivariate normal distribution is quite exceptional. As such it is a very useful source of information for the general statistician and a must for anyone wanting to pen
Zhang, Bitao; Pi, YouGuo
2013-07-01
The traditional integer order proportional-integral-differential (IO-PID) controller is sensitive to the parameter variation or/and external load disturbance of permanent magnet synchronous motor (PMSM). And the fractional order proportional-integral-differential (FO-PID) control scheme based on robustness tuning method is proposed to enhance the robustness. But the robustness focuses on the open-loop gain variation of controlled plant. In this paper, an enhanced robust fractional order proportional-plus-integral (ERFOPI) controller based on neural network is proposed. The control law of the ERFOPI controller is acted on a fractional order implement function (FOIF) of tracking error but not tracking error directly, which, according to theory analysis, can enhance the robust performance of system. Tuning rules and approaches, based on phase margin, crossover frequency specification and robustness rejecting gain variation, are introduced to obtain the parameters of ERFOPI controller. And the neural network algorithm is used to adjust the parameter of FOIF. Simulation and experimental results show that the method proposed in this paper not only achieve favorable tracking performance, but also is robust with regard to external load disturbance and parameter variation. Crown Copyright © 2013. Published by Elsevier Ltd. All rights reserved.
Energy Technology Data Exchange (ETDEWEB)
Saha, Sourav, E-mail: ssaha09@me.buet.ac.bd; Mojumder, Satyajit, E-mail: satyajit@me.buet.ac.bd; Saha, Sumon, E-mail: sumonsaha@me.buet.ac.bd [Department of Mechanical Engineering, Bangladesh University of Engineering and Technology, Dhaka-1000 (Bangladesh)
2016-07-12
P (proportional), PI (proportional-integral), and PID (proportional-integral-derivative) controllers are popular means of controlling industrial processes. Due to superior response, accuracy, and stable performance, PID controllers are mostly used in control systems. This paper presents a mathematical model and subsequent response analysis regarding regulation of flow in mixed convection through a T-shaped open cavity by temperature dependent controllers. The T-shaped cavity has cold top and hot bottom walls, while air is flowing through the inlet at surrounding temperature. The inflow is regulated by a controlled gate which operates according to the signal received from the controller. Values of proportional gain (k{sub p}), integral gain (k{sub i}), and derivative gain (k{sub d}) are varied to obtain the desired system response and to ensure a stable system with fastest response. At first, only P controller is used and eventually PI and finally PID control scheme is applied for controller tuning. Tuning of different controllers (P, PI, and PID) are carried out systematically based on the reference temperature which is continuously monitored at a certain location inside the cavity. It is found that PID controller performs better than P or PI controller.
Energy Technology Data Exchange (ETDEWEB)
Brito, Thiago S.P.; Lira, Carlos A.B.O.; Vasconcelos, Wagner E., E-mail: thiago.brito86@yahoo.com.br, E-mail: cabol@ufpe.br, E-mail: wagner@unicap.br [Universidade Federal de Pernambuco (UFPE), Recife, PE (Brazil). Centro de Tecnologia e Geociencias. Departamento de Energia Nuclear; Universidade Catolica de Pernambuco (UNICAP), Recife, PE (Brazil). Centro de Ciencias e Tecnologia
2017-11-01
It is well known that safety in the operation of nuclear power plants is a primary requirement because a failure of this system can result in serious problems to the environment. A nuclear reactor has several systems that help keep it in normal operation, within safety margins. Many of these systems operate in the control of variable quantities in the primary circuit of a reactor. However, nuclear reactors are nonlinear physical systems, and this introduces a complexity in the control strategies. Among several mechanisms in the thermal-hydraulic system of a reactor that actuate as a controller, the pressurizer is the component responsible for absorbing pressure variations that occur in the primary circuit. This work aims at the development of a PID controller (Proportional Integral Derivative) based on fuzzy logic to operate in a pressurizer of a nuclear Pressurized Water Reactor. A Fuzzy Controller was developed using the process of fuzzification, inference, and defuzzification of the variables of interest to a pressurizer, then this controller was coupled to a PID Controller building a PID Controller, but oriented by Fuzzy logic. Subsequently, the PID-Fuzzy Controller was experimentally validated in a Simulation Plant in which transients like those in a PWR were conducted. The PID parameters were analyzed and adjusted for better responses and results. The results of the validation were also compared to simple controllers (on / off). (author)
International Nuclear Information System (INIS)
Brito, Thiago S.P.; Lira, Carlos A.B.O.; Vasconcelos, Wagner E.; Universidade Catolica de Pernambuco
2017-01-01
It is well known that safety in the operation of nuclear power plants is a primary requirement because a failure of this system can result in serious problems to the environment. A nuclear reactor has several systems that help keep it in normal operation, within safety margins. Many of these systems operate in the control of variable quantities in the primary circuit of a reactor. However, nuclear reactors are nonlinear physical systems, and this introduces a complexity in the control strategies. Among several mechanisms in the thermal-hydraulic system of a reactor that actuate as a controller, the pressurizer is the component responsible for absorbing pressure variations that occur in the primary circuit. This work aims at the development of a PID controller (Proportional Integral Derivative) based on fuzzy logic to operate in a pressurizer of a nuclear Pressurized Water Reactor. A Fuzzy Controller was developed using the process of fuzzification, inference, and defuzzification of the variables of interest to a pressurizer, then this controller was coupled to a PID Controller building a PID Controller, but oriented by Fuzzy logic. Subsequently, the PID-Fuzzy Controller was experimentally validated in a Simulation Plant in which transients like those in a PWR were conducted. The PID parameters were analyzed and adjusted for better responses and results. The results of the validation were also compared to simple controllers (on / off). (author)
International Nuclear Information System (INIS)
Saha, Sourav; Mojumder, Satyajit; Saha, Sumon
2016-01-01
P (proportional), PI (proportional-integral), and PID (proportional-integral-derivative) controllers are popular means of controlling industrial processes. Due to superior response, accuracy, and stable performance, PID controllers are mostly used in control systems. This paper presents a mathematical model and subsequent response analysis regarding regulation of flow in mixed convection through a T-shaped open cavity by temperature dependent controllers. The T-shaped cavity has cold top and hot bottom walls, while air is flowing through the inlet at surrounding temperature. The inflow is regulated by a controlled gate which operates according to the signal received from the controller. Values of proportional gain (k p ), integral gain (k i ), and derivative gain (k d ) are varied to obtain the desired system response and to ensure a stable system with fastest response. At first, only P controller is used and eventually PI and finally PID control scheme is applied for controller tuning. Tuning of different controllers (P, PI, and PID) are carried out systematically based on the reference temperature which is continuously monitored at a certain location inside the cavity. It is found that PID controller performs better than P or PI controller.
Directory of Open Access Journals (Sweden)
Alrijadjis .
2014-12-01
Full Text Available The proportional integral derivative (PID controllers have been widely used in most process control systems for a long time. However, it is a very important problem how to choose PID parameters, because these parameters give a great influence on the control performance. Especially, it is difficult to tune these parameters for nonlinear systems. In this paper, a new modified particle swarm optimization (PSO is presented to search for optimal PID parameters for such system. The proposed algorithm is to modify constriction coefficient which is nonlinearly decreased time-varying for improving the final accuracy and the convergence speed of PSO. To validate the control performance of the proposed method, a typical nonlinear system control, a continuous stirred tank reactor (CSTR process, is illustrated. The results testify that a new modified PSO algorithm can perform well in the nonlinear PID control system design in term of lesser overshoot, rise-time, settling-time, IAE and ISE. Keywords: PID controller, Particle Swarm Optimization (PSO,constriction factor, nonlinear system.
PID-controller with predictor and auto-tuning algorithm: study of efficiency for thermal plants
Kuzishchin, V. F.; Merzlikina, E. I.; Hoang, Van Va
2017-09-01
The problem of efficiency estimation of an automatic control system (ACS) with a Smith predictor and PID-algorithm for thermal plants is considered. In order to use the predictor, it is proposed to include an auto-tuning module (ATC) into the controller; the module calculates parameters for a second-order plant module with a time delay. The study was conducted using programmable logical controllers (PLC), one of which performed control, ATC, and predictor functions. A simulation model was used as a control plant, and there were two variants of the model: one of them was built on the basis of a separate PLC, and the other was a physical model of a thermal plant in the form of an electrical heater. Analysis of the efficiency of the ACS with the predictor was carried out for several variants of the second order plant model with time delay, and the analysis was performed on the basis of the comparison of transient processes in the system when the set point was changed and when a disturbance influenced the control plant. The recommendations are given on correction of the PID-algorithm parameters when the predictor is used by means of using the correcting coefficient k for the PID parameters. It is shown that, when the set point is changed, the use of the predictor is effective taking into account the parameters correction with k = 2. When the disturbances influence the plant, the use of the predictor is doubtful, because the transient process is too long. The reason for this is that, in the neighborhood of the zero frequency, the amplitude-frequency characteristic (AFC) of the system with the predictor has an ascent in comparison with the AFC of the system without the predictor.
Reducing the energy consumption of an earth–air heat exchanger with a PID control system
International Nuclear Information System (INIS)
Diaz-Mendez, S.E.; Patiño-Carachure, C.; Herrera-Castillo, J.A.
2014-01-01
Highlights: • The application of control actions to green technologies has been simulated. • Energy consumption of green technologies can be reduced even more. • The efficiency of green technologies can be raised. • Environmental concerns can be diminished. • The sustainability of the planet can be increased. - Abstract: Reducing environmental emissions is one of the challenges that human being has to overcome. It can only be reached with a proper energetic efficiency and management of the processes that exist in the society nowadays. Several academic works have mentioned that raising the efficiency of a process it also increases sustainability and in turn decreases the environmental impact. One process that requires much attention is the cooling and heating of buildings; this process contributes to the major part of the electric bill, in particular, if a conventional and old air conditioning is used as commonly occurs in many countries. In recent years there have been developed new alternatives that are used in few countries, such as the earth–air heat exchanger, where air is passed through a heat exchanger buried a few meters below the ground. The heat exchanger takes advantage of the well-known difference between the temperature of the surrounding air and the temperature of the ground for cooling or heating the air that is subsequently injected into the buildings. This process requires less energy, then in the present work is thought that a PID (Proportional, Integral and Derivative) controller can be applied to an earth–air heat exchanger to reduce even more the energy consumption. Therefore, a simulation of a thermodynamic model of an earth–air heat exchanger was done and used along with a PID controller, to estimate savings in energy consumption. The results show that the energy consumption can be reduced up to 87% with the PID control, hence the efficiency of the process is increased as well as the sustainability of the planet and thus the
Directory of Open Access Journals (Sweden)
Wen-I Lee
2011-12-01
Full Text Available Natural human immunity to the mycobacteria group, including Mycobacterium tuberculosis, Bacille Calmette-Guérin (BCG or nontuberculous mycobacteria (NTM, and/or Salmonella species, relies on the functional IL-12/23-IFN-γ integrity of macrophages (monocyte/dendritic cell connecting to T lymphocyte/NK cells. Patients with severe forms of primary immunodeficiency diseases (PIDs have more profound immune defects involving this impaired circuit in patients with severe combined immunodeficiencies (SCID including complete DiGeorge syndrome, X-linked hyper IgM syndrome (HIGM (CD40L mutation, CD40 deficiency, immunodeficiency with or without anhidrotic ectodermal dysplasia (NEMO and IKBA mutations, chronic granulomatous disease (CGD and hyper IgE recurrent infection syndromes (HIES. The patients with severe PIDs have broader diverse infections rather than mycobacterial infections. In contrast, patients with an isolated inborn error of the IL-12/23-IFN-γ pathway are exclusively prone to low-virulence mycobacterial infections and nontyphoid salmonella infections, known as Mendelian susceptibility to the mycobacterial disease (MSMD phenotype. Restricted defective molecules in the circuit, including IFN-γR1, IFN-γR2, IL-12p40, IL-12R-β1, STAT-1, NEMO, IKBA and the recently discovered CYBB responsible for autophagocytic vacuole and proteolysis, and interferon regulatory factor 8 (IRF8 for dendritic cell immunodeficiency, have been identified in around 60% of patients with the MSMD phenotype. Among all of the patients with PIDs referred for investigation since 1985, we have identified four cases with the specific defect (IFNRG1 for three and IL12RB for one, presenting as both BCG-induced diseases and NTM infections, in addition to some patients with SCID, HIGM, CGD and HIES. Furthermore, manifestations in patients with autoantibodies to IFN-γ (autoAbs-IFN-γ, which is categorized as an anticytokine autoantibody syndrome, can resemble the relatively
Explicit analytical tuning rules for digital PID controllers via the magnitude optimum criterion.
Papadopoulos, Konstantinos G; Yadav, Praveen K; Margaris, Nikolaos I
2017-09-01
Analytical tuning rules for digital PID type-I controllers are presented regardless of the process complexity. This explicit solution allows control engineers 1) to make an accurate examination of the effect of the controller's sampling time to the control loop's performance both in the time and frequency domain 2) to decide when the control has to be I, PI and when the derivative, D, term has to be added or omitted 3) apply this control action to a series of stable benchmark processes regardless of their complexity. The former advantages are considered critical in industry applications, since 1) most of the times the choice of the digital controller's sampling time is based on heuristics and past criteria, 2) there is little a-priori knowledge of the controlled process making the choice of the type of the controller a trial and error exercise 3) model parameters change often depending on the control loop's operating point making in this way, the problem of retuning the controller's parameter a much challenging issue. Basis of the proposed control law is the principle of the PID tuning via the Magnitude Optimum criterion. The final control law involves the controller's sampling time T s within the explicit solution of the controller's parameters. Finally, the potential of the proposed method is justified by comparing its performance with the conventional PID tuning when controlling the same process. Further investigation regarding the choice of the controller's sampling time T s is also presented and useful conclusions for control engineers are derived. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
High-accuracy resolver-to-digital conversion via phase locked loop based on PID controller
Li, Yaoling; Wu, Zhong
2018-03-01
The problem of resolver-to-digital conversion (RDC) is transformed into the problem of angle tracking control, and a phase locked loop (PLL) method based on PID controller is proposed in this paper. This controller comprises a typical PI controller plus an incomplete differential which can avoid the amplification of higher-frequency noise components by filtering the phase detection error with a low-pass filter. Compared with conventional ones, the proposed PLL method makes the converter a system of type III and thus the conversion accuracy can be improved. Experimental results demonstrate the effectiveness of the proposed method.
PID Controller Design for FES Applied to Ankle Muscles in Neuroprosthesis for Standing Balance
Directory of Open Access Journals (Sweden)
Hossein Rouhani
2017-06-01
Full Text Available Closed-loop controlled functional electrical stimulation (FES applied to the lower limb muscles can be used as a neuroprosthesis for standing balance in neurologically impaired individuals. The objective of this study was to propose a methodology for designing a proportional-integral-derivative (PID controller for FES applied to the ankle muscles toward maintaining standing balance for several minutes and in the presence of perturbations. First, a model of the physiological control strategy for standing balance was developed. Second, the parameters of a PID controller that mimicked the physiological balance control strategy were determined to stabilize the human body when modeled as an inverted pendulum. Third, this PID controller was implemented using a custom-made Inverted Pendulum Standing Apparatus that eliminated the effect of visual and vestibular sensory information on voluntary balance control. Using this setup, the individual-specific FES controllers were tested in able-bodied individuals and compared with disrupted voluntary control conditions in four experimental paradigms: (i quiet-standing; (ii sudden change of targeted pendulum angle (step response; (iii balance perturbations that simulate arm movements; and (iv sudden change of targeted angle of a pendulum with individual-specific body-weight (step response. In paradigms (i to (iii, a standard 39.5-kg pendulum was used, and 12 subjects were involved. In paradigm (iv 9 subjects were involved. Across the different experimental paradigms and subjects, the FES-controlled and disrupted voluntarily-controlled pendulum angle showed root mean square errors of <1.2 and 2.3 deg, respectively. The root mean square error (all paradigms, rise time, settle time, and overshoot [paradigms (ii and (iv] in FES-controlled balance were significantly smaller or tended to be smaller than those observed with voluntarily-controlled balance, implying improved steady-state and transient responses of FES
Grid Connected WECS with A Five Level DCMLI using PID Controller
Directory of Open Access Journals (Sweden)
G.Balaji
2014-07-01
Full Text Available This paper deals with the analysis, modeling and control system for permanent magnet synchronous generator (PMSG based wind turbine connected to the grid. A wind energy conversion using DC-DC Buck- Boost Converter for permanent magnet synchronous generator (PMSG based variable speed wind energy conversion system (WECS has been proposed which is integrated with grid using five-level diode clamped multilevel (DCMLI inverter. In this work the instantaneous values of input side current and voltage of DC-DC buck-boost converter are utilized for implementing the PID controller. The proposed work is verified by the simulation in Powersim.
PID Controller Design for FES Applied to Ankle Muscles in Neuroprosthesis for Standing Balance.
Rouhani, Hossein; Same, Michael; Masani, Kei; Li, Ya Qi; Popovic, Milos R
2017-01-01
Closed-loop controlled functional electrical stimulation (FES) applied to the lower limb muscles can be used as a neuroprosthesis for standing balance in neurologically impaired individuals. The objective of this study was to propose a methodology for designing a proportional-integral-derivative (PID) controller for FES applied to the ankle muscles toward maintaining standing balance for several minutes and in the presence of perturbations. First, a model of the physiological control strategy for standing balance was developed. Second, the parameters of a PID controller that mimicked the physiological balance control strategy were determined to stabilize the human body when modeled as an inverted pendulum. Third, this PID controller was implemented using a custom-made Inverted Pendulum Standing Apparatus that eliminated the effect of visual and vestibular sensory information on voluntary balance control. Using this setup, the individual-specific FES controllers were tested in able-bodied individuals and compared with disrupted voluntary control conditions in four experimental paradigms: (i) quiet-standing; (ii) sudden change of targeted pendulum angle (step response); (iii) balance perturbations that simulate arm movements; and (iv) sudden change of targeted angle of a pendulum with individual-specific body-weight (step response). In paradigms (i) to (iii), a standard 39.5-kg pendulum was used, and 12 subjects were involved. In paradigm (iv) 9 subjects were involved. Across the different experimental paradigms and subjects, the FES-controlled and disrupted voluntarily-controlled pendulum angle showed root mean square errors of controlled balance were significantly smaller or tended to be smaller than those observed with voluntarily-controlled balance, implying improved steady-state and transient responses of FES-controlled balance. At the same time, the FES-controlled balance required similar torque levels (no significant difference) as voluntarily
Incorporation of fractional-order dynamics into an existing PI/PID DC motor control loop.
Tepljakov, Aleksei; Gonzalez, Emmanuel A; Petlenkov, Eduard; Belikov, Juri; Monje, Concepción A; Petráš, Ivo
2016-01-01
The problem of changing the dynamics of an existing DC motor control system without the need of making internal changes is considered in the paper. In particular, this paper presents a method for incorporating fractional-order dynamics in an existing DC motor control system with internal PI or PID controller, through the addition of an external controller into the system and by tapping its original input and output signals. Experimental results based on the control of a real test plant from MATLAB/Simulink environment are presented, indicating the validity of the proposed approach. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
MODELLING AND CONTROL OF CONTINUOUS STIRRED TANK REACTOR WITH PID CONTROLLER
Directory of Open Access Journals (Sweden)
Artur Wodołażski
2016-09-01
Full Text Available This paper presents a model of dynamics control for continuous stirred tank reactor (CSTR in methanol synthesis in a three-phase system. The reactor simulation was carried out for steady and transient state. Efficiency ratio to achieve maximum performance of the product per reactor unit volume was calculated. Reactor dynamics simulation in closed loop allowed to received data for tuning PID controller (proportional-integral-derivative. The results of the regulation process allow to receive data for optimum reactor production capacity, along with local hot spots eliminations or temperature runaway.
Etude s?ro-?pid?miologique de la leishmaniose canine au centre du Maroc
Fellah, Hajiba; Doughmi, Oursula; Maniar, Sa?d; Lalami, Abdelhakim El Ouali
2014-01-01
Dans le monde, la leishmaniose visc?rale humaine est connue pour avoir comme principale source d'infection les Canid?s domestiques et sauvages. Au centre du Maroc, les donn?es ?pid?miologiques, cliniques et parasitologiques sur la leishmaniose canine, sont quasiment inexistantes. Ce travail traite une ?tude prospective au cours de laquelle 61 s?rums canins ont ?t? analys?s par un test rapide et par l'immunofluorescence indirecte. La sensibilit? du test rapide par rapport ? celle de l'immunofl...
Implementation of FPGA based PID Controller for DC Motor Speed Control System
Directory of Open Access Journals (Sweden)
Savita SONOLI
2010-03-01
Full Text Available In this paper, the implementation of software module using ‘VHDL’ for Xilinx FPGA (XC3S400 based PID controller for DC motor speed control system is presented. The tools used for building and testing the software modules are Xilinx ISE 9.2i and ModelSim XE III 6.3c. Before verifying the design on FPGA the complete design is simulated using Modelsim Simulation tool. A test bench is written where the set speed can be changed for the motor. It is observed that the motor speed gradually changes to the set speed and locks to the set speed.
Revue épidémiologique des blessures lors de la pratique du rugby à XV
Kaux, Jean-François; Julia, Marc; Chupin, Marie; Delvaux, François; Croisier, Jean-Louis; Forthomme, Bénédicte; Crielaard, Jean-Michel; LE GOFF, Caroline; Durez, Patrick; Ernst, Philippe; Guns, Sébastien; Laly, Arnaud
2014-01-01
Le rugby est un sport en plein développement. Sport de contact par excellence, il est à l’origine d’un nombre important de blessures. Au rugby à XV, l’incidence des blessures s’élève de 30 à 91/1000 heures de match. Cette revue épidémiologique des blessures chez le rugbyman évoque la localisation et le type de blessures, les causes, les moments des matches et de la saison auxquels elles se produisent, la position des joueurs et le type de terrain, ainsi que le temps d’absence des joueurs à la...
The research on visual industrial robot which adopts fuzzy PID control algorithm
Feng, Yifei; Lu, Guoping; Yue, Lulin; Jiang, Weifeng; Zhang, Ye
2017-03-01
The control system of six degrees of freedom visual industrial robot based on the control mode of multi-axis motion control cards and PC was researched. For the variable, non-linear characteristics of industrial robot`s servo system, adaptive fuzzy PID controller was adopted. It achieved better control effort. In the vision system, a CCD camera was used to acquire signals and send them to video processing card. After processing, PC controls the six joints` motion by motion control cards. By experiment, manipulator can operate with machine tool and vision system to realize the function of grasp, process and verify. It has influence on the manufacturing of the industrial robot.
Robust Maximum Association Estimators
A. Alfons (Andreas); C. Croux (Christophe); P. Filzmoser (Peter)
2017-01-01
textabstractThe maximum association between two multivariate variables X and Y is defined as the maximal value that a bivariate association measure between one-dimensional projections αX and αY can attain. Taking the Pearson correlation as projection index results in the first canonical correlation
Sriboonchitta, Songsak; Huynh, Van-Nam
2017-01-01
This book presents recent research on robustness in econometrics. Robust data processing techniques – i.e., techniques that yield results minimally affected by outliers – and their applications to real-life economic and financial situations are the main focus of this book. The book also discusses applications of more traditional statistical techniques to econometric problems. Econometrics is a branch of economics that uses mathematical (especially statistical) methods to analyze economic systems, to forecast economic and financial dynamics, and to develop strategies for achieving desirable economic performance. In day-by-day data, we often encounter outliers that do not reflect the long-term economic trends, e.g., unexpected and abrupt fluctuations. As such, it is important to develop robust data processing techniques that can accommodate these fluctuations.
2013-01-01
This contributed volume collects research papers, presented at the CIRP Sponsored Conference Robust Manufacturing Control: Innovative and Interdisciplinary Approaches for Global Networks (RoMaC 2012, Jacobs University, Bremen, Germany, June 18th-20th 2012). These research papers present the latest developments and new ideas focusing on robust manufacturing control for global networks. Today, Global Production Networks (i.e. the nexus of interconnected material and information flows through which products and services are manufactured, assembled and distributed) are confronted with and expected to adapt to: sudden and unpredictable large-scale changes of important parameters which are occurring more and more frequently, event propagation in networks with high degree of interconnectivity which leads to unforeseen fluctuations, and non-equilibrium states which increasingly characterize daily business. These multi-scale changes deeply influence logistic target achievement and call for robust planning and control ...
DEFF Research Database (Denmark)
Kostiučenko, Oksana; Fiutowski, Jacek; Tamulevicius, Tomas
2014-01-01
Robustness is a key issue for the applications of plasmonic substrates such as tip-enhanced Raman spectroscopy, surface-enhanced spectroscopies, enhanced optical biosensing, optical and optoelectronic plasmonic nanosensors and others. A novel approach for the fabrication of robust plasmonic...... substrates is presented, which relies on the coverage of gold nanostructures with diamond-like carbon (DLC) thin films of thicknesses 25, 55 and 105 nm. DLC thin films were grown by direct hydrocarbon ion beam deposition. In order to find the optimum balance between optical and mechanical properties...
Robust Self Tuning Controllers
DEFF Research Database (Denmark)
Poulsen, Niels Kjølstad
1985-01-01
The present thesis concerns robustness properties of adaptive controllers. It is addressed to methods for robustifying self tuning controllers with respect to abrupt changes in the plant parameters. In the thesis an algorithm for estimating abruptly changing parameters is presented. The estimator...... has several operation modes and a detector for controlling the mode. A special self tuning controller has been developed to regulate plant with changing time delay.......The present thesis concerns robustness properties of adaptive controllers. It is addressed to methods for robustifying self tuning controllers with respect to abrupt changes in the plant parameters. In the thesis an algorithm for estimating abruptly changing parameters is presented. The estimator...
Evaluation of PD/PID controller for insulin control on blood glucose regulation in a Type-I diabetes
Mahmud, Farhanahani; Isse, Nadir Hussien; Daud, Nur Atikah Mohd; Morsin, Marlia
2017-01-01
This project introduces a simulation of Proportional-Derivative (PD) and Proportional-Integral-Derivative (PID) controller based on a virtual Type 1 Diabetes Mellitus (T1DM) patient: Hovorka diabetic model using MATLAB-Simulink software. The results of these simulations are based on three tuning responses for each controller which are fast, slow and oscillation responses. The main purpose of this simulation is to achieve an acceptable stability and fastness response towards the regulation of glucose concentration using PD and PID controller response with insulin infusion rate. Therefore, in order to analyze and compare the responses of both controller performances, one-day simulations of the insulin-glucose dynamic have been conducted using a typical day meal plan that contains five meals of different bolus size. It is found that the PID closed-loop control with a short rise time is required to retrieve a satisfactory glucose regulation.
Directory of Open Access Journals (Sweden)
Sohaib Aslam
2016-09-01
Full Text Available Speed control of DC motor is very critical in most of the industrial systems where accuracy and protection are of essence. This paper presents the simulations of Proportional Integral Derivative Controller (PID on a 16-bit PIC 24F series microcontroller for speed control of a DC motor in the presence of load torque. The PID gains have been tuned by Linear Quadratic Regulator (LQR technique and then it is implemented on microcontroller using MPLAB and finally simulated for speed control of DC motor in Proteus Virtual System Modeling (VSM software.Proteus has built in feature to add load torque to DC motor so simulation results have been presented in three cases speed of DC motor is controlled without load torque, with 25% load torque and with 50% load torque. In all three cases PID effectively controls the speed of DC motor with minimum steady state error.
DEFF Research Database (Denmark)
Moafi, Milad; Marzband, Mousa; Savaghebi, Mehdi
2016-01-01
in the islanded Microgrid (MG). To increase performance for a wide range of power system operating conditions, an energy management systems (EMS) is proposed based on a fuzzy fractional order PID (FFOPID) controller. It is able to analyze and simulate the dynamic behavior in grid connected MGs. This controller...... is proposed in the MG encompassing distributed generation resources with “plug and play” ability. The performance of FFOPID controller is verified for frequency control purposes and to support internal bus voltage in both islanded and grid connected operating modes in accordance with the failure time. Energy...... combined with a PID-controller (termed as FLPID) and Fuzzy fractional order PID (termed as FFOPID) are implemented according to the characteristics and limitations of overloading and state of charge (SOC). The obtained results show good performance of FFOPID controllers by improving the transient stability...
Hu, Ruiqiang; Li, Chengwei
2015-01-01
Automated closed-loop insulin infusion therapy has been studied for many years. In closed-loop system, the control algorithm is the key technique of precise insulin infusion. The control algorithm needs to be designed and validated. In this paper, an improved PID algorithm based on insulin-on-board estimate is proposed and computer simulations are done using a combinational mathematical model of the dynamics of blood glucose-insulin regulation in the blood system. The simulation results demonstrate that the improved PID algorithm can perform well in different carbohydrate ingestion and different insulin sensitivity situations. Compared with the traditional PID algorithm, the control performance is improved obviously and hypoglycemia can be avoided. To verify the effectiveness of the proposed control algorithm, in silico testing is done using the UVa/Padova virtual patient software.
Directory of Open Access Journals (Sweden)
Tri Awan Nusa Putra
2013-09-01
Full Text Available Quadcopter diharapkan dapat bergerak secara lincah dan efektif menyusuri lintasan horisontal. Berdasar hukum fisisnya, gerak lateral dapat terjadi karena adanya daya angkat dan terjadinya perubahan sudut dari quadcopter tersebut. Mengacu pada hal tersebut, sudut-sudut gerak pada quadcopterakan menjadi parameter untuk gerak maju atau menyamping yang secara langsung juga berpengaruh pada gerak vertikal. Pada saat proses hoveratau melayang, adalah saat yang paling riskan pada quadcopter. Sehinga pengaturan hover dari quadcopter menjadi prioritas pada riset ini, karena apabila terjadi kesalahan hoverakan menyebabkan perubahan gerak terhadap sumbu X, Y maupun Z. Pada tugas akhir ini digunakan kontroler PID dan metode gainscheduling dengan nilai parameter penguatan yang diperoleh secara eksperimental untuk pengaturan gerak lateral menyusuri lintasan. Apabila menggunakan metode PID biasa, maka diperoleh penurunan ketinggian yang drastis hingga 50% dari total ketinggian quadcopter, namun apabila menggunakan metode PID GainScheduling, pada simulasi hanya terjadi penurunan ketinggian sebesar 0,35% dan saat implementasi mengalami sekitar 10% dari total ketinggian yang dicapai.
Robustness in cluster analysis in the presence of anomalous observations
Zhuk, EE
Cluster analysis of multivariate observations in the presence of "outliers" (anomalous observations) in a sample is studied. The expected (mean) fraction of erroneous decisions for the decision rule is computed analytically by minimizing the intraclass scatter. A robust decision rule (stable to
Dideriksen, Jakob Lund; Feeney, Daniel F; Almuklass, Awad M; Enoka, Roger M
2017-08-01
Force trajectories during isometric force-matching tasks involving isometric contractions vary substantially across individuals. In this study, we investigated if this variability can be explained by discrete time proportional, integral, derivative (PID) control algorithms with varying model parameters. To this end, we analyzed the pinch force trajectories of 24 subjects performing two rapid force-matching tasks with visual feedback. Both tasks involved isometric contractions to a target force of 10% maximal voluntary contraction. One task involved a single action (pinch) and the other required a double action (concurrent pinch and wrist extension). 50,000 force trajectories were simulated with a computational neuromuscular model whose input was determined by a PID controller with different PID gains and frequencies at which the controller adjusted muscle commands. The goal was to find the best match between each experimental force trajectory and all simulated trajectories. It was possible to identify one realization of the PID controller that matched the experimental force produced during each task for most subjects (average index of similarity: 0.87 ± 0.12; 1 = perfect similarity). The similarities for both tasks were significantly greater than that would be expected by chance (single action: p = 0.01; double action: p = 0.04). Furthermore, the identified control frequencies in the simulated PID controller with the greatest similarities decreased as task difficulty increased (single action: 4.0 ± 1.8 Hz; double action: 3.1 ± 1.3 Hz). Overall, the results indicate that discrete time PID controllers are realistic models for the neural control of force in rapid force-matching tasks involving isometric contractions.
Acoustic multivariate condition monitoring - AMCM
Energy Technology Data Exchange (ETDEWEB)
Rosenhave, P E [Vestfold College, Maritime Dept., Toensberg (Norway)
1998-12-31
In Norway, Vestfold College, Maritime Department presents new opportunities for non-invasive, on- or off-line acoustic monitoring of rotating machinery such as off-shore pumps and diesel engines. New developments within acoustic sensor technology coupled with chemometric data analysis of complex signals now allow condition monitoring of hitherto unavailable flexibility and diagnostic specificity. Chemometrics paired with existing knowledge yields a new and powerful tool for condition monitoring. By the use of multivariate techniques and acoustics it is possible to quantify wear and tear as well as predict the performance of working components in complex machinery. This presentation describes the AMCM method and one result of a feasibility study conducted onboard the LPG/C `Norgas Mariner` owned by Norwegian Gas Carriers as (NGC), Oslo. (orig.) 6 refs.
Acoustic multivariate condition monitoring - AMCM
Energy Technology Data Exchange (ETDEWEB)
Rosenhave, P.E. [Vestfold College, Maritime Dept., Toensberg (Norway)
1997-12-31
In Norway, Vestfold College, Maritime Department presents new opportunities for non-invasive, on- or off-line acoustic monitoring of rotating machinery such as off-shore pumps and diesel engines. New developments within acoustic sensor technology coupled with chemometric data analysis of complex signals now allow condition monitoring of hitherto unavailable flexibility and diagnostic specificity. Chemometrics paired with existing knowledge yields a new and powerful tool for condition monitoring. By the use of multivariate techniques and acoustics it is possible to quantify wear and tear as well as predict the performance of working components in complex machinery. This presentation describes the AMCM method and one result of a feasibility study conducted onboard the LPG/C `Norgas Mariner` owned by Norwegian Gas Carriers as (NGC), Oslo. (orig.) 6 refs.
DEFF Research Database (Denmark)
Barndorff-Nielsen, Ole Eiler; Stelzer, Robert
Univariate superpositions of Ornstein-Uhlenbeck (OU) type processes, called supOU processes, provide a class of continuous time processes capable of exhibiting long memory behaviour. This paper introduces multivariate supOU processes and gives conditions for their existence and finiteness...... of moments. Moreover, the second order moment structure is explicitly calculated, and examples exhibit the possibility of long range dependence. Our supOU processes are defined via homogeneous and factorisable Lévy bases. We show that the behaviour of supOU processes is particularly nice when the mean...... reversion parameter is restricted to normal matrices and especially to strictly negative definite ones.For finite variation Lévy bases we are able to give conditions for supOU processes to have locally bounded càdlàg paths of finite variation and to show an analogue of the stochastic differential equation...
DEFF Research Database (Denmark)
Barndorff-Nielsen, Ole Eiler; Stelzer, Robert
2011-01-01
Univariate superpositions of Ornstein–Uhlenbeck-type processes (OU), called supOU processes, provide a class of continuous time processes capable of exhibiting long memory behavior. This paper introduces multivariate supOU processes and gives conditions for their existence and finiteness of moments....... Moreover, the second-order moment structure is explicitly calculated, and examples exhibit the possibility of long-range dependence. Our supOU processes are defined via homogeneous and factorizable Lévy bases. We show that the behavior of supOU processes is particularly nice when the mean reversion...... parameter is restricted to normal matrices and especially to strictly negative definite ones. For finite variation Lévy bases we are able to give conditions for supOU processes to have locally bounded càdlàg paths of finite variation and to show an analogue of the stochastic differential equation of OU...
An Exact Confidence Region in Multivariate Calibration
Mathew, Thomas; Kasala, Subramanyam
1994-01-01
In the multivariate calibration problem using a multivariate linear model, an exact confidence region is constructed. It is shown that the region is always nonempty and is invariant under nonsingular transformations.
Hans, Elias W.; Wullink, Gerhard; van Houdenhoven, Mark; Kazemier, Geert
2008-01-01
We consider the robust surgery loading problem for a hospital’s operating theatre department, which concerns assigning surgeries and sufficient planned slack to operating room days. The objective is to maximize capacity utilization and minimize the risk of overtime, and thus cancelled patients. This
Robustness Envelopes of Networks
Trajanovski, S.; Martín-Hernández, J.; Winterbach, W.; Van Mieghem, P.
2013-01-01
We study the robustness of networks under node removal, considering random node failure, as well as targeted node attacks based on network centrality measures. Whilst both of these have been studied in the literature, existing approaches tend to study random failure in terms of average-case
The effectiveness of robust RMCD control chart as outliers’ detector
Darmanto; Astutik, Suci
2017-12-01
A well-known control chart to monitor a multivariate process is Hotelling’s T 2 which its parameters are estimated classically, very sensitive and also marred by masking and swamping of outliers data effect. To overcome these situation, robust estimators are strongly recommended. One of robust estimators is re-weighted minimum covariance determinant (RMCD) which has robust characteristics as same as MCD. In this paper, the effectiveness term is accuracy of the RMCD control chart in detecting outliers as real outliers. In other word, how effectively this control chart can identify and remove masking and swamping effects of outliers. We assessed the effectiveness the robust control chart based on simulation by considering different scenarios: n sample sizes, proportion of outliers, number of p quality characteristics. We found that in some scenarios, this RMCD robust control chart works effectively.
Sasano, Koji; Okajima, Hiroshi; Matsunaga, Nobutomo
Recently, the fractional order PID (FO-PID) control, which is the extension of the PID control, has been focused on. Even though the FO-PID requires the high-order filter, it is difficult to realize the high-order filter due to the memory limitation of digital computer. For implementation of FO-PID, approximation of the fractional integrator and differentiator are required. Short memory principle (SMP) is one of the effective approximation methods. However, there is a disadvantage that the approximated filter with SMP cannot eliminate the steady-state error. For this problem, we introduce the distributed implementation of the integrator and the dynamic quantizer to make the efficient use of permissible memory. The objective of this study is to clarify how to implement the accurate FO-PID with limited memories. In this paper, we propose the implementation method of FO-PID with memory constraint using dynamic quantizer. And the trade off between approximation of fractional elements and quantized data size are examined so as to close to the ideal FO-PID responses. The effectiveness of proposed method is evaluated by numerical example and experiment in the temperature control of heat plate.
Directory of Open Access Journals (Sweden)
Akbar Swandaru
2012-09-01
Full Text Available Peningkatan suplai daya listrik diperlukan untuk memenuhi kebutuhan daya listrik. Generator cenderung beroperasi dalam beban penuh.Hal ini berpengaruh pada keamanan generator dalam operasi sistem tenaga listrik.Salah satu masalah adalah osilasi frekuensi.Bila perubahan beban terjadi, kontroler diperlukan untuk meredam osilasi frekuensi ini.Pada tugas akhir ini diusulkan sebuah koordinasi antara Kontroler Capacitive Energy Storage (CES dan Kontroler PID. CES disini berfungsi untuk membantu kinerja Governor agar meredam osilasi frekuensi dengan cepat. Kontroler CES ini digunakan bersama dengan PID controller yang dioptimalkan dengan Differential Evolution Algorithm (DEA.
Renforcer la capacité de réagir aux épidémies en Afrique | CRDI ...
International Development Research Centre (IDRC) Digital Library (Canada)
En 2014, l'épidémie d'Ebola en Afrique de l'Ouest a coûté la vie à des dizaines de milliers de personnes, en particulier en Guinée, au Liberia et en Sierra Leone. L'Organisation mondiale de la Santé (OMS) a déclaré que cette épidémie constituait la plus grave urgence de santé publique depuis la découverte du VIH.
A kernel version of multivariate alteration detection
DEFF Research Database (Denmark)
Nielsen, Allan Aasbjerg; Vestergaard, Jacob Schack
2013-01-01
Based on the established methods kernel canonical correlation analysis and multivariate alteration detection we introduce a kernel version of multivariate alteration detection. A case study with SPOT HRV data shows that the kMAD variates focus on extreme change observations.......Based on the established methods kernel canonical correlation analysis and multivariate alteration detection we introduce a kernel version of multivariate alteration detection. A case study with SPOT HRV data shows that the kMAD variates focus on extreme change observations....
A Rare Case of Flare-Up of PID in Infertility Treatment
Directory of Open Access Journals (Sweden)
Leena Wadhwa
2015-01-01
Full Text Available Case Presentation. Mrs. X, 35 years old, case of primary infertility, was diagnosed to have genital tuberculosis on the basis of PCR positive and hysterolaparoscopy findings and received category I ATT for 6 months. Following ATT completion, her USG revealed no evidence of tuboovarian mass or hydrosalpinx. Since her tubes were patent, she underwent 3 cycles of ovulation induction and 2 cycles of IUI. The women presented with acute PID, five days after IUI, and was conservatively managed. She again presented 24 days after IUI with persistent low grade fever and abdominal pain. Suspecting relapse of genital tuberculosis, she was started on category II ATT. She had acute episodes of high grade fever with chills 2 weeks after starting ATT and MRI revealed bilateral TO masses suggestive of pyosalpinx. Emergency laparotomy was done, pus was drained, and cyst wall was removed and HPE was suggestive of chronic inflammation with few granulation tissues. ATT was continued for one year and the woman improved. Conclusion. The possibility of flare-up of PID (pelvic inflammatory disease in treated case of tuberculosis undergoing infertility management should be kept in mind and aggressive management should be done.
Laboratorio Web SCORM de Control PID con IntegraciÃ³n Avanzada
Directory of Open Access Journals (Sweden)
Ildefonso Ruano Ruano
2016-10-01
Full Text Available Resumen: Los laboratorios Web (WebLabs son recursos cada vez mÃ¡s utilizados en las carreras tÃ©cnicas universitarias. Cuando se presentan integrados en un sistema de gestiÃ³n de aprendizaje (LMS, Learning Management System se obtienen una serie de ventajas para alumnos y docentes entre las que destaca el hecho de mostrarse en un entorno conocido y la posibilidad de personalizar la experiencia gracias a la identificaciÃ³n de usuarios que realiza el LMS. Este trabajo muestra un WebLab sobre control Proporcional-Integral-Derivativo (PID, un contenido fundamental de las asignaturas de AutomÃ¡tica que se encuentra en todos los grados de IngenierÃa Industrial. Este WebLab ha sido desarrollado mediante una metodologÃa innovadora con la que se obtiene un recurso de aprendizaje eficaz basado en un paquete SCORM (Shared Content Object Reference Model. SCORM es el estÃ¡ndar de contenidos de e-learning mÃ¡s utilizado y es compatible con la mayorÃa de los LMS del mercado, esto permite que el WebLab pueda ser reutilizado fÃ¡cilmente en diferentes entornos LMS. El WebLab contiene un plan de aprendizaje que incluye una serie de recursos de utilidad docente como teorÃa de control PID, pruebas de evaluaciÃ³n, un laboratorio virtual de control PID de un motor de corriente continua y experimentos personalizados para cada alumno cuyos resultados son almacenados en el LMS. Este WebLab se ha presentado en el LMS institucional de la Universidad de JaÃ©n a 340 alumnos de la asignatura âAutomÃ¡tica Industrialâ en el curso 2014-15. Los datos de uso han permitido realizar diversas evaluaciones que demuestran que los alumnos que lo han completado han obtenido un rendimiento excelente en el propio WebLab, han conseguido unos resultados muy superiores al resto de alumnos en la evaluaciÃ³n final de la asignatura y lo han valorado muy positivamente. TambiÃ©n se ha demostrado la reusabilidad del WebLab en diferentes LMS
Directory of Open Access Journals (Sweden)
Awang Hendrianto Pratomo
2015-07-01
Full Text Available MiRoSoT Robot movement is influenced by the speed control from right and left wheels. Wheels speed control on MiroSot robot is determined by parameter PID (Proportional Integral and Derevative value. PID value determined by robot position and angle. MiroSot robot movement is still not stable and can not move in accordance with the instruction have been made. Instability of the robot movement in the game is affected by friction wheels against the ground, friction gear and robot load. In this study, implemented a gyroscope and accelerometer sensors to stabilize robot movement. Based on both sensors are controlled by using a microcontroller ATmega64. Speed control system based on gyroscope and accelerometer sensor is obtained that the robot is able to face a certain angle more precisely. The accelerometer sensor is used as a parameter for the braking system, so the robot is able to move more stable without the loss of power from the motor during a reduction speed from the strategy control.
A fuzzy PID-controlled SMA actuator for a two-DOF joint
Directory of Open Access Journals (Sweden)
Shi Zhenyun
2014-04-01
Full Text Available Shape memory alloy (SMA actuator is a potential advanced component for servo-systems of aerospace vehicles and aircraft. This paper presents a joint with two degrees of freedom (DOF and a mobility range close to ±60° when driven by SMA triple wires. The fuzzy proportional-integral-derivative (PID-controlled actuator drive was designed using antagonistic SMA triple wires, and the resistance feedback signal made a closed loop. Experiments showed that, with the driving responding frequency increasing, the overstress became harder to be avoided at the position under the maximum friction force. Furthermore, the hysteresis gap between the heating and cooling paths of the strain-to-resistance curve expanded under this condition. A fuzzy logic control was considered as a solution, and the curves of the wires were then modeled by fitting polynomials so that the measured resistance was used directly to determine the control signal. Accurate control was demonstrated through the step response, and the experimental results showed that under the fuzzy PID-control program, the mean absolute error (MAE of the rotation angle was about 3.147°. In addition, the investigation of the external interference to the system proved the controllable maximum output.
Design Of A Novel Online Experiment Setup For PID Controller Applications
Directory of Open Access Journals (Sweden)
Sezgin Kaçar
2017-02-01
Full Text Available In this study, an internet based remote access experiment setup was developed for induction direct current motor speed control with PID controller which can be used as a support material in engineering education. The experiment setup is wireless and communicates with the remote server using transfer control protocol/internet protocol through a wireless ADSL modem. Users can perform the experiments as real time accessing the web pages in the remote server by using any computer which has internet connection. By means of interactively-designed web pages, users can monitor the speed change executing alterations of the PID controller parameter and motor reference speed. Also users can save the measured values on their own computers. In addition to this, with the support of a webcam, the running of the experimental set can be monitored on the web page. Additionally, for the experimental set, preparing the peripheral units card, the interaction was expanded between the user and the experimental set. Relatively to this, the user can monitor the ambient temperature of the experimental set’s current place on the web page and can make his/her own message write on LCD of the experimental set and can enlighten it if he/she wants.