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The paper present an architecture multi-controller based in conventional PID controller and robust Fractional PID controller (FOPID) using PSO algorithm to optimize the parameters of PID and FOPID, and improved the robustness. This approach applied to control robotics wrist (Robot RX-90 Staübli). A brief overview of the process with a non-linear and linear mathematical modeling of the process. Principle...
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,...
This paper deals with the robust control problem for linear systems with both gain and time constants variations under fractional order PIλDμ controller. A robustness specification to the parameters variations is proposed. For those systems with more than one uncertain time constant, the robustness specifications are analyzed and simplified. To minimize the phase offset nearby the crossover frequency,...
This paper deals with Fractional Complex Order Controller FCOC tuning. The paper presents new structure of FCOC with the form PIx+iyD, in which x and y are the real and imaginary parts of the integral complex order, respectively. With the controller's five parameters, we can fulfil five design requirements. Design specifications are set to ensure robustness toward gain variations, noise on system...
The goal of this paper is to present a software tool intended to aid at the design of 2DoF PI/PID controllers by using the Model REference Robust Tuning (MoReRT) approach. This tool is suitable for those who need to design the PID controller for the simple closed-loop feedback in an effective and user-friendly way. The tool has been implemented in MATLAB<®/SIMULINK<®. and has been designed on...
The paper reports on the application of full-order ℋ∞ controller and ℋ∞ Fixed-Order Optimisation (HIFOO) controller to a Doubly-Fed Induction Generator wind turbine (DFIG). These controllers use the ℋ∞ mixed sensitivity problem to achieve an enhancement in both, Nominal Performance (NP) and Robust Stability (RS) margins for the uncertain DFIG plant while respecting constraints, such as dynamic tracking...
This paper presents a modification of recently reported general rules for designing complex controllers. The presented approach is here applied to control stable processes including dead-time with a dominant left half-plane zero. The introduced modification enables improvements in the form of better disturbance rejection and smaller IAE (Integrated Absolute Error). The solution to design procedure...
This paper shows a PI with phase-lead controller design using convex-concave optimization. The phase-lead term is added to reduce a high frequency measurement noise effect. By fixing all parameters of the phase-lead part, the optimization program searches the remain parameters subject to robustness constraints. The optimization constraints are functions in a frequency domain. The design problem can...
This paper deals with a novel robust current control scheme for Permanent Magnet Synchronous Machine based on the conventional cascade structure. The main idea is to substitute the commonly used decoupling network, which requires the precise knowledge of the system parameters in any working condition, with a more flexible and robust scheme. In particular, the traditional configuration is improved...
This paper focused on design and application of Two-Degree-of-Freedom — Fractional Order PID (2-DOF-FOPID) Controller to solve the automatic generation control (AGC) problem of hydrothermal system as well as multi-area system comprising of different sources such as hydro, thermal and gas units. Appropriate generation rate constraints (GRC) is considered for each unit. The performance of proposed 2-DOF-FOPID...
Nature inspired algorithms are nowadays aiding in solving several complex multi-objective engineering problems. In this paper, robust pitch control of a flight control system has been designed using fractional order controllers. In order to obtain the optimal values of the controller gains & orders such that the system offers robust response, the mixed sensitivity formulation has been expressed...
This paper deals with the H2/H∞-approach to design of the equipment devices operated at unmanned aerial vehicles in difficult conditions of real operation. The task is formulated as the vector optimization problem. The robust optimization algorithm and results of its execution are represented.
In recent years, the research and studies on fractional order (FO) modeling of dynamic systems and controllers are quite advancing. To improve the stability and dynamic response of automatic voltage regulator (AVR) system, we presented fractional Order PID (FOPID) controller by employing Genetic Algorithm (GA) and Ant Colony Optimization (ACO) techniques. We designed a masked fractional order PID...
This paper studies the H2/H∞ approach to control the Internet traffic. We are interested in using the H2 formulation to improve transient performances in addition to maintaining the robust performance offered by the formerly used H∞ formulation. In this controller, the closed-loop dynamics are monitored and controlled by the sensitivity functions along with their associated weight functions. The LMI...
This paper considers a robustly convergent algorithm for worst case identification using FIR models. A new and stronger notion of robust convergence is established, and error bounds are obtained for a fixed model order as the length of data tends to infinity. The algorithm is shown to be implementable as a solution to an LMI optimisation problem. A robustly convergent algorithm for identification...
This paper presents a new robust fault diagnosis algorithm for uncertain linear systems. The model uncertainties are taken into account to synthesise an optimal model for a detection procedure. This model, optimal with respect to a H2 criterion, is developed for both black-box and grey-box modelling frameworks. A simulation example illustrates the ability of the proposed method to generate a residual...
PID controller design is considered where optimal controller parameters are found with constraint on maximum sensitivity and robustness with regard to cone bounded static nonlinearity acting on the plant.
This paper deals with the Boyd-Barratt paradigm for feedback controller design. This approach combines the Youla parameterization with convex optimization. In this paper, this paradigm is accepted in its entirety, but a completely different numerical approach is adopted. We propose replacing the descent methods of Boyd and Barratt by an algorithm due to Akilov and Rubinov. This alternative approach...
Two-degree-of-freedom (2DoF) proportional-integrative-derivative (PID) control algorithms are presented here in order to see the conversion factors, relations and how we can improve the performance and robustness of the system. Each configuration is proposed as a multi-objective problem (MOP) it is used the Pareto front to analyze the disturbance attenuation performance versus control input usage...
Robust non-integer control is an emerging field in control theory. Multiple works are focused on designing controllers with flatphase and robust stability margins. In this paper design of non-integer order with robust properties is considered. This controller is designed for the model of air heating process trainer system belonging to the Department of Automatics and Biomedical Engineering of AGH...
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