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This paper proposed a concise nonlinear fin roll control derived from integrator backstepping with nonlinear damping term. The resulting backstepping-based controller consists two parts, first part is a PID controller which agrees very well with the concise robust close-loop gain shaping algorithm (CGSA). While the second part is a nonlinear compensation which can be simplified by leaving the high...
This paper deals with the implementation of an auto-tuning method for fractional order PIλDμ controllers using a PLC. The purpose of the auto-tuning method proposed is to ensure a robust performance of the controlled system with respect to plant gain variations. Specifications of gain crossover frequency and phase margin are fulfilled, together with the iso-damping property of the time response of...
This paper is aimed at looking into the PID control design of systems with large time-delay. In a preliminary step, the system is modeled by a time-delay second order model. Time constants of the PID controller are determined on the basis of the obtained model using the pole compensation technique. The PID proportional gain results from the minimization of the settling time by the use of genetic algorithms...
Elastic elements, such as timing belts, have become more attractive where long travel length is required. However, the compliance of the belt causes mechanical resonance which reduces stability margins, forces servo gains down and deteriorates machine performance. In order to suppress the vibration of a linear belt-driven system and improve the transient response performance, the mathematical model...
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