Design Of PD Controller Research Articles

Design of PD Controllers with Input Saturation for Postprandial Blood Glucose Regulation

An Artificial pancreas system regulates blood glucose in people with type 1 diabetes by automating the appropriate insulin infusion rate calculation. Insulin cannot be removed once injected, and thus, the control input is constrained to be positive. Controllers designed without taking this constraint into consideration often deliver an excessive insulin dose after a meal intake (postprandial period), which may cause hypoglycemia, a condition related to harmful complications. The non-negativeness is usually handled indirectly through additional control structures that compensate for the saturation by cutting of the insulin flow in advance. The few approaches that consider the non-negativeness of insulin in the controller design process end up with high-order controllers, which are difficult to analyze. In this work, the design of a input-constrained PD controller for regulating postprandial glucose is explored. The set of feasible controller parameters is computed and related to the meal and insulin dynamics.

Load Frequency Control of Single-Area Power System with PI–PD Controller Design for Performance Improvement

Load Frequency Control of Single-Area Power System with PI–PD Controller Design for Performance Improvement

PD controller design for a system of a valve controlled hydromotor

PD controller design methodology based on D-decomposition is considered in this paper. The method consists in tuning two parameters of a controller: proportional (P) and differential (D). The method was applied to a hydromotor controlled by a valve according to the position of the valve's piston. The results obtained in this paper show the good performance of the automatic control system in comparison with other methods of controller design and other controllers designed with the same method on the valve controlled hydromotor system.

Fractional order PD controller design for third order plants ıncluding time delay

Fractional order PD controller design for third order plants ıncluding time delay

Special issue on PID control in the information age: Theoretical advances and applications

Special issue on PID control in the information age: Theoretical advances and applications

Control and Dynamic Simulation of Wire-Driven Precise Spray Robotic Arm

The spraying of citrus to kill insects is a necessary part of the citrus planting process. Most of the currently used sprayers are cover sprays, which cannot achieve accurate and low-consumption spraying. Causing a lot of pesticide waste and environmental pollution. Aiming at the difficulty of precise spraying of citrus leaves, this paper proposes a soft spraying manipulator with good bending characteristics and flexible operation ability. The robotic arm consists of 6 joints and 2 arm segments. The two arm segments of the robotic arm are driven by two wire ropes and move in two orthogonal planes respectively. The PD controller design is designed. The joint state observers are constructed to predict joint angles, angular velocities, and other information. The dynamic simulation experiment is carried out, and the relationship between the wire rope tension and the spring elastic force changes with time, and the relationship between each joint angle changes with time. These make the wire-driven precise spray robotic arm potentially useful in agricultural spraying.

Robust PD controller design for uncertain system with time-varying delay via singular system approach

Robust PD controller design for uncertain system with time-varying delay via singular system approach

Robust PD controller design for uncertain system with time-varying delay via singular system approach

Robust PD controller design for uncertain system with time-varying delay via singular system approach

Optimal PI–PD Controller Design for Pure Integrating Processes with Time Delay

Though Proportional-Integral-Derivative (PID) controllers are commonly being used for process control applications, it has been proven that they may give unacceptable closed loop responses for open loop unstable processes including integrating ones. Hence, this paper addresses to tuning of PI–PD controllers which is an extension of PID controllers and uses PD part in an inner feedback loop to convert the open loop unstable processes to a stable one so that PI controller in the forward path can be used to achieve a better closed loop response. PI–PD tuning parameters are determined from simple analytical rules which were obtained from minimization of the control system error based on IST3E criterion which is an integral performance index and has been proven to be resulting in very satisfactory closed loop responses. Derived tuning rules are in terms of the assumed process transfer function parameters, namely the gain and time delay. Effectiveness and superiority of obtained tuning rules have been shown by simulation examples.

Synthesised fractional‐order PD controller design for fractional‐order time‐delay systems based on improved robust stability surface analysis

An improved robust stability surface analysis method is proposed in this study for fractional-order time-delay systems. Through the stabilisation process, a synthesised fractional-order PD controller can be designed with guaranteed robustness specifications. Firstly, the specification for improved robustness requirements is proposed. In order to find selectable robust controller design parameter combinations for the controlled system, stability region is discussed based on the stability boundary locus, and the robust stability surface is derived straight after. Secondly, the selectable parameter combinations are checked to find the one that best fulfils all the proposed robustness specifications. Finally, numerical simulations are given to demonstrate the effectiveness and flexibility of the presented control algorithm.

Design, Implementation, and Validation of Robust Fractional-Order PD Controller for Wheeled Mobile Robot Trajectory Tracking

In this paper, a trajectory tracking control algorithm is proposed based on the fractional-order PD (FOPD) controller for a Wheeled Mobile Robot (WMR). Firstly, an improved flat phase property is put forward as a robust controller tuning specification. This specification is capable of guaranteeing the flatness of the phase curve in a frequency interval, so the controlled system robustness can be improved. Then, the stabilization process is discussed with respect to the parameters of the FOPD controller through a visualized 3-dimensional surface, so both the stability and robustness of the controlled system can be guaranteed under the proposed controller. Furthermore, the implementation of the proposed robust FOPD controller is presented, which makes the control algorithm easy to be realized. At last, the effectiveness of the proposed trajectory tracking control algorithm is verified by the simulation and experiment results.

Optimal Augmented Linear and Nonlinear PD Control Design for Parallel Robot Based on PSO Tuner

This article presents the optimal control design for trajectory tracking of Delta\Par4-like parallel manipulator controlled by two augmented control schemes: Augmented PD Controller (APD) and Augmented Nonlinear PD (ANPD) Controller. Firstly, the Particle Swarm Optimization (PSO) technique is employed for optimal tuning of design parameters for each control structure in order to reach better dynamic performance. Then, two comparisons are made in order to evaluate the performance of parallel robot based on optimized ANPD and APD controllers. The first comparison is established in terms of tracking error accuracy due to the involved controllers, while the other one is based on the strength of robustness granted by each controller against variation of parallel robot parameters. The verification of performance comparisons is made via simulation within the environment of MATLAB/Simulink programming platform. The circular path is used for performance evaluation of controllers for trajectory tracking control. The simulated results have showed that ANPD controller outperforms the APD controller in terms of tracking accuracy and robustness.

A Nonlinear PD Controller Design and Its Application to MOV Actuators

A Nonlinear PD Controller Design and Its Application to MOV Actuators

Intelligent PD controller design for active suspension system based on robust model-free control strategy

A novel active suspension control design method is proposed for attenuating vibrations caused by road disturbance inputs in vehicle suspension systems. For the control algorithm, we propose an intelligent PD controller structure that effectively rejects online estimated disturbances. The main theoretical techniques used in this paper consist of an ultra-local model which replaces the mathematical model of quarter car system and a new algebraic estimator of unknown information. The measurement of only input and output variables of the plant is required for achieving the reference tracking task and the cancellation of unmodeled exogenous and endogenous perturbations such as roughness road variation, unpredictable variation of vehicle speed and load variation. The performance and robustness of the proposed active suspension algorithm are compared with ADRC control and LQR control. Numerical results are provided for showing the improvement of passenger comfort criteria with model-free control.

Bilinear Modelling and Attitude Control of a Quadrotor

The design of a bilinear controller for a quadrotor and its subsequent stability and performance are presented. A Carleman bilinearization technique is applied to the the nonlinear equations of motion of a quadrotor to obtain a bilinear model which is used as the basis for a bilinear PD controller design. For comparison purposes, a linear model of the quadrotor is also developed and used as the basis for PD controller design. Results for a transient simulation of the proposed BPD controller are presented and compared with that of the PD controller. The results show that the bilinear PD controller gives more improved responses over a broader operating range with respect to stability and performance compared to the PD controller.

Enhanced approach to PD control design for linear time-invariant descriptor systems

Enhanced approaches to PD controller design, adjusted for linear time-invariant descriptor systems, are proposed in the paper. Presented in the sense of the second Lyapunov method, an associated structure of linear matrix inequalities is outlined to possess the regular closed-loop system dynamic properties. A simulation example, subject to the state and output PD control, demonstrates the effiectiveness of the proposed form of the design technique.

Design and Implementation of Self-Adaptive PD Controller Based on Fuzzy Logic Algorithm for Omni-Directional Fast Robots in Presence of Model Uncertainties

In this paper, a self-adaptive PD (SAPD) is employed for motion control of omni-directional robots. The method contains a PD controller that can be tuned online using a fuzzy logic system (FLS). Fast and accurate positioning is one of significant challenges in robot platforms. In addition, some uncertainties have adverse effects on traditional control system's performance during the robot's motion. Slow responses, low accuracy and instability are the most important drawbacks of widespread controllers in presence of uncertain dynamics. Since the fuzzy algorithm can deal with uncertainties and nonlinearities, the proposed method can tackle the mentioned problems. The controller is designed based on an uncertain model and implemented on a four wheeled omni-directional fast robot. The novelty of this article is proposing an enhanced version of well-known gain scheduling PD controller to improve positioning performance of the robot in different circumstances. Experimental results show that the method can provide a desirable performance in the presence of uncertainties.

PD제어 기법을 적용한 어뢰형 무인잠수정(HW200)의 선수각 및 심도제어기 설계와 실해역 성능 검증

This Paper considers the heading and depth control problem for an underactuated AUV (Autonomous Underwater Vehicle) HW200. The HW200 is a torpedo-type AUV that is developed from Hanwha corporation R&D Center for military operation such as MCM (Mine Counter Measures). The HW200 controls horizontal and vertical motion with two stern plane and two rudder plane. It is well known that fine control of an AUV motion is not easy because of model uncertainties, highly nonlinear and coupled motions. To overcome those kind of uncertainties, a number of control methods have been presented. In this paper, the motion controllers of the HW200 are designed using PD controller design method based on the linear and perturbed model of the typical 6-DOF equations of an AUV, and confirmed the effectiveness of the controller through simulations and field test.

Dynamic matrix control optimization based new PIPD type control for outlet temperature in a coke furnace

Proportional–integral–derivative (PID) control is widely applied to various kinds of industrial processes with its simple structure and convenient implementation. However, for processes with complex behavior and uncertainties, PID control may not always satisfy the higher requirements. Compared with PID control, proportional-integral–proportional-derivative (PI–PD) control can provide improved control performance but is now used in a limited scope because its controller parameter tuning is a little bit more inconvenient than PID. In view of the above facts, this paper proposed a new PI–PD control design based on dynamic matrix control (DMC) optimization, which bears the advantages of improved control performance under DMC optimization and at the same time, simple structure of PI–PD control for implementation. The proposed PI–PD controller is tested on the outlet temperature of an industrial coke furnace, where results show that the controller shows improved control performance compared with traditional PID control and PI–PD control in terms of set-point tracking and disturbance rejection.

Fractional order PD controller design for non-monotonic phase systems

This paper presents a novel technique for the analytical design of the fractional order controller for non-monotonic phase systems. The PD controller is designed for non-monotonic system based on gain crossover frequency and phase margin specifications. The method provides a minimum phase margin in the desired bandwidth. The proposed method redefines the concept of phase margin for non-monotonic system with decreasing phase. Introduction of the fractional power parameters offers some advantage in terms of robust performance. For comparison, the proposed non-monotonic method and the conventional method are chosen for the same set of tuning constraints.