Proportional Integral Derivative Acceleration Controller Research Articles

PIDA control of depth of hypnosis in total intravenous anesthesia

In this paper we discuss the use of a Proportional-Integral-Derivative-Acceleration (PIDA) controller for the Depth-of-Hypnosis (DoH) control in total intravenous anesthesia (TIVA). In particular, the infusion rate of the hypnotic drug propofol is the control variable and the bispectral index (BIS) is the controlled variable. The PIDA controller is tuned by using a population-based approach and its robustness is evaluated with a Monte Carlo method. The noise amplification is reduced by means of suitably designed low-pass filters. A comparison with a PID controller is performed, showing that the addition of the acceleration action allows us to design a more aggressive controller, thus reducing the risk of awareness of the patient in the maintenance phase.

IMC-based tuning of PIDA controllers: a comparison with PID control

In this paper we evaluate the performance achieved by a tuning methodology based on Internal Model Control for a Proportional-Integral-Derivative-Acceleration (PIDA) controller. In particular, we compare the results obtained for the set-point and load disturbance step responses with those achieved with a Proportional-Integral-Derivative (PID) controller tuned by applying the well-known SIMC and AMIGO tuning rules. Different high-order processes are considered: self-regulating, distributed lag and non self-regulating. It is shown that, in general, the use of the double derivative (acceleration) action allows the integrated absolute error to be decreased without a decrement of the robustness and with a moderate increment of the control effort.

Generalized Haalman tuning of PIDA controllers

In this paper we propose a new tuning methodology for Proportional-Integral-Derivative-Acceleration (PIDA) controllers. First, a third-order-plus-dead-time transfer function of the (high-order) process is estimated by evaluating an open-loop step response. Then, the three time constants of the controller are determined by applying a pole-zero cancellation approach and the proportional gain is finally adjusted in order to obtain a desired maximum sensitivity. The controller filters are selected in order to minimize the effects of the measurement noise and to avoid kicks in the control variable. Simulation results show the effectiveness of the methodology in comparison with PID control.

Parametrization and Optimal Tuning of Constrained Series PIDA Controller for IPDT Models

The new modular approach to constrained control of higher-order processes with dominant first-order dynamics using generalized controllers with automatic resets (ARCs) is addressed. The controller design is based on the multiple real dominant pole (MRDP) method for the integrator plus dead time (IPDT) process models. The controller output constraints are taken into account by inserting the smallest numerator time constant of the controller transfer function into the positive feedback loop representing the automatic reset (integral) term. In the series realization of the proportional–integral–derivative–acceleration (PIDA) controller (and other controllers with even derivative degree), the time constant mentioned is complex, so only the real part of the time constant has been used so far. Other possible conversions of a complex number to a real number, such as the absolute value (modulus), can be covered by introducing a tuning parameter that modifies the calculated real time constant and generalizes the mentioned conversion when designing controllers with constraints. In this article, the impact of the tuning parameter on the overall dynamics of the control loop is studied by simulation. In addition, an evaluation of the stability of the closed-loop control system is performed using the circle criterion in the frequency domain. The analysis has shown that the approximation of the complex zero by its real part and modulus leads to a near optimal response to the set point tracking. The disturbance rejection can be significantly improved by increasing the tuning parameter by nearly 50%. In general, the tuning parameter can be used to find a compromise between servo and regulatory control. The robustness and applicability of the proposed controller is evaluated using a time-delayed process with first-order dominant dynamics when the actual transfer function is much more complicated than the IPDT model. A comparison of the proposed MRDP-PIDA controller with series PI, PID and PIDA controllers based on a modified SIMC method has shown that the MRDP-PIDA controller performs better than the SIMC method, although the SIMC uses a more complex process model.

Accelerated Control Using Stochastic Dual Simplex Algorithm and Genetic Filter for Drone Application

This paper presents a new Proportional-Integral-Derivative-Accelerated (PIDA) control with a derivative filter to improve quadcopter flight stability in a noisy environment. The mathematical model is derived from having an accurate model with a high level of fidelity by addressing the problems of non-linearity, uncertainties, and coupling. These uncertainties and measurement noises cause instability in flight and automatic hovering. The proposed controller associated with a heuristic Genetic Filter (GF) addresses these challenges. The tuning of the proposed PIDA controller associated with the objective of controlling is performed by Stochastic Dual Simplex Algorithm (SDSA). GF is applied to the PIDA control to estimate the observed states and parameters of quadcopters in both attitude and altitude. The simulation results show that the proposed control associated with GF has a strong ability to track the desired point in the presence of disturbances.

Optimal design of proportional integral derivative acceleration controller for higher‐order nonlinear time delay system using m‐MBOA technique

AbstractIn general, the parameter adjustment is used to design the proportional‐integral‐derivative (PID) controllers. Despite that, to enhance the capacity of control performance by adjusting parameters is limited. Therefore, in this paper, an optimal design of proportional integral derivative acceleration (PIDA) controller is proposed for higher‐order nonlinear time delay system (TDS) using modified butterfly optimization algorithm (MBOA) with the aim of achieving optimal closed‐loop response, which is enhanced with mutualism system (m‐MBOA). In the proposed approach, the mutualism stage of symbiotic organisms search (SOS) and butterfly optimization algorithm (BOA) global exploration phase is considered. The major aim of the proposed approach is to “tune the gain of the PIDA controller to get the desired response.” It reduces the drawback of the PIDA controller in the higher‐order TDS using advanced control limits is the individuality of the proposed approach. Here, the proposed approach is employed to reduce the higher‐order delays together with reliability limits, like minor overshoots, time resolution, and fixed stage deficiency. To evaluate the proposed PIDA controller, the execution is done by the MATLAB/Simulink platform, also its efficiency is compared with existing approaches. Moreover, the proposed and existing approaches are analyzed with mean, median, and standard deviations. From the analysis, the proposed approach achieves the stability with minimal delay time and reduces the computational complexity. Finally, the simulation results demonstrate that the proposed approach can efficiently with accurately find the optimal global solutions.

Enhancement of frequency stability of power systems integrated with wind energy using marine predator algorithm based PIDA controlled STATCOM

This paper proposes a novel optimized Proportional-Integral-Derivative-Acceleration (PIDA) controlled static synchronous compensator (STATCOM) to improve the frequency response of power systems through reactive power modulation. The proposed controller can maintain the system frequency within permissible limits upon load change or generation loss. The gains of the PIDA controller are fine-tuned using the Marine Predator Algorithm (MPA), which is a newly metaheuristic optimization technique. Moreover, the performance of the MPA-PIDA controlled STATCOM is tested in the two-area four-machine system (Kundur system) and the New England IEEE 39-bus system. The results show that the MPA-PIDA controller can provide better frequency response compared with the multi-band controller presented in the previous literature. In addition, the robustness of the proposed controller is verified when case studies are integrated with wind generation. The results show that the primary frequency response is greatly improved by using the MPA-PIDA controlled STATCOM in all studied cases. Moreover, the results are given in the form of time domain simulations using MATLAB/SIMULINK.

Marine Predator Algorithm based Cascaded PIDA Load Frequency Controller for Electric Power Systems with Wave Energy Conversion Systems

This paper proposes a Cascaded PIDA (Proportional-Integral-Derivative-Acceleration) load frequency controller (LFC) for interconnected power systems with Wave Energy Conversion Systems (WECS). The proposed controller parameters are optimized using the Marine Predator Algorithm (MPA), which is a recent optimization technique known to be robust. The Cascaded PIDA controller results are compared to the results of a single structure MPA based PIDA controller and other PIDA controllers whose parameters are optimized using various optimization techniques presented in previous literature. Results show that the MPA-based PIDA-LFC has better results than other PIDA controllers optimized by other techniques, while the MPA-Cascaded PIDA-LFC has proven to have the best performance where the frequency and the tie-line power fluctuations, due to the connected Wave Energy Conversion System, are efficiently damped. Moreover, the results are presented in the form of time-domain simulation conducted via MATLAB /SIMULINK.

Maximum sensitivity-constrained coefficient diagram method-based PIDA controller design: application for load frequency control of an isolated microgrid

This paper proposes an improved coefficient diagram method (CDM) for proportional integral derivative acceleration (PIDA) controller design. In the improved CDM, stability indices are obtained using a graphical approach based on the maximum sensitivity constraints. The stability indices play an important role in the designing of the controller and stability of the closed-loop control system. Further, the improved CDM is utilized to compute the analytical expressions for the coefficients gain of PIDA controller. From the application point of view, the proposed control approach is designed for load frequency control (LFC) of an isolated microgrid (IMG). In IMG, the generators cannot supply constant electrical power and sometimes cause an imbalance between power generation and demand. Thus, LFC scheme is applied to maintain the balance between power generation and demand. The effectiveness and robustness of proposed control approach are analyzed for IMG system under $$\pm 50$$ % parametric uncertainty, random load demand, random solar and wind power deviation profile. The efficacy and performance of proposed control approach are examined in comparison with the published PID, 2DOF-PID and PIDA control schemes.

Dynamic Performance Improvement of Pitch Angle Control Using PID and PIDA Controllers for Wind Generation Systems

Abstract Recently, wind energy is one of energy sources most have been devoted much awareness as result of shortage of energy. This study shows loads which are formed in the rotating shaft of wind turbine (WT). These loads cause disturbances on the blades, which leads to damage the blades. these loads can be exceeded, and the amount of productive energy can be controlled by using a good control unit that adjusts the angle of the WT blade. For the previous purpose, independent electric motor is used to control blade pitch, this process called pitch control (PC) system. This paper presents a mathematical model of PC system that is controlled by using two different controllers in MATLAB/Simulink; proportional -integral-derivative controller (PID) and proportional -integral-derivative-acceleration (PIDA). In this system three different function are used as reference pitch angle; unit step function, sinewave function and step change signal which are used on control system without any controller and it is found that output system isn’t reached to a reference value for three functions. The steady state error equal to 76% when step function is used, so the controller is needed for a system. When PID and PIDA controllers are used, the time domain specification of output is improved. The steady state error in PID and PIDA controllers is 9% and 0.014% respectively. It is found that the better time domain specification is given by PIDA. PID and PIDA controllers are tested with sinewave and step change, PIDA is also produced the best response.

A Comparative Study of Various Intelligent Controllers’ Performance for Systems Based on Bat Optimization Algorithm

The aim of this paper is to demonstrate the performance of two intelligent controllers; the proportional-integral-derivative (PID) controller, and the proportional-integral-derivative-acceleration (PIDA) controller, based on optimization algorithm for higher order systems. In this work, bat control algorithm has been utilized to find and tune the optimal weight parameters of the controllers as simple and fast tuning technique to find the best unsaturated state and smooth control action for the systems based on the intelligent controllers. The simulation results using (Matlab Package) show that both controllers with the bat control algorithm can give excellent performance but the performance of the PIDA controller is better than that of the PID controller in terms of reducing the rising time (Tr), peak time (Tp), settling time (Ts), maximum overshoot (Mp), and steady-state error (Ess). Furthermore, the fitness evaluation value is reduced.
 Keywords: PID controller, PIDA controller, Bat Optimization Algorithm, Higher-Order Systems.

A PID and PIDA Controller Design for an AVR System using Frequency Response Matching

A proportional integral derivative (PID) and proportional integral derivative acceleration (PIDA) controller have been designed for voltage regulation in power system. The controller (i.e. PID and PIDA) has been proposed via frequency response matching of desired reference model with that of system model transfer function. The proposed PID controller has been designed using one point frequency response matching as well as pole placement technique, while PIDA controller has been designed using two point frequency response matching by equating desired set-point closed loop reference model with that of closed loop transfer function of system model. The response of the proposed PIDA controller shows improved performance for automatic voltage regulator (AVR) system in comparison with recently available literature. The proposed PID and PIDA controllers provide fast and smooth response for an AVR system. The advantages associated with the PIDA controller for an AVR system is to reduce rise time, percentage overshoot and improved robustness, stability margin.

Decentralized Load–Frequency Controller Design for a Single as Well as Multi-area Power System

This paper addresses the application of the proportional–integral–derivative (PID) controller and the proportional–integral–derivative–acceleration (PIDA) controller for decentralized load–frequency control in single- and multi-area power system. In this study, both the controllers are designed via direct synthesis approach. The parameters of the PID controller from direct synthesis approach are obtained by desired pole placement for transient improvement and the frequency response matching near zero frequency for better steady-state behavior. To get the parameters of the PIDA controller, frequency domain approximation of the direct synthesis controller is used. The results obtained by the proposed controllers yield better performance for a single-area as well as the multi-area power system in comparison with the recently reported methods in the literature. It is also observed that the proposed PIDA controller outperforms with respect to the PID controllers. Properly tuned PID controllers provide faster response and further improvement may be obtained by the use of well-tuned PIDA controller in case of load–frequency control of multi-area power system. The proposed controller design method is a good tool in comparison with the prevalent design methods in the literature.

Whale optimization algorithm to tune PID and PIDA controllers on AVR system

Abstract Power system stability is improved through using Automatic Voltage Regulator (AVR) to adjust the terminal voltage of synchronous generator. Proportional-Integral-Derivative (PID) and Proportional-Integral-Derivative-Acceleration (PIDA) controllers are used in AVR for excitation control. Whale optimization algorithm (WOA) technique is used in this paper to tune the controllers’ parameters. WOA using PID and PIDA controllers show its superiority through comparison with several optimization techniques. Then comparison between both controllers is carried out and shows that PIDA controller is better than PID controller. Therefore, WOA using PIDA controller is the best system. Robustness analysis is performed to check terminal voltage response with load variation and proved again the superiority of WOA-PIDA system. The contribution of the paper is mainly in analysis by using Root Locus and Bode diagram beside using new optimized controller system in this application.

Robust CDA-PIDA Control Scheme for Load Frequency Control of Interconnected Power Systems

This paper proposes a robust CDA-PIDA control scheme for load frequency control problem. The proportional integral derivative acceleration (PIDA) controller is a variant of PID and it is used to cope with large overshoot and settling time in higher order systems. The tuning of PIDA controller is based on coefficient diagram algorithm (CDA). The CDA is based on algebraic design approach and it is demonstrated sufficient condition for stability In this paper, CDA-PIDA control scheme is designed for two area interconnected power system. The overall closed loop system stability is guaranteed in case of two area power system because each area CDA-PIDA controller is designed independently. The robustness of the proposed control scheme is demonstrated in presence of parametric uncertainty, load disturbances and physical constraint. The robustness and eminence of CDA-PIDA control scheme is proved through comparison between the CDA-PIDA and recently published control schemes.

Optimal tuning of fractional order Pλ D µA controller using Particle Swarm Optimization algorithm

In this paper an optimal design method for the tuning of the fractional order proportional-integral-derivative-acceleration (PI λ DµA) controller parameters is presented. The fractional order PIλ DµA controller is a conventional proportional-integral-derivative-acceleration (PIDA) controller whose integration action order λ and differentiation action order μ are real rather than integer. The two more parameters λ and μ will provide a better flexibility in controller design for a wide range of dynamical systems. The six parameters of the fractional order PI λ DµA controller are tuned through the optimization of the Integral Time Absolute Error (ITAE) performance criteria using the Particle Swarm Optimization (PSO) algorithm. The fractional order PIλ DµA controller design for two real world system models of a feedback control system have been proposed to illustrate its benefits and effectiveness. The simulation results show that the proposed fractional PIλ DµA controller exhibits dynamical performances improvements compared to the conventional PIDA controller of the feedback control system.

Application of Current Search to Optimum PIDA Controller Design

An application of the current search (CS), one of the most efficient metaheuristic optimization search techniques, to design the PIDA (proportional-integral-derivative-accelerated) controllers is proposed in this paper. The CS is applied to search for the optimum PIDA controller’s parameters. The obtained controllers are tested against nine benchmark systems collected by ?sstr?m and H?gglund considered as the hard-to-be-controlled plants and an automatic voltage regulator (AVR) system. As results, the optimum PIDA controllers can be successfully obtained by the CS and the responses of controlled systems are very satisfactory.

스텝응답에 기반한 PID/PIDA 제어기의 자동동조

In this paper, a method of auto-tuning of PID (Proportional-Integral-Derivative) and PIDA (Proportional-Integral-Derivative-Acceleration) controllers is proposed that can be applied to a time-delayed second order model. The proposed identification method is based on step responses, but it can be easily automated rising digital controller unlike the existing graphical identification methods. We provide a ways to yield parameter identifications which is independent to initial values of the plants. The tuning rule is based on the pole-placement strategy and is formulated so that it can be implemented using a digital controller with ease.