Robust PID Controller Research Articles

Parametric synthesis of a robust PID-controller for interval control system with aperiodic transient process

The paper is dedicated to a problem of synthesizing a PID-controller, which provides and aperiodical transient process of desired duration in a control system of the third order with interval parametric uncertainty. To solve the problem, a new method of synthesis was developed. It is based on a decomposing a characteristic polynomial of a considered system in two multipliers: dominant polynomial, which determines allocation of a dominant pole and, consequently, quality of a transient process in a considered system, and non-dominant polynomial, which determines allocation of all other system poles. In order to provide a desired allocation of system poles, parameters of a PID-controller are divided to unrestricted ones and dependent ones. The research resulted in algebraic expressions for calculating dependent parameters of a PID-controller and a system of inequalities for finding its unrestricted parameter. Developed method of a PID-controller parametric synthesis allows placing an interval real dominant pole according to desired control quality and placing all other poles of a system in a desired part of a complex plane to provide necessary degree of a robust pole domination.

Robust PID Control Design in CPS-based Batch Distillation Column

Robust PID Control Design in CPS-based Batch Distillation Column

Robust PID Control Design in CPS-based Batch Distillation Column

Robust PID Control Design in CPS-based Batch Distillation Column

Robust PI-D Controller Design for Uncertain Linear Polytopic Systems Using LMI Regions and $H_2$ Performance

The paper deals with the new design procedure for PID-D robust controller with state/output derivative feedback to stabilize the closed-loop system using linear matrix inequality (LMI) and LMI regions with common in the frame of $H_2$ performance quadratic cost functions known as $(Q,S,R)$ . The designed robust controller ensures robust properties of the closed loop system for linear time invariant and linear time variant gain scheduled plant descriptor systems. The robust controller design procedure is based on the extended original derivative of Lyapunov function and to obtain the convex conditions with respect to uncertainties, gain scheduled variables, and ensures that proposed new method guarantees less conservativeness to the design procedure we have introduced using the auxiliary matrices. The obtained results should be utilized to design power system stabilizer for synchronous generators and so on. The obtained robust PI-D controller with output and state/output derivative feedback for uncertain polytopic systems ensures that all closed-loop eigenvalues are lying in the defined LMI region. Two examples illustrate the effectiveness of the new design procedure.

Constrained Control of Depth of Hypnosis During Induction Phase

This brief proposes a constrained control scheme for the control of the depth of hypnosis during the induction phase in clinical anesthesia. In contrast with the existing control schemes for propofol delivery, the proposed scheme guarantees overdosing prevention while ensuring good dynamic performance. The core idea is to reformulate overdosing prevention as a constraint, and then use the recently introduced explicit reference governor to enforce the constraint satisfaction at all times. The proposed scheme is evaluated in comparison with a robust PID controller on a simulated surgical procedure for 44 patients whose pharmacokinetic-pharmacodynamic models have been identified using the clinical data. The results demonstrate that the proposed constrained control scheme can deliver propofol to yield good induction phase response while preventing overdosing in patients; whereas other existing schemes might cause overdosing in some patients. Simulations show that mean rise time, mean settling time, and mean overshoot of less than 5 [min], 8 [min], and 10%, respectively, are achieved, which meet typical anesthesiologists’ response specifications.

Robotic manipulator control based on an optimal fractional-order fuzzy PID approach: SiL real-time simulation

Robotic manipulator control is a challenging task due to its nonlinear, interacting multi-input–multi-output dynamics. In this paper, we proposed an optimal robust fractional-order fuzzy PID controller based on multi-objective particle swarm optimization (MOPSO) algorithm for a two-link robotic manipulator. In order to minimize position and trajectory-tracking error, MOPSO finds the optimal parameters of fuzzy membership functions and order of the fractional operators. To show the effectiveness of the proposed controller, the software-in-the-loop real-time simulation is executed, and the results are compared to conventional fuzzy PID, fractional-order PID, and linear PID controllers.

Distributed Robust PID Control For Leader Tracking in Uncertain Connected Ground Vehicles With V2V Communication Delay

The paper addresses the leader tracking problem for a platoon of connected autonomous vehicles in the presence of both homogeneous time-varying parameter uncertainties and vehicle-to-vehicle time-varying communication delay. To this aim, leveraging the multiagent systems (MAS) framework, a novel distributed robust proportional-integral-derivative control is proposed. The stability of the cohesive formation is analytically proved with a Lyapunov–Krasovskii approach by exploiting the descriptor transformation for time-delayed systems of neutral type. The delay-dependent robust stability conditions are expressed as a set of linear matrix inequalities allowing the proper tuning of the proportional, integral, and derivative actions implemented on each of the vehicles within the fleet. Extensive simulation analysis in different driving scenarios confirms the effectiveness of the theoretical derivation.

Robust type-2 fuzzy fractional order PID controller for dynamic stability enhancement of power system having RES based microgrid penetration

The increased penetration of renewable energy sources (RES) based microgrid (MG) to the power system can affect the system stability due to the difference in dynamic characteristics of this kind of MG from the conventional generators. The reduction in system inertia caused by these power electronics interfaced renewable power generations introduces a negative effect in the dynamic stability of the system and may cause ensuing instability problems. On the other hand, power injection of RES based MG improves the damping performance with the reduction of transmission line congestion and power loss. Thus it becomes imperative to analyze the new dynamic stability concerns and control performance of a power system in the context of increased MG penetration. This study thoroughly investigates the impact of RES based MG penetration on the dynamic stability and control of a multi-machine multi-area system under varying operating conditions. The design of a novel type-2 fuzzy fractional order PID based power system stabilizer (PSS) using a meta-heuristic hybrid algorithm is presented in this paper for improving the electromechanical oscillation damping performance of the power system to enhance the dynamic stability. The large bandwidth, memory effect and flat phase contribution in the frequency response of fractional-order PID controllers are exploited to make the controller perform well against a wide range of system uncertainties in the presence of an MG. First, the parameter tuning problem of the type-2 fuzzy fractional order PID controller is transformed to an optimization problem that is solved using a hybrid algorithm by combining a dynamic genetic algorithm (DGA) with a bacteria foraging algorithm (BFA). The capability of the proposed controller in damping the low-frequency oscillations in the system with various MG penetration ratios is assessed through non-linear time-domain simulations and some performance indices under different disturbances and operating conditions.

The Robust PID Control System of Temperature Stability and Humidity on Infant Incubator Based on Arduino AT Mega 2560

Premature babies have a high level of sensitivity that one of them is toward temperature and humidity of the surrounding environment. Therefore special treatment is required for premature babies. Related to it the babies required infant incubator to stabilize the temperature and humidity around the baby’s body. To control temperature stability at 36 ° C and humidity at 80% - 60% RH value in incubator space required Arduino Mega 2560, Arduino Uno, LM35 sensor, DHT22 sensor and added PID control (Proportional Integral Derivative) to reduce maximum overshoot (Mp) and error signal average ≤ 5% and speed up the system to reach the setting point. With the PID control the maximum overshoot value Mp = 0.833889%, the error signal average e = 0.011033% and the temperature reached steady level at the 218 seconds on testing the infant prototype without load.

Optimizing Robust PID Control of Propofol Anesthesia for Children: Design and Clinical Evaluation.

The goal of this paper was to optimize robust PID control for propofol anesthesia in children aged 5-10 years to improve performance, particularly to decrease the time of induction of anesthesia while maintaining robustness. We analyzed results of a previous study conducted by our group to identify opportunities for system improvement. Allometric scaling was introduced to reduce the interpatient variability and a new robust PID controller was designed using an optimization-based method. We evaluated this optimized design in a clinical study involving 16 new cases. The optimized controller design achieved the performance predicted in simulation studies in the design stage. Time of induction of anesthesia was median [Q1, Q3] 3.7 [2.3, 4.1] min and the achieved global score was 13.4 [9.9, 16.8]. Allometric scaling reduces the interpatient variability in this age group and allows for improved closed-loop performance. The uncertainty described by the model set, the predicted closed-loop responses, and the predicted robustness margins are realistic. The system meets the design objectives of improved speed of induction of anesthesia while maintaining robustness and improving clinically relevant system behavior. Control system optimization and ongoing system improvements are essential to the development of a clinically relevant commercial device. This paper demonstrates the validity of our approach, including system modeling, controller optimization, and pre-clinical testing in simulation.

Approaching hybridized GWO-SCA based type-II fuzzy controller in AGC of diverse energy source multi area power system

The present article addresses robust control of both frequency and tie line power of a two area six unit diverse energy source based non linear power network. In large interconnected network, deviation in frequency and tie line power occurs due to uncertainty in load variation. In order to keep both frequency and tie line power flow to their nominal values, Automatic Generation Control (AGC) is required. AGC aims proper balance between power generation and electrical demand. In AGC concern the present article proposes a robust type-II fuzzy PID controller to diminish all local error signals (change in frequency ‘Δf’ and change in tie line power flow ‘ΔPtie’) of each control area. Controller tries to keep network frequency and interline power flow within nominal values. To justify supremacy of proposed type-II fuzzy controller a comparative study with fuzzy type-I and conventional PID controllers has been carried out for this analysis. To obtain precious gain parameters of above implemented controllers, a novel hybridized Gray Wolf Optimization and Sine Cosine algorithm (hyGWO-SCA) has been proposed for the study. In fact of this to show supremacy of proposed hyGWO-SCA technique, its performances are compared with host GWO and SCA technique. To verify the robust nature of type-II fuzzy PID controller the work goes through different sensitive analysis. Overall critical assessment of this study concludes, proposed hyGWO-SCA tuned type-II fuzzy controller exhibits superior performance in regard of AGC analysis. Finally the work is extended to four area eight unit interconnected system.

Robust PID controller for flexible satellite attitude control under angular velocity and control torque constraint

AbstractA PID controller for flexible satellite attitude control with unknown perturbation is proposed in this paper. System inertia uncertainty, stochastic disturbance torque, and perturbation of flexible deformation are discussed, and the controller proposed in this paper is robust to these perturbations. A novel integral term is designed; hence the Lyapunov function structure is modified and the stability proof is simplified. The angular velocity constraint is discussed and a novel method to solve the angular velocity saturation issue is given. The control torque saturation issue is also taken into consideration. Stability for all conditions considered in this paper is proved by the Lyapunov method. The performance of the controller is demonstrated by numerical simulation.

Centralized sliding mode frequency regulation approach for an uncertain islanded micro grid integrated with disturbance observer

AbstractThis paper proposes a novel secondary frequency regulation technique for an uncertain islanded micro grid (MG). The major motivation of the work is to integrate the intrinsic robustness of the sliding mode control scheme with the disturbance observer to estimate and alleviate the unknown mismatched uncertainties caused by renewable resources and load variations. To this end, a dynamical sliding manifold is first utilized and then a control law is derived with Lyapunov's method which stabilizes the MG dynamics. Moreover, in order to ensure faster time domain responses of the closed‐loop system, we employ a power rate reaching law in our proposed control design. Thereafter, the performances of the introduced control strategy are tested on an islanded MG using MATLAB/Simulink, and robustness analysis is also carried out by considering five different case studies. Further, in contrast to the existing approaches such as robust H∞ and robust PID control, the proposed strategy renders appealing time domain characteristics such as settling time, peak overshoot, and integral absolute frequency error.

Parameter Varying Descriptor System Control via Gain Scheduling

The paper further develops recently published result on gain scheduling robust PID controller design for a descriptor system with structured uncertainties. The details of the control algorithm development are provided and several errors from cited paper are corrected. The main focus lies on the implementation part of the gain scheduling algorithm, the implementation details and computation of gain scheduling variables are illustrated on a case study–nonlinear simulation model of turbogenerator power system.

Robust Cascade Temperature Control for a HSNWT

Applies programmable logic controller (PLC) to configure control hardware system, addresses the temperature control for a high speed nitrogen gas wind tunnel (HSNWT) testing, in order to obtain variable high temperature control with variable high speed gas flow, a coordinating factor of the gas flow is proposed between the tunnel’s heating and water cooling systems, moreover, considering the temperature modeling nonlinearities, uncertainties and disturbances, establish robust cascade fuzzy PID and expert predictive control strategies for the inner-loop water cooling subsystem and the outer-loop heating system, respectively, which effectively overcomes the influences of large inertia and transport time delay on the temperature responses. Furthermore, designs human-machine integrated user control interface (HMI), achieves fast and accurately control for user operating. The designed system are simulated and tested in the application, which results demonstrate that the system runs stable and reliable, has strongly robustness when the temperature changes with different loading heat modes, and has excellent capability of variable high speed nitrogen gas flow.

Robust optimal PID controller design for attitude stabilization of flexible spacecraft

Robust optimal PID controller design for attitude stabilization of flexible spacecraft

Multi-Objective Pareto Robust Design of PID Controllers for Variable Compression Ratio Engines Using Genetic Algorithms

Modern automobile engines must satisfy the challenging and often conflicting goals of minimizing exhaust emissions, providing increased fuel economy and satisfying driver performance requirements over a wide range of operating conditions. An innovative mechanical design approach to achieve these goals has been the development of variable compression ratio (VCR) engines. A challenge with this new engine design is that the compression ratio has a direct influence on the output torque. This is a problem because the engine driver can feel it as a jerk in the movement. Therefore, in order to fully take the advantage of benefits of this engine design it is necessary to have some sort of torque control that can keep a constant torque regardless of changes in compression ratio. In this work a control-oriented engine model is developed to represent a variable compression ratio engine over a range of operating conditions. The model is validated with some available experimental data. Based on the mode, a robust PID controller is optimally designed to control the output torque for the step changes of compression ratio in the presence of parametric uncertainties.

An improved generalized predictive control algorithm based on the difference equation CARIMA model for the SISO system with known strong interference

ABSTRACT The single input single output (SISO) system with known strong interference is widely used in various occasions. Due to its strong interference, the control accuracy is hard to guarantee. To solve this problem, an improved generalized predictive control (IGPC) algorithm is developed. The IGPC firstly builds the difference equation CARIMA (Controlled Auto-Regressive Integrated Moving-Average) model of the SISO system and then treats the system as a two input single output (TISO) system and calculates its predictive vector, then transforms it into a SISO system and uses the TISO system predictive vector to calculate the SISO system control increment. A new parameter called phase coefficient is added to inhibit the control lag. Simulations are performed to make the comparison among the traditional GPC, PID control, velocity synchronization control (VSC), fuzzy adaptive PID control (FAPID), model-based robust PID control (BPID) and the IGPC. Results show that IGPC has best performance compared to the others. Finally, experiments are developed which proved that the IGPC algorithm has a higher accuracy in the SISO system with known strong interference than that of VSC.

Improved-salp swarm optimized type-II fuzzy controller in load frequency control of multi area islanded AC microgrid

Abstract The present article deals with load frequency control (LFC) in an islanded two area AC microgrid (MC) system. In this study the proposed two area MG system comprises different micro sources including Micro-turbine (MT), Diesel engine generator (DEG) and Fuel Cells (FC) which are primarily responsible for balancing load and power generation in an interconnected system. MG in grid-connected mode has lower possibility of frequency control problem due to active presence of utility grid. Whereas MG in islanded mode faces huge frequency control problem due to dynamic nature of different renewable energy sources (RES) and different uncertainties like wind power fluctuations, disturbances in solar irradiation power, dynamics in applied load and system parameters (damping coefficient & Inertia constant). In regard to this the present article proposes a robust type-II fuzzy PID controller to create secondary frequency control loop for maintaining both frequency and tie-line power to their nominal values under different uncertainties. For performance study, the proposed type-II fuzzy PID controller performances are compared with type-I fuzzy controller, PID and PI controllers. To obtain optimal gain values of above controllers, a meta-heuristic improved-salp swarm optimization (I-SSO) algorithm has been implemented and proposed I-SSO technique performances are compared with original SSO, Particle swarm optimization (PSO) and Genetic Algorithm (GA) techniques. Finally it is observed from different performance analysis that proposed I-SSO tuned type-II fuzzy controller exhibits superior performances for load frequency control in multi-area islanded AC microgrid system under different uncertainty conditions.

Rancang Bangun Quadrotor Dengan Kendali Robust Pid Untuk Pemetaan Sawah Pra Panen

Field mapping is important to know the potential of agricultural productivity in a region.Furthermore, field mapping can also be used to predict crops in a region. The mapping can be donethrough aerial photographs. Aerial photographs can be performed using manned aerial vehicle aswell as unmanned aerial vehicle. Currently, many aerial photographs are taken using unmannedaerial vehicle because the cost is much more affordable than using a manned aerial vehicle. One typeof unmanned aircraft used for aerial photographs is quadcopter. However taking aerial photographsusing a quadcopter often produces blurry images due to its instability. Instability of the quadcopter iscaused by several factors including sensor readings such as IMU, GPS, compass, and barometer,disturbance factors such as angina, and control systems that are less robust to quadcopter characters.To get a stable quadcopter, a control system that matches the quadcopter character and has aresistance to interference is needed. One of the control systems that can be applied to the quadcopteris the Robust PID control system. Reliability of the control system can be seen using ITAE (IntegralTime Absolute Error). The smaller the value of ITAE the better the control system. Some tuningmethods are done to get the Robust PID control system. The method used in this research is ZieglerNicols, fine tuned PID controller, and ITAE tuning method. The result of PID constant tuning is thenimplemented to quadcopter. In this study the response data was obtained by using IMU sensor. Theresult shows that of the three tuning methods implemented in the quadcopter, the Fine tuning methodgives better results than the others.