This document summarizes a research paper that proposes using a genetic algorithm to optimize the tuning parameter for a two-degree-of-freedom internal model controller (TDF-IMC) designed for load frequency control in a power system. A second-order reduced model is obtained using Routh approximation to simplify the higher-order power system plant model. The genetic algorithm is used to find the optimal value of the tuning parameter for the TDF-IMC controller design, which results in an improved system response during disturbances and parameter variations compared to existing methods that do not optimize this parameter.
Parallel control structure scheme for load frequency controller design using ...IJECEIAES
This paper presents load frequency controller design for a single area as well as the multi-area thermal power system using direct synthesis approach with parallel control structure (PCS) scheme. The set-point and load frequency controller has been designed for frequency regulation and maintains tie-line power within a pre-specified limit for LFC power system. The proposed controller has been implemented for single-area, two-area, and four-area thermal power system for frequency regulation. The proposed method shows impressive simulation results compared with existed control method. The robustness of the proposed method has been examined with the help maximum sensitivity and parametric variation in the nominal power system.
Controller Design and Load Frequency Control for Single Area Power System wit...IJERA Editor
The performance of power systems gets worsening due to the presence of sudden load changes, uncertainties of
parameters etc. Therefore the design of load frequency control is very important in the modern power systems.
This paper presents LFC control technique to reject the typical disturbance as well as control the large-scale
system problems. Parameter uncertainty and load disturbance approach has been proposed to LFC design on the
purpose of rejection of typical disturbances. This paper presents the model order reduction technique of Transfer
function of the single area power system by using Routh approximation. The Second-order reduced system
model has proposed instead of full order system to effectively improve the performance of the closed loop
system. This entire approach is simulated in MATLAB environment for a single –area power system. In
addition to this the reduced order power system is converted into digital domain for digital implementation of
load frequency controller.
Damping of Inter-Area Low Frequency Oscillation Using an Adaptive Wide-Area D...Power System Operation
This paper presents an adaptive wide-area damping controller (WADC) based on
generalized predictive control (GPC) and model identification for damping the inter-area low
frequency oscillations in large-scale inter-connected power system. A recursive least-squares algorithm
(RLSA) with a varying forgetting factor is applied to identify online the reduced-order linearlized
model which contains dominant inter-area low frequency oscillations. Based on this linearlized model,
the generalized predictive control scheme considering control output constraints is employed to obtain
the optimal control signal in each sampling interval. Case studies are undertaken on a two-area fourmachine
power system and the New England 10-machine 39-bus power system, respectively.
Simulation results show that the proposed adaptive WADC not only can damp the inter-area
oscillations effectively under a wide range of operation conditions and different disturbances, but also
has better robustness against to the time delay existing in the remote signals. The comparison studies
with the conventional lead-lag WADC are also provided.
Moving Horizon Model Based Control in the Presence of Feedback NoiseEditor IJCATR
This paper studies the performance of networked control systems with a receding horizon controller. It is also assumed that there exists exogenous noise signal in feedback channel, modeled as a stochastic process. The impact of this noise on the closed-loop system performance is examined through both theoretical analysis and numerical experiments. An adaptive compensator is proposed to assist the original receding horizon controller. The performance of this solution is verified through simulation.
Efficient speed governor for blower motoreSAT Journals
Abstract This paper presents an efficient speed governor for the blower motor used in the air conditioning of electric vehicles (EV). Performance optimization of blowers offers tremendous potential for energy saving and hence the running cost. Pulse width modulation (PWM) technique is one of the most economical and widely used techniques in the motor control applications. SG 3525 device is used to generate the required PWM signals for the regulation of the blower motor speed. The PWM signal with 0-100% duty ratio control governs the semiconductor switches such as MOSFETs in controlling the supply voltage to the motor. The proposed control scheme governs the speed by varying the reference voltage to the SG 3525 and also protects the motor from high current as the scheme monitors the current flow through the motor indirectly via gate control signal of the semiconductor switches. Keywords: Pulse width modulation (PWM), Blower, Electric Vehicle (EV), SG 3525, MOSFET, Duty ratio.
Parallel control structure scheme for load frequency controller design using ...IJECEIAES
This paper presents load frequency controller design for a single area as well as the multi-area thermal power system using direct synthesis approach with parallel control structure (PCS) scheme. The set-point and load frequency controller has been designed for frequency regulation and maintains tie-line power within a pre-specified limit for LFC power system. The proposed controller has been implemented for single-area, two-area, and four-area thermal power system for frequency regulation. The proposed method shows impressive simulation results compared with existed control method. The robustness of the proposed method has been examined with the help maximum sensitivity and parametric variation in the nominal power system.
Controller Design and Load Frequency Control for Single Area Power System wit...IJERA Editor
The performance of power systems gets worsening due to the presence of sudden load changes, uncertainties of
parameters etc. Therefore the design of load frequency control is very important in the modern power systems.
This paper presents LFC control technique to reject the typical disturbance as well as control the large-scale
system problems. Parameter uncertainty and load disturbance approach has been proposed to LFC design on the
purpose of rejection of typical disturbances. This paper presents the model order reduction technique of Transfer
function of the single area power system by using Routh approximation. The Second-order reduced system
model has proposed instead of full order system to effectively improve the performance of the closed loop
system. This entire approach is simulated in MATLAB environment for a single –area power system. In
addition to this the reduced order power system is converted into digital domain for digital implementation of
load frequency controller.
Damping of Inter-Area Low Frequency Oscillation Using an Adaptive Wide-Area D...Power System Operation
This paper presents an adaptive wide-area damping controller (WADC) based on
generalized predictive control (GPC) and model identification for damping the inter-area low
frequency oscillations in large-scale inter-connected power system. A recursive least-squares algorithm
(RLSA) with a varying forgetting factor is applied to identify online the reduced-order linearlized
model which contains dominant inter-area low frequency oscillations. Based on this linearlized model,
the generalized predictive control scheme considering control output constraints is employed to obtain
the optimal control signal in each sampling interval. Case studies are undertaken on a two-area fourmachine
power system and the New England 10-machine 39-bus power system, respectively.
Simulation results show that the proposed adaptive WADC not only can damp the inter-area
oscillations effectively under a wide range of operation conditions and different disturbances, but also
has better robustness against to the time delay existing in the remote signals. The comparison studies
with the conventional lead-lag WADC are also provided.
Moving Horizon Model Based Control in the Presence of Feedback NoiseEditor IJCATR
This paper studies the performance of networked control systems with a receding horizon controller. It is also assumed that there exists exogenous noise signal in feedback channel, modeled as a stochastic process. The impact of this noise on the closed-loop system performance is examined through both theoretical analysis and numerical experiments. An adaptive compensator is proposed to assist the original receding horizon controller. The performance of this solution is verified through simulation.
Efficient speed governor for blower motoreSAT Journals
Abstract This paper presents an efficient speed governor for the blower motor used in the air conditioning of electric vehicles (EV). Performance optimization of blowers offers tremendous potential for energy saving and hence the running cost. Pulse width modulation (PWM) technique is one of the most economical and widely used techniques in the motor control applications. SG 3525 device is used to generate the required PWM signals for the regulation of the blower motor speed. The PWM signal with 0-100% duty ratio control governs the semiconductor switches such as MOSFETs in controlling the supply voltage to the motor. The proposed control scheme governs the speed by varying the reference voltage to the SG 3525 and also protects the motor from high current as the scheme monitors the current flow through the motor indirectly via gate control signal of the semiconductor switches. Keywords: Pulse width modulation (PWM), Blower, Electric Vehicle (EV), SG 3525, MOSFET, Duty ratio.
FRACTIONAL ORDER PID CONTROLLER TUNING BASED ON IMC IJITCA Journal
In this work, a class of fractional order controller (FOPID) is tuned based on internal model control
(IMC). This tuning rule has been obtained without any approximation of time delay. Moreover to show
usefulness of fractional order controller in comparison with classical integer order controllers, an
industrial PID controller tuned in a similar way, is compared with FOPID and then robust stability of both
controllers is investigated. Robust stability analysis has been done to find maximum delayed time
uncertainty interval which results in a stable closed loop control system. For a typical system, robust
stability has been done to find maximum time constant uncertainty interval of system. Two clarify the
proposed control system design procedure, three examples have been given.
Study of PID Controllers to Load Frequency Control Systems with Various Turbi...IJERA Editor
This paper studies the load frequency control problem for various systems under various controller design
methods. Frequency should remain nearly constant for satisfactory operation of a power system because
frequency deviations can directly impact on a power system operation, system stability, reliability and
efficiency. A Load Frequency Control (LFC) scheme basically incorporates an appropriate control system for an
interconnected power system, which is having the capability to bring the frequencies of system to original set
point values or very nearer to set point values effectively after any load change. This can be achieved by the use
of conventional and modern controllers. In this proposed paper PID controller has been applied for LFC power
systems. The parameters of the PID controller are tuned by different methods names as Ziegler-Nichols (Z-N)
Method, and IMC method for better results. We use various tuning formulae in Z-N method and certain model
approximation methods and the responses of LFC with model approximation are studied. It is seen that the
results obtained are as good as the conventional controller.
Automatic Generation Control of Multi-Area Power System with Generating Rate ...IJAPEJOURNAL
In a large inter-connected system, large and small generating stations are synchronously connected and hence all stations must have the same frequency. The system frequency deviation is the sensitive indicator of real power imbalance. The main objectives of AGC are to maintain constant frequency and tie-line errors with in prescribed limit. This paper presents two new approaches for Automatic Generation Control using i) combined Fuzzy Logic and Artificial Neural Network Controller (FLANNC) and ii) Hybrid Neuro Fuzzy Controller (HNFC) with gauss membership functions. The simulation model is created for four-area interconnected power system. In this four area system, three areas consist of steam turbines and one area consists of hydro turbine. The components of ACE, frequency deviation (F) and tie line error (Ptie) are obtained through simulation model and used to produce the required control action to achieve AGC using i) FLANNC and ii) HNFC with gauss membership functions. The simulation results show that the proposed controllers overcome the drawbacks associated with conventional integral controller, Fuzzy Logic Controller (FLC), Artificial Neural Network controller (ANNC) and HNFC with gbell membership functionsv
Integrating fault tolerant scheme with feedback control scheduling algorithm ...ijics
In order to provide Quality of Service (QoS) in open and unpredictable environment, Feedback based
Control Scheduling Algorithm (FCSA) is designed to keep the processor utilization at the scheduling
utilization bound. FCSA controls CPU utilization by assigning task periods that optimize overall control
performance, meeting deadlines even if the task execution time is unpredictable and through performance
control feedback loop. Current FCSA doesn’t ensure Fault Tolerance (FT) while providing QoS in terms of
CPU utilization and resource management. In order to assure that tasks should meet their deadlines even
in the presence of faults, a FT scheme has to be integrated at control scheduling co-design level. This paper
presents a novel approach on integrating FT scheme with FCSA for real time embedded systems. This
procedure is especially important for control scheduling co-design of embedded systems.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
An fpga implementation of the lms adaptive filter eSAT Journals
Abstract This paper brings out implementation of Least Mean Square (LMS) algorithm using two different architectures. The implementations are made on Xilinx Virtex–4 FPGA as part of realization of an Active Vibration Control system. Both fixed point and floating point data representations are considered. A comparison between the two is brought out on the basis of a Finite State Machine (FSM) model suitable for both fixed & floating point implementations. The floating point LMS algorithm in VHDL (Very High Speed Integrated Circuit (VHSIC) Hardware Description Language), uses the Intellectual Property (IP) cores available from Xilinx Inc. Results from the two architectures with respect to area as well as performance clearly shows floating point implementation to emerge as the better option in all respects. Index Terms: Least Mean Square Algorithm, Field programmable gate arrays (FPGA), floating point IP cores, Finite State Machine, Active Vibration Control.
Permanent magnet direct current motors (PMDCM) are widely used in various applications such as space technologies, personal computers, medical, military, robotics, electrical vehicles, etc. In this paper, the mathematical model of PMDCM is designed and simulated using MATLAB software. The PMDCM speed is controlled using rate feedback controller due to its ability of improving system damping. To improve the controller performance, it’s parameters are tuned using genetic algorithm (GA) and direct search (DS) techniques. The tuning process based on different performance criteria. The most four common performance criteria used in this paper are JIAE (Integral of Absolute Error), JISE (Integral of Square Error), JITAE (Integral of Time-Weighted Absolute Error), and JITSE (Integral of Time-Weighted Square Error). The results obtained from these evolutionary techniques are compared. The results show an obvious improvement in system performance including enhancing the transient and steady state of PMDCM speed responses for all performance criteria.
Optimal Control of a Teleoperation System via LMI- based Robust PID Controllersidescitation
ince the performance of the teleoperation systems
can be considerably degraded by time-delay of communication
channels and uncertainty in various parts of such systems,
the main objectives of the controller design in loads of different
structures of the bilateral teleoperation system are to preserve
stability and tracking performance of these systems in spite
of aforementioned sources of uncertainty. In this paper, a
new robust PID controller will be designed based on H” control
theory by using the Linear Matrix Inequality (LMI) approach.
Therefore, the problem of a Robust PID controller design can
be regarded as a special case of the output-feedback controller
via employing some sorts of changes in control and system
parameters. To show the effectiveness of the proposed
controller, the robust PID controller is compared with the
multiobjective H2/H ” one. The main feature of the suggested
structure is its ability to control the teleoperation system via
using the simplest structure in which two signals will be
transmitted to control the teleoperation system. In addition,
use of PID controller has more practical applications in
industrial units, due to its simplicity in implementation and
capability to predict the time responses caused by changes in
control parameters.
Optimal control of load frequency control power system based on particle swar...theijes
In this work, PSO is proposed to set the gains of PID controller for LFC in single power systems area. This work has very significant issue because of persistent and random change load through working of power system. The proposed algorithm offer fluent performance, stable, and fast convergence to target value. Simulation results using MATLAB R2015a demonstrate that the proposed controller has more efficient of dynamic performance, better convergence, fast response from the other methods depend on rise and settling time of frequency deviation.
An Optimal LFC in Two-Area Power Systems Using a Meta-heuristic Optimization...IJECEIAES
In this study, an optimal meta-heuristic optimization algorithm for load frequency control (LFC) is utilized in two-area power systems. This metaheuristic algorithm is called harmony search (HS), it is used to tune PI controller parameters (퐾 ) automatically. The developed controller (HSPI) with LFC loop is very important to minimize the system frequency and 푝 , 퐾 푖 keep the system power is maintained at scheduled values under sudden loads changes. Integral absolute error (IAE) is used as an objective function to enhance the overall system performance in terms of settling time, maximum deviation, and peak time. The two-area power systems and developed controller are modelled using MATLAB software (Simulink/Code). As a result, the developed control algorithm (HS-PI) is more robustness and efficient as compared to PSO-PI control algorithm under same operation conditions.
Fuzzy gain scheduling control apply to an RC Hovercraft IJECEIAES
The Fuzzy Gain Scheduling (FGS) methodology for tuning the ProportionalIntegral-Derivative (PID) traditional controller parameters by scheduling controlled gains in different phases, is a simple and effective application both in industries and real-time complex models while assuring the high achievements over pass decades, is proposed in this article. The Fuzzy logic rules of the triangular membership functions are exploited on-line to verify the Gain Scheduling of the Proportional-Integral-Derivative controller gains in different stages because it can minimize the tracking control error and utilize the Integral of Time Absolute Error (ITAE) minima criterion of the controller design process. For that reason, the controller design could tune the system model in the whole operation time to display the efficiency in tracking error. It is then implemented in a novel Remote Controlled (RC) Hovercraft motion models to demonstrate better control performance in comparison with the PID conventional controller.
Parallel distribution compensation PID based on Takagi-Sugeno fuzzy model app...IJECEIAES
This paper presents a new technique for a Takagi-Sugeno (TS) fuzzy parallels distribution compensation-PID'S (TSF-PDC-PID'S) to improve the performance of egyptian load frequency control (ELFC). In this technique, the inputs to a TS fuzzy model are the parameters of the change of operating points. The TS fuzzy model can definite the suitable PID control for a certain operating point. The parameters of PID'S controllers are obtained by ant colony optimization (ACO) technique in each operating point based on an effective cost function. The system controlled by the proposed TSF-PDCPID’S is investigated under different types of disturbances, uncertainty and parameters variations. The simulation results ensure that the TSF-PDC-PID'S can update the suitable PID controller at several operating points so, it has a good dynamic response under many types of disturbances compared to fixed optimal PID controller.
Optimised control using Proportional-Integral-Derivative controller tuned usi...IJECEIAES
Time delays are generally unavoidable in the designing frameworks for mechanical and electrical systems and so on. In both continuous and discrete schemes, the existence of delay creates undesirable impacts on the underthought which forces exacting constraints on attainable execution. The presence of delay confounds the design structure procedure also. It makes continuous systems boundless dimensional and also extends the readings in discrete systems fundamentally. As the Proportional-IntegralDerivative (PID) controller based on internal model control is essential and strong to address the vulnerabilities and aggravations of the model. But for an real industry process, they are less susceptible to noise than the PID controller.It results in just one tuning parameter which is the time constant of the closed-loop system λ, the internal model control filter factor. It additionally gives a decent answer for the procedure with huge time delays. The design of the PID controller based on the internal model control, with approximation of time delay using Pade’ and Taylor’s series is depicted in this paper. The first order filter used in the design provides good set-point tracking along with disturbance rejection.
FRACTIONAL ORDER PID CONTROLLER TUNING BASED ON IMC IJITCA Journal
In this work, a class of fractional order controller (FOPID) is tuned based on internal model control
(IMC). This tuning rule has been obtained without any approximation of time delay. Moreover to show
usefulness of fractional order controller in comparison with classical integer order controllers, an
industrial PID controller tuned in a similar way, is compared with FOPID and then robust stability of both
controllers is investigated. Robust stability analysis has been done to find maximum delayed time
uncertainty interval which results in a stable closed loop control system. For a typical system, robust
stability has been done to find maximum time constant uncertainty interval of system. Two clarify the
proposed control system design procedure, three examples have been given.
Study of PID Controllers to Load Frequency Control Systems with Various Turbi...IJERA Editor
This paper studies the load frequency control problem for various systems under various controller design
methods. Frequency should remain nearly constant for satisfactory operation of a power system because
frequency deviations can directly impact on a power system operation, system stability, reliability and
efficiency. A Load Frequency Control (LFC) scheme basically incorporates an appropriate control system for an
interconnected power system, which is having the capability to bring the frequencies of system to original set
point values or very nearer to set point values effectively after any load change. This can be achieved by the use
of conventional and modern controllers. In this proposed paper PID controller has been applied for LFC power
systems. The parameters of the PID controller are tuned by different methods names as Ziegler-Nichols (Z-N)
Method, and IMC method for better results. We use various tuning formulae in Z-N method and certain model
approximation methods and the responses of LFC with model approximation are studied. It is seen that the
results obtained are as good as the conventional controller.
Automatic Generation Control of Multi-Area Power System with Generating Rate ...IJAPEJOURNAL
In a large inter-connected system, large and small generating stations are synchronously connected and hence all stations must have the same frequency. The system frequency deviation is the sensitive indicator of real power imbalance. The main objectives of AGC are to maintain constant frequency and tie-line errors with in prescribed limit. This paper presents two new approaches for Automatic Generation Control using i) combined Fuzzy Logic and Artificial Neural Network Controller (FLANNC) and ii) Hybrid Neuro Fuzzy Controller (HNFC) with gauss membership functions. The simulation model is created for four-area interconnected power system. In this four area system, three areas consist of steam turbines and one area consists of hydro turbine. The components of ACE, frequency deviation (F) and tie line error (Ptie) are obtained through simulation model and used to produce the required control action to achieve AGC using i) FLANNC and ii) HNFC with gauss membership functions. The simulation results show that the proposed controllers overcome the drawbacks associated with conventional integral controller, Fuzzy Logic Controller (FLC), Artificial Neural Network controller (ANNC) and HNFC with gbell membership functionsv
Integrating fault tolerant scheme with feedback control scheduling algorithm ...ijics
In order to provide Quality of Service (QoS) in open and unpredictable environment, Feedback based
Control Scheduling Algorithm (FCSA) is designed to keep the processor utilization at the scheduling
utilization bound. FCSA controls CPU utilization by assigning task periods that optimize overall control
performance, meeting deadlines even if the task execution time is unpredictable and through performance
control feedback loop. Current FCSA doesn’t ensure Fault Tolerance (FT) while providing QoS in terms of
CPU utilization and resource management. In order to assure that tasks should meet their deadlines even
in the presence of faults, a FT scheme has to be integrated at control scheduling co-design level. This paper
presents a novel approach on integrating FT scheme with FCSA for real time embedded systems. This
procedure is especially important for control scheduling co-design of embedded systems.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
An fpga implementation of the lms adaptive filter eSAT Journals
Abstract This paper brings out implementation of Least Mean Square (LMS) algorithm using two different architectures. The implementations are made on Xilinx Virtex–4 FPGA as part of realization of an Active Vibration Control system. Both fixed point and floating point data representations are considered. A comparison between the two is brought out on the basis of a Finite State Machine (FSM) model suitable for both fixed & floating point implementations. The floating point LMS algorithm in VHDL (Very High Speed Integrated Circuit (VHSIC) Hardware Description Language), uses the Intellectual Property (IP) cores available from Xilinx Inc. Results from the two architectures with respect to area as well as performance clearly shows floating point implementation to emerge as the better option in all respects. Index Terms: Least Mean Square Algorithm, Field programmable gate arrays (FPGA), floating point IP cores, Finite State Machine, Active Vibration Control.
Permanent magnet direct current motors (PMDCM) are widely used in various applications such as space technologies, personal computers, medical, military, robotics, electrical vehicles, etc. In this paper, the mathematical model of PMDCM is designed and simulated using MATLAB software. The PMDCM speed is controlled using rate feedback controller due to its ability of improving system damping. To improve the controller performance, it’s parameters are tuned using genetic algorithm (GA) and direct search (DS) techniques. The tuning process based on different performance criteria. The most four common performance criteria used in this paper are JIAE (Integral of Absolute Error), JISE (Integral of Square Error), JITAE (Integral of Time-Weighted Absolute Error), and JITSE (Integral of Time-Weighted Square Error). The results obtained from these evolutionary techniques are compared. The results show an obvious improvement in system performance including enhancing the transient and steady state of PMDCM speed responses for all performance criteria.
Optimal Control of a Teleoperation System via LMI- based Robust PID Controllersidescitation
ince the performance of the teleoperation systems
can be considerably degraded by time-delay of communication
channels and uncertainty in various parts of such systems,
the main objectives of the controller design in loads of different
structures of the bilateral teleoperation system are to preserve
stability and tracking performance of these systems in spite
of aforementioned sources of uncertainty. In this paper, a
new robust PID controller will be designed based on H” control
theory by using the Linear Matrix Inequality (LMI) approach.
Therefore, the problem of a Robust PID controller design can
be regarded as a special case of the output-feedback controller
via employing some sorts of changes in control and system
parameters. To show the effectiveness of the proposed
controller, the robust PID controller is compared with the
multiobjective H2/H ” one. The main feature of the suggested
structure is its ability to control the teleoperation system via
using the simplest structure in which two signals will be
transmitted to control the teleoperation system. In addition,
use of PID controller has more practical applications in
industrial units, due to its simplicity in implementation and
capability to predict the time responses caused by changes in
control parameters.
Optimal control of load frequency control power system based on particle swar...theijes
In this work, PSO is proposed to set the gains of PID controller for LFC in single power systems area. This work has very significant issue because of persistent and random change load through working of power system. The proposed algorithm offer fluent performance, stable, and fast convergence to target value. Simulation results using MATLAB R2015a demonstrate that the proposed controller has more efficient of dynamic performance, better convergence, fast response from the other methods depend on rise and settling time of frequency deviation.
An Optimal LFC in Two-Area Power Systems Using a Meta-heuristic Optimization...IJECEIAES
In this study, an optimal meta-heuristic optimization algorithm for load frequency control (LFC) is utilized in two-area power systems. This metaheuristic algorithm is called harmony search (HS), it is used to tune PI controller parameters (퐾 ) automatically. The developed controller (HSPI) with LFC loop is very important to minimize the system frequency and 푝 , 퐾 푖 keep the system power is maintained at scheduled values under sudden loads changes. Integral absolute error (IAE) is used as an objective function to enhance the overall system performance in terms of settling time, maximum deviation, and peak time. The two-area power systems and developed controller are modelled using MATLAB software (Simulink/Code). As a result, the developed control algorithm (HS-PI) is more robustness and efficient as compared to PSO-PI control algorithm under same operation conditions.
Fuzzy gain scheduling control apply to an RC Hovercraft IJECEIAES
The Fuzzy Gain Scheduling (FGS) methodology for tuning the ProportionalIntegral-Derivative (PID) traditional controller parameters by scheduling controlled gains in different phases, is a simple and effective application both in industries and real-time complex models while assuring the high achievements over pass decades, is proposed in this article. The Fuzzy logic rules of the triangular membership functions are exploited on-line to verify the Gain Scheduling of the Proportional-Integral-Derivative controller gains in different stages because it can minimize the tracking control error and utilize the Integral of Time Absolute Error (ITAE) minima criterion of the controller design process. For that reason, the controller design could tune the system model in the whole operation time to display the efficiency in tracking error. It is then implemented in a novel Remote Controlled (RC) Hovercraft motion models to demonstrate better control performance in comparison with the PID conventional controller.
Parallel distribution compensation PID based on Takagi-Sugeno fuzzy model app...IJECEIAES
This paper presents a new technique for a Takagi-Sugeno (TS) fuzzy parallels distribution compensation-PID'S (TSF-PDC-PID'S) to improve the performance of egyptian load frequency control (ELFC). In this technique, the inputs to a TS fuzzy model are the parameters of the change of operating points. The TS fuzzy model can definite the suitable PID control for a certain operating point. The parameters of PID'S controllers are obtained by ant colony optimization (ACO) technique in each operating point based on an effective cost function. The system controlled by the proposed TSF-PDCPID’S is investigated under different types of disturbances, uncertainty and parameters variations. The simulation results ensure that the TSF-PDC-PID'S can update the suitable PID controller at several operating points so, it has a good dynamic response under many types of disturbances compared to fixed optimal PID controller.
Optimised control using Proportional-Integral-Derivative controller tuned usi...IJECEIAES
Time delays are generally unavoidable in the designing frameworks for mechanical and electrical systems and so on. In both continuous and discrete schemes, the existence of delay creates undesirable impacts on the underthought which forces exacting constraints on attainable execution. The presence of delay confounds the design structure procedure also. It makes continuous systems boundless dimensional and also extends the readings in discrete systems fundamentally. As the Proportional-IntegralDerivative (PID) controller based on internal model control is essential and strong to address the vulnerabilities and aggravations of the model. But for an real industry process, they are less susceptible to noise than the PID controller.It results in just one tuning parameter which is the time constant of the closed-loop system λ, the internal model control filter factor. It additionally gives a decent answer for the procedure with huge time delays. The design of the PID controller based on the internal model control, with approximation of time delay using Pade’ and Taylor’s series is depicted in this paper. The first order filter used in the design provides good set-point tracking along with disturbance rejection.
Controlling a DC Motor through Lypaunov-like Functions and SAB TechniqueIJECEIAES
In this paper, state adaptive backstepping and Lyapunov-like function methods are used to design a robust adaptive controller for a DC motor. The output to be controlled is the motor speed. It is assumed that the load torque and inertia moment exhibit unknown but bounded time-varying behavior, and that the measurement of the motor speed and motor current are corrupted by noise. The controller is implemented in a Rapid Control Prototyping system based on Digital Signal Processing for dSPACE platform and experimental results agree with theory.
An efficient application of particle swarm optimization in model predictive ...IJECEIAES
Despite all the model predictive control (MPC) based solution advantages such as a guarantee of stability, the main disadvantage such as an exponential growth of the number of the polyhedral region by increasing the prediction horizon exists. This causes the increment in computation complexity of control law. In this paper, we present the efficiency of particle swarm optimization (PSO) in optimal control of a two-tank system modeled as piece- wise affine. The solution of the constrained final time-optimal control problem (CFTOC) is derived, and then the PSO algorithm is used to reduce the computational complexity of the control law and set the physical parameters of the system to improve performance simultaneously. On the other hand, a new combined algorithm based on PSO is going to be used to reduce the complexity of explicit MPC-based solution CFTOC of the two-tank system; consequently, that the number of polyhedral is minimized, and system performance is more desirable simultaneously. The proposed algorithm is applied in simulation and our desired subjects are reached. The number of control law polyhedral reduces from 42 to 10 and the liquid height in both tanks reaches the desired certain value in 189 seconds. Search time and apply control law in 25 seconds.
Controller Tuning for Integrator Plus Delay Processes.theijes
A design method for PID controllers based on internal model control (IMC) principles, direct synthesis method (DS), stability analysis (SA) method for pure integrating process with time delay is proposed. Analytical expressions for PID controllers are derived for several common types of process models, including first order and second-order plus time delay models and an integrator plus time delay model. Here in this paper, a simple controller design rule and tuning procedure for unstable processes with delay time is discussed. Simulation examples are included to show the effectiveness of the proposed method
Non-integer IMC Based PID Design for Load Frequency Control of Power System t...IJECEIAES
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C0333017026
1. International Journal of Engineering Science Invention
ISSN (Online): 2319 – 6734, ISSN (Print): 2319 – 6726
www.ijesi.org Volume 3 Issue 3ǁ March 2014 ǁ PP.17-26
www.ijesi.org 17 | Page
GA based Internal Model Controller Design for Load Frequency
Control in Power System via Reduced Order Model
Dr. S.K.Bhagat1
, Binod Rai2
and Amresh Kumar3
1, 2, 3
(Department of Electrical Engineering, NERIST, Itanagar, Arunachal Pradesh, India)
ABSTRACT: In the conventional two degree freedom (TDF)-internal model controller (IMC) design,
obtaining suitable value of tuning parameter is much more complex and difficult. In this paper, the approach of
genetic algorithm (GA) is proposed to obtain optimized value of tuning parameter used in TDF-IMC controller
design. For TDF-IMC controller design, 2nd
order reduced-model is obtained using the Routh approximation.
The results obtained are quite encouraging and shows the preservation of stability and other dominant/essential
characteristics with improved response of load frequency control (LFC) during load disturbances and
parameter variations. The applicability of the proposed algorithm is illustrated with the help of a suitable
numerical example from literature.
KEYWORDS: Internal Model Control, Model Order Reduction, Genetic Algorithm, Load Frequency Control,
Disturbance Rejection
I. INTRODUCTION
Power system is complex interconnected network of generation, transmission, and distribution systems
that are installed in various areas through tie-lines. Moreover, with escalation in development of electric power
technology power system has become a complex unit. Therefore, in such complex web in area frequency and tie-
line power interchange, fluctuations occur frequently just because of randomness in power load demand, system
parameter uncertainties, modeling errors, and disturbance due to varying environmental conditions. The purpose
of the load frequency control (LFC) in the power system are: i) maintaining zero steady state errors for frequency
deviations, ii) counteracting sudden load disturbances, iii) minimizing unscheduled tie-line power flows between
neighboring areas and transient variations in area frequency, iv) coping up with modeling uncertainties and
system nonlinearities within a tolerable region, and v) guaranteeing ability to perform well under prescribed
overshoot and settling time in frequency and tie-line power deviations [1, 2]. Different control strategies like
integral control [3], discrete-time sliding mode control [4], optimal control [5], intelligent control [6, 7], adaptive
and self-tuning control [8, 9], PI/PID control [10], IP control [11], and robust control [12, 13] have been reported
in the literature as an existing LFC solution. However, the mismatches between the assumed (nominal) models
and the real-world processes destroy the ability of many control schemes, thereby demanding better approach in
the field of robust control to increase the efficiency of the control system during load disturbance. A control
strategy, internal model control (IMC) provides an advanced, effective, powerful and simple framework for the
analysis and synthesis of control system performance, especially robustness and load disturbance rejection. In a
review paper [14] more emphasis is given on the issues in IMC design for single-input-single-output (SISO)
systems, like quantitative filter selection and tuning guidelines, modified structures, and related aspects of
contemporary research developments.
Recently [15, 26] discussed the robust design and tuning for a modified IMC structure. But no specific
method to determine tuning parameter ( ) has been suggested in [26], whereas in proposed method genetic
algorithm (GA) technique has been used to find the optimal value of the tuning parameter ( ). It can further be
inferred that the GA based optimized tuning parameter ( )) for TDF-IMC design scheme reflects much better
response during disturbances and parameter variations.
II. PROLEM STATEMENT
Practically, there is always a possibility of process-model mismatch, the process model may not be
invertible and system can be often affected by unknown disturbances. However, one class of strongly directional
control strategy that has received extensive research in electric power components and process engineering is
IMC [16-20]. This control technique has less computational burden, exhibit robustness, sub-optimality, and
analytical as well as easily understandable approach. In literature, it is reported that, it is also possible to optimize
system performance for load disturbance rejection without sacrificing nominal set-point tracking using two
degree-of-freedom (TDF) of IMC [21-24]. And designing controller for the power system plants is usually more
2. GA based Internal Model Controller Design ...
www.ijesi.org 18 | Page
complex and more numbers of controllers is required with increase in order of the power system plant.
Therefore in such areas, model order reduction is an important technique that simplifies higher order system and
plays a major role in design and implementation of control system. Moreover, with reduced- model, its
computational complexity, size, and cost is minimized.In the year 2010 Tan [25] has proposed a robust IMC
based PID controller for LFC in single-area power systems, and reported that a third-order single-area power
plant when approximated by second-order plus dead-time (SOPDT) model, fulfill the control objectives in a
satisfactory manner. Further Liu and Gao [24] has suggested a modified design of the internal model control
(IMC) filter which is proposed for improving closed-loop system performance due to load disturbance. Recently
Saxena and Hote have used Routh approximated 2nd
order reduced-model for designing modified IMC controller
for single area LFC, without suggesting any specific approach to determine the tuning parameter ( ). In this
paper GA has been used to optimize tuning parameter ( ), for better control design which can effectively reduce
the rise time, overshoot, undershoot, settling time and peak value of the system response. The results obtained
using the proposed algorithm is far better than the existing ones.
III. INTERNAL MODEL CONTROL THEORY
IMC forms the basis of development in control system for control strategy scheme that has the potential
to achieve perfect control. The schematic representation of IMC structure is shown Fig.1.It is characterized by a
control device consisting of feedback controller the real plant to be controlled and a predictive model
of the plant i.e., the internal model . The internal-model loop uses the difference between the outputs of
and . This difference commonly known as an error, represents the effect of disturbances and
plant/model mismatch if exists.
The two step procedure for designing IMC controller are as follows:
[1] Factor the model in two parts:
such that contains all non-minimal phase part and is minimum phase.
[2] Define the IMC controller as
where is a low pass filter, commonly of the form
Fig.1. Basic IMC Structure
Fig.2. TDF-IMC structure
where the order n is an integer selected large enough to make proper/semi-proper for physical realization
of the plant, while ¸ is a tuning parameter, which determines the speed of response of a closed-loop system, and
also removes plant/model mismatch which generally occurs at high frequency, thus responsible for robustness.
3. GA based Internal Model Controller Design ...
www.ijesi.org 19 | Page
3.1 Two-Degree-of-Freedom IMC Controller
IMC scheme is based on pole-zero cancellation. It can achieve very good tracking ability; however, the
response to disturbance rejection may be sluggish. So, a trade-off is required, where the performance for load
disturbance rejection occurs by sacrificing set-point tracking. Therefore to eliminate this problem, two different
controllers and , as shown in Fig. 2, are introduced in basic IMC structure [24]. Now, the set-point
response and disturbance response of the modified IMC structure namely TDF-IMC, can be improved, and each
controller can be tuned independently. Let us define as a disturbance rejection filter (feedback controller)
and as a set-point filter. The closed-loop complementary sensitivity function and multiplicative error
which is a measure of plant/model mismatch can be defined, respectively by
and
Since an effective IMC filter suggested in [24] is adopted to design IMC based controller for 2nd
order internal-
model of a system, therefore conventional IMC filter of the form (3) is replaced by a modified filter
which is defined by
On substituting (6) into (2), the TDF-IMC controller can be derived as
1 2
( )( 1)
( )
( 1)
M
D x
f
G s s s
Q s
s
(7)
where, , should satisfy the following condition for each pole, and of the second order system
lim(1 ( )) 0,T s .2,1i (8)
substituting (1) and (7) in (4), we get
x
f
M
s
sssG
sT
)1(
1)(
)(
2
(9)
Now, from (9), three cases arises for :
1) Case I: When ( )MG s
contains delay term only, i.e. ( ) s
MG s e
, then put x = 4, and by substituting (9)
into (8), we get
)(
)1()1(
2121
21
4
12
4
21
12
pppp
pppeppep f
p
f
p
(10)
)(
)1()1(
2121
2
2
2
1
4
1
2
2
4
2
2
1
12
pppp
pppeppep f
p
f
p
(11)
2) Case II: When contains non-minimum phase term, then factorize such that has only
all-pass term, i.e., , then put, x = 3,and by substituting (9) into (8), we get (12) and (13).
)(
3))(3(
)(
)3)((
2121
2
21
23
21
2
2
2
1
21
233
2121
2
pppp
ppa
ppppa
ppaappppa
fff
f
fff
(12)
)1(
3)3(
)()(3
)33(
2121
2
3
212121
21
222
2
2
1
22
ppppa
a
ppppappa
ppaappa
f
fff
ff
fff
(13)
4. GA based Internal Model Controller Design ...
www.ijesi.org 20 | Page
3) Case III: When contains neither non-minimum phase term nor delay term, i.e., =1, then it
can be considered as a special case of above mentioned case I. Therefore, on substituting 𝜎 = 0, in (10) and
(11), brings
)(
)1()1(
1221
21
4
12
4
21
pppp
pppppp ff
(14)
)(
)1()1(
1221
2
2
2
1
4
1
2
2
4
2
2
1
pppp
pppppp ff
(15)
IV. LFC MODEL FOR SINGLE AREA POWER PLANT
4.1 Plant Description
Generally, Power systems are the large-scale system with complex network with non-linear dynamics.
Here, a single area power system is considered [1] and basically, this plant consist of a governor , a non-
reheated turbine , load and a generator with feedback of regulation constant , and droop
characteristic System also includes step load change input to the generator. Simple block diagram of
a power plant is shown in Fig. 3.
Fig.3. Model of a Single-Area Power System
Table 1
The subsystem dynamics can be represented as:
1
)1)(()(
sTsG gg
1
)1)(()(
sTsG tt
1
)1)(()(
sTKsG ppp
(16)
The system model is shown as:
)()()()()( sPsGsusGsf dd (17)
R
sGsGsG
sGsGsG
sG
gtp
gtp
)()()(
1
)()()(
)(
(18)
and
R
sGsGsG
sG
sG
gtp
p
d
)()()(
1
)(
)(
(19)
5. GA based Internal Model Controller Design ...
www.ijesi.org 21 | Page
The control law: , where, the IMC is based compensator to control the power plant
and minimize the effect on in the environment of small load disturbance [27].
V. MODEL ORDER REDUCTION
Model order reduction (MOR) is basically a technique in which the original system is reduced to a
lower order model while retaining all the dominant characteristics of the given system. In order to implement
MOR technique it is always required to formulate mathematical model of the physical system. From (18), it is
evident that even the single-area power system containing only one generator, is of 3rd
order, and thus the
designed IMC controller will be obviously of higher order if the full-order model is considered. Hence, we
obtain the 2nd
order reduced-model of the single-area power system using Routh approximation.
5.1 Routh Approximated Model
In order to obtain the reduced-order model of the original higher order system, the coefficient of the
original system is approximated using Routh table (see Table 1) in this method. A 2nd
order reduced-model is
considered as where and is numerator and denominator, respectively.
Computation of the Routh approximation is presented in following steps.
Firstly, we apply reciprocal transformation to [28] using relation . Thus,
becomes
)(
)( 2
2
ABsCsDs
sK
sG p
(20)
where,
,
,
And, on expanding [28] , we have
l
j
j
n
i
i
i
i
sF
sP
sZ
sG
11
)(
)(
)(
)( (21)
where are constant and contains terms and are constant.
Second step that follows is to compute that corresponds to , which is tabulated in Table
1. Much detail illustration is reported in [28].From the table reciprocated reduced-order numerator and
denominator for 2nd
order reduced model is expressed as
ssZ 1222 )(
2
2121)( sssPi (22)
On substituting values of in (21), we have
ADBC
sCK
sZ p
)(2
(23)
)/()/(1)( 22
ADBCCDsADBCsCsPi
Eventually, the required reduced order system is obtain by reciprocating the terms of (22) as
))((
)( 22
CDsCsADBC
CK
sG pRouth
MRA
(24)
VI. GENETIC ALGORITHM
Genetic algorithm is a natural selection process. It always provides high quality solutions because it is
independent of the choice of the initial configurations. The flow chart of genetic algorithm is shown in Fig. 4.
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Fig. 4. Flow Chart for Proposed Genetic Algorithm
Moreover, it is computationally simple and effective with easier implementation [29, 30].The goal of
optimization is to find the best solution or optimal value of tuning parameter (λf), so that the TDF-IMC
controller gives better response during load perturbation.
The procedure of applied genetic algorithm for the tested system in this work is given below:
a) Generate randomly a population of parameter string in binary form.
b) Calculate the fitness function as given in Table 1 for each individual in the population.
c) Choose fittest group of the individuals.
d) Choose parents and applying crossover function to create next generation.
e) Choose next fittest group of the individuals.
f) Choose parents and applying mutation function on new population.
g) Compute the children and parents finesses.
h) If the iteration criteria reaches to the maximum value it will go ahead, otherwise;
return to step (c)
i) Plot the performance graph, store fittest individual and stop.
VII. SIMULATION RESULTS
7.1 Application of Genetic Algorithm to find
Parameter used for the genetic algorithm solution is shown in Table 2 and the response of the fitness function is
shown in Fig. 5. Fitness function includes the settling time and the peak value of response.
7.2 Plant parameters
The values of system parameter are taken from [25] as:
Kp = 120, Tp = 20, Tt = 0.3, Tg = 0.08, R = 2.4 (25)
On substituting the values of (25) in (18), we have
)2.10646.4288.15(
250
)( 23
sss
sG (26)
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Table 2
The number of
population
10
The maximum
iteration
20
fitness function
Fig. 5. Performance Graph of Genetic Algorithm
G(s) in (26) is a third order under damped system. The predictive model for IMC structure is same as full
order model system, i.e., .
7.3 Routh Approximated Model
Using Routh approximation method, the 2nd
order reduced-model of is obtained as:
)94.7173.3(
68.18
)( 2
ss
sGRouth
MRA
(27)
The step response of original system and 2nd
order reduced model is shown in Fig. 6. This response
clearly shows that the reduced model obtained by Routh approximation is in good approximation with the
response of original system.
Fig. 6. Step Response of Original and Reduced Model
7.4 Controller for Routh Approximated Model
As (27) is used for designing TDF-IMC controller and (27) does not contain any RHP zero or delay factor, thus
factorization of (27) is not required. The TDF-IMC controller suggested by Saxena and Hote [26] is given as:
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where, .
The proposed GA based TDF-IMC controller is given by
where .
Fig. 7. SIMULINK Model of the TDF-IMC Controller
7.5 Load Disturbance
The input disturbance to the load ∆Pd = ±1% at time t = 2 sec is taken. Fig.7. shows the MATLAB SIMULINK
model of the TDF-IMC controller used in the system with disturbance.
Fig.8. Disturbance Rejection of Sexena’sModel andProposed GA Model (for ∆Pd = -1%)
Fig.9. Disturbance Rejection of Sexena’sModel and Proposed GA Model (for ∆Pd =1%)
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The disturbance rejection response in single area power system using GA optimized tuned parameter ( ) shows
significant improvement over Saxena and Hote’s approach [26] for ±1% load disturbances to the system at time t = 2 sec.,
shown in Figs. 8 and 9 respectively. In Tables 3 and 4, the under shoot and overshoot values of the disturbance rejection
curve have been compared, which clearly shows the substantial improvement in damping obtained by proposed GA
technique over the Saxena and Hote’s technique.
Table 3 (for -1% disturbance)
Table 4 (for +1% disturbance)
7.6 Parameters Uncertainties
The output response of power system without any kind of controller is illustrated for nominal and uncertain model
with 50% variation in system input. Figs.10 and 11 show the output responses for negative and positive input disturbances
respectively.
Fig.10.Effect of Disturbances at Output for Nominal and Uncertain Parameters.
Fig.11. Effect of Disturbance at Output for Nominal and Uncertain Parameters
System Undershoot Overshoot
Saxena’smodel
(Red)
-0.012 3.136e-3
Proposed GA
model (Green)
-6.624e-3 2.612e-3
System Undershoot Overshoot
Saxena’smodel
(Red)
-3.136e-3 0.012
Proposed GA
model (Green)
-2.612e-3 6.624e-3
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VIII. CONCLUSIONS
In this study, genetic algorithm has been used for optimising tuning parameter ( ) in TDF-IMC controller design
whose 2nd
order reduced-model is obtained using Routh approximation. It has been shown that the proposed algorithm is
effective and provides significant improvement in the system performance over some other existing approach. Also the
proposed GA based technique performs robustly during load disturbance and parameter variations as well. In Tables 3 and 4,
the under shoot and overshoot values of the disturbance rejection curve have been compared, which clearly shows the
substantial improvement in damping obtained by proposed GA technique over the Saxena and Hote’s technique. Therefore,
the proposed GA optimised TDF-IMC controller design using Routh approximation is recommended to obtain a better LFC
control in power systems. Other methods of model order-reduction such as balanced realization and truncation and balanced
singular perturbation approximation to design IMC controller for LFC control will be the subject of future work to be
applied for multi-input-multi-output plants and multi-area power systems.
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