This document summarizes an optimization of a PID controller for an industrial electro-hydraulic actuator system using a Particle Swarm Optimization-Gravitational Search Algorithm (PSOGSA). Three controller schemes are proposed - a PID controller, a PID controller optimized with PSOGSA, and a model reference adaptive controller (MRAC). The performance of the controllers is evaluated based on their ability to track the position of the piston actuator when an external disturbance is applied to the system. Simulation results show that the PID controller optimized with PSOGSA provides better position tracking performance compared to a standard PID controller and the MRAC.
Optimization of Modified Sliding Mode Controller for an Electro-hydraulic Act...IJECEIAES
This paper presents the design of the modified sliding mode controller (MSMC) for the purpose of tracking the nonlinear system with mismatched disturbance. Provided that the performance of the designed controller depends on the value of control parameters, gravitational search algorithm (GSA), and particle swarm optimization (PSO) techniques are used to optimize these parameters in order to achieve a predefined system’s performance. In respect of system’s performance, it is evaluated based on the tracking error present between reference inputs transferred to the system and the system output. This is followed by verification of the efficiency of the designed controller in simulation environment under various values, with and without the inclusion of external disturbance. It can be seen from the simulation results that the MSMC with PSO exhibits a better performance in comparison to the performance of the similar controller with GSA in terms of output response and tracking error.
Power System MIMO Identification for Coordinated Design of PSS and TCSC Contr...Reza Pourramezan
Authors: Reza Pourramezan, Sadegh Vaez-Zadeh, and Hamid Reza Nourzadeh
Published in 2007 IEEE Power Engineering Society General Meeting (PES)
DOI: 10.1109/PES.2007.385692
A coordinated mimo control design for a power plant using improved sliding mo...ISA Interchange
For the participation of the steam power plants in regulating the network frequency, boilers and turbines should be co-ordinately controlled in addition to the base load productions. Lack of coordinated control over boiler–turbine may lead to instability; oscillation in producing power and boiler parameters; reduction in the reliability of the unit; and inflicting thermodynamic tension on devices. This paper proposes a boiler–turbine coordinated multivariable control system based on improved sliding mode controller (ISMC). The system controls two main boiler–turbine parameters i.e., the turbine revolution and superheated steam pressure of the boiler output. For this purpose, a comprehensive model of the system including complete and exact description of the subsystems is extracted. The parameters of this model are determined according to our case study that is the 320 MW unit of Islam-Abad power plant in Isfahan/Iran. The ISMC method is simulated on the power plant and its performance is compared with the related real PI (proportional-integral) controllers which have been used in this unit. The simulation results show the capability of the proposed controller system in controlling local network frequency and superheated steam pressure in the presence of load variations and disturbances of boiler.
Parametric study of a low cost pneumatic system controlled by onoff solenoid ...eSAT Journals
Abstract Expensive proportional valves are dominantly used in pneumatic positioning systems even with low demanding accuracy
positioning tasks, which deprive pneumatic systems from its economical advantages. Thereby, using low cost on/off solenoid
valves instead of proportional valves has been a topic of research in the last decades. In this paper, a parametric study is
conducted to investigate the effect of using low-cost 3/2 internally pilot on/off solenoid valves to control a double acting cylinder
and study the system nonlinear response to on/off and PWM input signal. Matlab ® Simscape library is used to model and
simulate the system. The model is validated though experimental measurements of the system behavior. The model is used to study
and decrease the nonlinear pressure response associated with the cylinder chambers in addition to the evaluation of the dead
zone and operating range of the on/off solenoid valve when operated with PWM signal. The results show that using a meter-in
flow control and having a near constant cylinder back pressure can reduce the nonlinearity. An orifice of 1e-6 m2 can reduce the
pressure variation by 80% but increase the transient time. Connecting an accumulator with 1 liter volume can result in 50%
reduction in rod side pressure variation. The model has been used to predict the PWM parameters as well. It has been found that
the most suitable parameters for this valve are 20 Hz and duty cycle from 12 to 65%. These results encourage going further with
controlling a pneumatic position system using low-cost control valves and a simple controller.
Keywords: Pneumatic Control, PWM, On/Off Valves, Simscape, Matlab
This research implements a PI controller based on harmony search (HS) optimization algorithm for voltage source inverter to improve the output performance under step load change conditions. The HS algorithm aims to handle the trial and error procedure used in finding the PI parameters and then apply the proposed control algorithm via the eZdsp TMS320F28355 board to link the inverter prototype with the Matlab Simulink. The mean absolute error (MAE) is used as an optimization problem to minimize the output voltage error for the developed controller (PI-HS) as compared to the PI controller based particale swarm optimization algorithm (PI-PSO). Based on the experimental results obtained, it is noted that the proposed controller (PI-HS) provides a good dynamic performance, robustness, constant voltage amplitude, and fast response in terms of overshoot, transient, and steady-state.
Review on controller design in pneumatic actuator drive systemTELKOMNIKA JOURNAL
A pneumatic actuator is a device that converts compressed air into mechanical energy to perform varieties of work. It exhibits high nonlinearities due to high friction forces, compressibility of air and dead band of the spool movement which is difficult to manage and requires an appropriate controller for better performance. The purpose of this study is to review the controller design of pneumatic actuator recommended by previous researchers from the past years. Initially, the basic views of the pneumatic will be presented in terms of introduction to the pneumatic actuator and its applications in industries. At the end of this review, discussions on the design of the controllers will be concluded and further research will be proposed along with the improvement of control strategies in the pneumatic actuator systems.
Multi objective control of nonlinear boiler-turbine dynamics with actuator ma...ISA Interchange
This paper investigates multi-objective controller design approaches for nonlinear boiler-turbine dynamics subject to actuator magnitude and rate constraints. System nonlinearity is handled by a suitable linear parameter varying system representation with drum pressure as the system varying parameter. Variation of the drum pressure is represented by suitable norm-bounded uncertainty and affine dependence on system matrices. Based on linear matrix inequality algorithms, the magnitude and rate constraints on the actuator and the deviations of fluid density and water level are formulated while the tracking abilities on the drum pressure and power output are optimized. Variation ranges of drum pressure and magnitude tracking commands are used as controller design parameters, determined according to the boiler-turbine's operation range.
Tuning a complex multi-loop PID based control system requires considerable experience. In today's power industry the number of available qualified tuners is dwindling and there is a great need for better tuning tools to maintain and improve the performance of complex multivariable processes. Multi-loop PID tuning is the procedure for the online tuning of a cluster of PID controllers operating in a closed loop with a multivariable process. This paper presents the first application of the simultaneous tuning technique to the multi-input–multi-output (MIMO) PID based nonlinear controller in the power plant control context, with the closed-loop system consisting of a MIMO nonlinear boiler/turbine model and a nonlinear cluster of six PID-type controllers. Although simplified, the dynamics and cross-coupling of the process and the PID cluster are similar to those used in a real power plant. The particular technique selected, iterative feedback tuning (IFT), utilizes the linearized version of the PID cluster for signal conditioning, but the data collection and tuning is carried out on the full nonlinear closed-loop system. Based on the figure of merit for the control system performance, the IFT is shown to deliver performance favorably comparable to that attained through the empirical tuning carried out by an experienced control engineer.
Optimization of Modified Sliding Mode Controller for an Electro-hydraulic Act...IJECEIAES
This paper presents the design of the modified sliding mode controller (MSMC) for the purpose of tracking the nonlinear system with mismatched disturbance. Provided that the performance of the designed controller depends on the value of control parameters, gravitational search algorithm (GSA), and particle swarm optimization (PSO) techniques are used to optimize these parameters in order to achieve a predefined system’s performance. In respect of system’s performance, it is evaluated based on the tracking error present between reference inputs transferred to the system and the system output. This is followed by verification of the efficiency of the designed controller in simulation environment under various values, with and without the inclusion of external disturbance. It can be seen from the simulation results that the MSMC with PSO exhibits a better performance in comparison to the performance of the similar controller with GSA in terms of output response and tracking error.
Power System MIMO Identification for Coordinated Design of PSS and TCSC Contr...Reza Pourramezan
Authors: Reza Pourramezan, Sadegh Vaez-Zadeh, and Hamid Reza Nourzadeh
Published in 2007 IEEE Power Engineering Society General Meeting (PES)
DOI: 10.1109/PES.2007.385692
A coordinated mimo control design for a power plant using improved sliding mo...ISA Interchange
For the participation of the steam power plants in regulating the network frequency, boilers and turbines should be co-ordinately controlled in addition to the base load productions. Lack of coordinated control over boiler–turbine may lead to instability; oscillation in producing power and boiler parameters; reduction in the reliability of the unit; and inflicting thermodynamic tension on devices. This paper proposes a boiler–turbine coordinated multivariable control system based on improved sliding mode controller (ISMC). The system controls two main boiler–turbine parameters i.e., the turbine revolution and superheated steam pressure of the boiler output. For this purpose, a comprehensive model of the system including complete and exact description of the subsystems is extracted. The parameters of this model are determined according to our case study that is the 320 MW unit of Islam-Abad power plant in Isfahan/Iran. The ISMC method is simulated on the power plant and its performance is compared with the related real PI (proportional-integral) controllers which have been used in this unit. The simulation results show the capability of the proposed controller system in controlling local network frequency and superheated steam pressure in the presence of load variations and disturbances of boiler.
Parametric study of a low cost pneumatic system controlled by onoff solenoid ...eSAT Journals
Abstract Expensive proportional valves are dominantly used in pneumatic positioning systems even with low demanding accuracy
positioning tasks, which deprive pneumatic systems from its economical advantages. Thereby, using low cost on/off solenoid
valves instead of proportional valves has been a topic of research in the last decades. In this paper, a parametric study is
conducted to investigate the effect of using low-cost 3/2 internally pilot on/off solenoid valves to control a double acting cylinder
and study the system nonlinear response to on/off and PWM input signal. Matlab ® Simscape library is used to model and
simulate the system. The model is validated though experimental measurements of the system behavior. The model is used to study
and decrease the nonlinear pressure response associated with the cylinder chambers in addition to the evaluation of the dead
zone and operating range of the on/off solenoid valve when operated with PWM signal. The results show that using a meter-in
flow control and having a near constant cylinder back pressure can reduce the nonlinearity. An orifice of 1e-6 m2 can reduce the
pressure variation by 80% but increase the transient time. Connecting an accumulator with 1 liter volume can result in 50%
reduction in rod side pressure variation. The model has been used to predict the PWM parameters as well. It has been found that
the most suitable parameters for this valve are 20 Hz and duty cycle from 12 to 65%. These results encourage going further with
controlling a pneumatic position system using low-cost control valves and a simple controller.
Keywords: Pneumatic Control, PWM, On/Off Valves, Simscape, Matlab
This research implements a PI controller based on harmony search (HS) optimization algorithm for voltage source inverter to improve the output performance under step load change conditions. The HS algorithm aims to handle the trial and error procedure used in finding the PI parameters and then apply the proposed control algorithm via the eZdsp TMS320F28355 board to link the inverter prototype with the Matlab Simulink. The mean absolute error (MAE) is used as an optimization problem to minimize the output voltage error for the developed controller (PI-HS) as compared to the PI controller based particale swarm optimization algorithm (PI-PSO). Based on the experimental results obtained, it is noted that the proposed controller (PI-HS) provides a good dynamic performance, robustness, constant voltage amplitude, and fast response in terms of overshoot, transient, and steady-state.
Review on controller design in pneumatic actuator drive systemTELKOMNIKA JOURNAL
A pneumatic actuator is a device that converts compressed air into mechanical energy to perform varieties of work. It exhibits high nonlinearities due to high friction forces, compressibility of air and dead band of the spool movement which is difficult to manage and requires an appropriate controller for better performance. The purpose of this study is to review the controller design of pneumatic actuator recommended by previous researchers from the past years. Initially, the basic views of the pneumatic will be presented in terms of introduction to the pneumatic actuator and its applications in industries. At the end of this review, discussions on the design of the controllers will be concluded and further research will be proposed along with the improvement of control strategies in the pneumatic actuator systems.
Multi objective control of nonlinear boiler-turbine dynamics with actuator ma...ISA Interchange
This paper investigates multi-objective controller design approaches for nonlinear boiler-turbine dynamics subject to actuator magnitude and rate constraints. System nonlinearity is handled by a suitable linear parameter varying system representation with drum pressure as the system varying parameter. Variation of the drum pressure is represented by suitable norm-bounded uncertainty and affine dependence on system matrices. Based on linear matrix inequality algorithms, the magnitude and rate constraints on the actuator and the deviations of fluid density and water level are formulated while the tracking abilities on the drum pressure and power output are optimized. Variation ranges of drum pressure and magnitude tracking commands are used as controller design parameters, determined according to the boiler-turbine's operation range.
Tuning a complex multi-loop PID based control system requires considerable experience. In today's power industry the number of available qualified tuners is dwindling and there is a great need for better tuning tools to maintain and improve the performance of complex multivariable processes. Multi-loop PID tuning is the procedure for the online tuning of a cluster of PID controllers operating in a closed loop with a multivariable process. This paper presents the first application of the simultaneous tuning technique to the multi-input–multi-output (MIMO) PID based nonlinear controller in the power plant control context, with the closed-loop system consisting of a MIMO nonlinear boiler/turbine model and a nonlinear cluster of six PID-type controllers. Although simplified, the dynamics and cross-coupling of the process and the PID cluster are similar to those used in a real power plant. The particular technique selected, iterative feedback tuning (IFT), utilizes the linearized version of the PID cluster for signal conditioning, but the data collection and tuning is carried out on the full nonlinear closed-loop system. Based on the figure of merit for the control system performance, the IFT is shown to deliver performance favorably comparable to that attained through the empirical tuning carried out by an experienced control engineer.
A Fuzzy-PD Controller to Improve the Performance of HVDC SystemIJAPEJOURNAL
In this paper, a fuzzy self adjustment controller has been designed for using in control of a high voltage direct current (HVDC) system. Fuzzy logic method via fuzzy rules based on simple experimental logical proofs, selects the coefficient of PD controller. In order to investigate the performance and accuracy of the proposed control method, a Cigre system is considered and analyzed. The proposed fuzzy - PD controller is compared with conventional PD controller. To achieve this purpose, the operations of designed controllers are investigated for different conditions. Fuzzy controllers used to control of inverter and rectifier converters, improve significantly system responses and performances as well as DC power recovering, especially on hard faults. The HVDC control system with fuzzy controllers in soft faults and variations with small amplitude, are similar conventional control, but on hard faults and variation with large amplitude, the performances are improved in compare with conventional control.
This document compares the performance of indirect vector control of an induction motor using proportional-integral (PI) and proportional-integral-derivative (PID) speed controllers. It first provides background on induction motors, vector control techniques, and PI/PID controllers. It then presents the simulation model and results, which show the PID controller provides better speed response characteristics like shorter settling time. In conclusion, the PID controller improves the speed performance for indirect vector control of an induction motor drive.
IRJET- Vector Control of Three Phase Induction MotorIRJET Journal
This document discusses vector control of a three-phase induction motor. Vector control, also called field-oriented control, allows independent control of torque and flux in induction motors, similar to DC motors. The document describes:
1) How vector control works by transforming stator currents into orthogonal d-q components representing flux and torque.
2) The principle of field-oriented control which locks the d-q reference frame to the rotor flux vector for decoupled control of flux and torque.
3) The simulation model built in MATLAB/Simulink to test vector control, including blocks for Clarke/Park transformations, current control, and a PI speed controller.
Study on Hydraulic Steering System of Automatic Driving Agricultural MachineryIJRES Journal
The hydraulic steering system plays an important role in the automatic driving agricultural
machinery, its dynamic characteristics directly affect the accuracy and reliability of the automatic driving. In
this paper, a set of hydraulic steering system is designed. The response characteristics of the hydraulic steering
system are tested by experiments. The mathematical model for transfer function is established according to the
response characteristics of hydraulic steering system. The simulation model is built. The PID parameters are
adjusted. The performance of the response characteristic of hydraulic steering system is improved. Finally, the
design of the hydraulic steering system is proved to be effective by square wave signal and sine wave signal
tracking experiments.
1) A novel gearshift system is introduced comprising a 2 degree-of-freedom electromagnetic actuator to simplify structure, increase efficiency, and improve shift quality of automated manual transmissions.
2) The gearshift process is divided into non-synchronization and synchronization phases, with different control algorithms designed for each. Extended state observer based inverse system method is used for non-synchronization, while active disturbance rejection controller is used for synchronization.
3) Comparative simulations and experiments demonstrate the effectiveness of the proposed control method in achieving good gearshift performance for the novel system. The control strategy provides a new solution for automated manual transmission applications.
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.
Neural – Adaptive Control Based on Feedback Linearization for Electro Hydraul...IOSR Journals
This document presents a neural adaptive control method based on feedback linearization for an electro hydraulic servo system (EHSS) to control velocity and regulate pressure in the presence of nonlinearities. The proposed controller consists of four parts: a PID controller, a feedback linearization controller, a neural network controller, and a neural network identifier. The feedback linearization controller is used to keep the system state within a region where the neural network can be accurately trained for optimal control. Simulation results show that the combination of controllers can stabilize the system and adapt to changing conditions. The performance of the proposed neural adaptive controller is compared to feedback linearization, backstepping, and PID controllers.
Comparative Performance Study for Closed Loop Operation of an Adjustable Spee...IJPEDS-IAES
In this paper an extensive comparative study is carried out between PI
and PID controlled closed loop model of an adjustable speed Permanent
Magnet Synchronous Motor (PMSM) drive. The incorporation of Sinusoidal
Pulse Width Modulation (SPWM) strategy establishes near sinusoidal
armature phase currents and comparatively less torque ripples without
sacrificing torque/weight ratio. In this closed loop model of PMSM drive, the
information about reference speed is provided to a speed controller, to ensure
that actual drive speed tracks the reference speed with ideally zero steady
state speed error. The entire model of PMSM closed loop drive is divided
into two loops, inner loop current and outer loop speed. By taking the
different combinations of two classical controllers (PI & PID) related with
two loop control structure, different approximations are carried out. Hence a
typical comparative study is introduced to familiar with the different
performance indices of the system corresponding to time domain and
frequency domain specifications. Therefore overall performance of closed
loop PMSM drive is tested and effectiveness of controllers will be
determined for different combinations.
Comparison Analysis of Indirect FOC Induction Motor Drive using PI, Anti-Wind...IAES-IJPEDS
This paper presents the speed performance analysis of indirect Field Oriented Control (FOC) induction motor drive by applying Proportional Integral (PI) controller, PI with Anti-Windup (PIAW) and Pre- Filter (PF). The objective of this experiment is to have quantitative comparison between the controller strategies towards the performance of the motor in term of speed tracking and load rejection capability in low, medium and rated speed operation. In the first part, PI controller is applied to the FOC induction motor drive which the gain is obtained based on determined Induction Motor (IM) motor parameters. Secondly an AWPI strategy is added to the outer loop and finally, PF is added to the system. The Space Vector Pulse Width Modulation (SVPWM) technique is used to control the voltage source inverter and complete vector control scheme of the IM drive is tested by using a DSpace 1103 controller board. The analysis of the results shows that, the PI and AWPI controller schemes produce similar performance at low speed operation. However, for the medium and rated speed operation the AWPI scheme shown significant improvement in reducing the overshoot problem and improving the setting time. The PF scheme on the other hand, produces a slower speed and torque response for all tested speed operation. All schemes show similar performance for load disturbance rejection capability.
This document describes a study comparing different speed control methods for a separately excited DC motor using MATLAB simulation. It develops a mathematical model of the DC motor and designs proportional-integral-derivative (PID), internal model control (IMC), and fuzzy logic controllers. It then simulates the performance of each controller and analyzes the step response results. The fuzzy logic controller provided the fastest rise time and lowest overshoot compared to the PID and IMC controllers.
Performance investigation of hydraulic actuator based mass lift system using ...Mustefa Jibril
A hydraulic actuator is a system that can provide a large power amplification in industries and
factories. In this paper, mass lifter hydraulic actuator system to a desired displacement is designed
using optimal control theory. MPC and LQR controllers are used to design and improve the
performance of the hydraulic actuator. The hydraulic actuator system is linearized using Taylor
series linearization method and designed using Matlab/Simulink tool. Comparison of the hydraulic
actuator with MPC and LQR controllers using three desired output displacement signals (step, sine
wave and white noise) is done and simulation results have been analyzed successfully. For the
desired step input signal, the hydraulic actuator system with MPC controller lower rise and settling
times with small percentage overshoot as compared to the hydraulic actuator system with LQR
controller and for the desired sine wave signal, the hydraulic actuator system with MPC controller
almost track the desired sine wave input signal correctly as compared to the hydraulic actuator
system with LQR controller. While for the desired white noise input signal, the hydraulic actuator
system with MPC controller have tried to track the desired white noise input signal with small
variation in amplitude as compared to the hydraulic actuator system with LQR controller. Finally
the comparative simulation results prove the effectiveness of the proposed hydraulic actuator
system with MPC controller.
Optimization of controlling of performance characteristics of induction moIAEME Publication
This document summarizes an article from the International Journal of Electrical Engineering and Technology that proposes a fuzzy logic based online efficiency optimization control for an indirect vector controlled induction motor drive system. The control aims to minimize input power by decrementing rotor flux until the lowest power point is reached. This is done without requiring knowledge of motor parameters and is insensitive to parameter changes. Fast convergence is achieved using an adaptive excitation current step size, and low frequency torque pulsations are suppressed via feedforward compensation. The control scheme is described and mathematical models of the induction motor, electrical systems, and mechanical systems are provided.
For Induction motor is a system that works at their speed, nevertheless there are applications at which the speed operations are needed. The control of range of speed of induction motor techniques is available. The robust control is used with induction motor and the performance of the system with the controller will be improved. The mathematical model to the controller, which were coded in MATLAB. The modeling and controller will be shown by the conditions of robustness of be less than one.
Speed and Torque Control of Mechanically Coupled Permanent Magnet Direct Curr...IDES Editor
A new controller is designed for speed and torque
control of a Permanent Magnet DC motor based on
measurements of speed and current. This research work
focuses on investigating the effects of control of the speed and
torque of two brushless dc motors that are mechanically
coupled. Two controller design methods: the Root Locus
method and Bode Plot method as well as two controllers:
Proportional-Integral-Derivative (PID) and Proportional-
Integral (PI) are used to obtain the control objectives of speed
control and torque control. The simulation is performed using
MATLAB/SIMULINK software. The effects of varying the
controller gains on the system performance is studied and
quantified. The simulation results show that the speed control
objectives of the motor are satisfied even in the case of torque
disturbance from the other motor.
Optimized Aircraft Electric Control System Based on Adaptive Tabu Search Algo...ijeei-iaes
Three conventional control constant instantaneous power control, sinusoidal current control, and synchronous reference frame techniques for extracting reference currents for shunt active power filters have been optimized using Fuzzy Logic control and Adaptive Tabu search Algorithm and their performances have been compared. Critical analysis of Comparison of the compensation ability of different control strategies based on THD and speed will be done, and suggestions will be given for the selection of technique to be used. The simulated results using MATLAB model are presented, and they will clearly prove the value of the proposed control method of aircraft shunt APF. The waveforms observed after the application of filter will be having the harmonics within the limits and the power quality will be improved.
Hardware-in-the-loop based comparative analysis of speed controllers for a tw...journalBEEI
A comparative study of speed control performance of an induction motor drive system connecting to a load via a non-rigid shaft. The nonrigidity of the coupling is represented by stiffness and damping coefficients deteriorating speed regulating operations of the system and can be regarded as a two-mass system. In the paper, the ability of flatness based and backstepping controls in control the two-mass system is verified through comprehensive hardware-in-the-loop experiments and with the assumption of ideal stator current loop performance. Step-by-step control design procedures are given, in addition, system responses with classical PID control are also provided for parallel comparisons.
This document presents research on sensorless speed control of an induction motor using predictive current and torque controllers. It begins with an abstract summarizing the research, which involves using a closed-loop observer system and predictive controllers to control an induction motor drive without requiring direct measurement of motor speed or flux. The document then provides background information on sensorless induction motor control and challenges associated with it. It describes the proposed control system, which uses a closed-loop observer to estimate motor flux and speed, along with a predictive current controller and predictive torque controller. Simulation results are presented confirming the effectiveness of the proposed sensorless control approach.
Design and implementation of antenna control servo system for satellite grouIAEME Publication
This document summarizes the design and implementation of an antenna control servo system for a satellite ground station. It describes the modeling and analysis of the system both theoretically and experimentally. Key aspects include designing the drive control system for the antenna, integrating drive chains for elevation and azimuth axes, optimizing the system through mathematical modeling and simulation, and testing the operational system by tracking real satellite passes. Both simulation and experimental results showed the system providing stable and accurate antenna positioning to receive satellite data as required.
This summary provides the key details from the document in 3 sentences:
The document presents a study on implementing an anti-windup PI controller for speed control of an induction machine using direct torque control (DTC) strategy. Simulation and experimental results showed that the proposed anti-windup PI controller improved the dynamic step response of speed control in terms of overshoot compared to a conventional PI controller. The validity of the control strategy was verified by implementing the anti-windup PI controller on a dSPACE 1104 board to control the speed of a 1.5 kW induction machine.
In this paper, a detail design and description of a predictive current control scheme are adopted for three-phase grid-connected two-level inverter and its application in wind energy conversion systems. Despite its advantages, the predictive current controller is very sensitive to parameter variations which could eventually affected on system stability. To solve this problem, an estimation technique proposed to identify the value of harmonic filter parameter based on Model reference adaptive system (MRAS). Lyapunov stability theory is selected to guarantee a robust adaptation and stable response over large system parameter variation. The simulation results shows the efficiency of the proposed techniques to improve the current tracking performance.
A Fuzzy-PD Controller to Improve the Performance of HVDC SystemIJAPEJOURNAL
In this paper, a fuzzy self adjustment controller has been designed for using in control of a high voltage direct current (HVDC) system. Fuzzy logic method via fuzzy rules based on simple experimental logical proofs, selects the coefficient of PD controller. In order to investigate the performance and accuracy of the proposed control method, a Cigre system is considered and analyzed. The proposed fuzzy - PD controller is compared with conventional PD controller. To achieve this purpose, the operations of designed controllers are investigated for different conditions. Fuzzy controllers used to control of inverter and rectifier converters, improve significantly system responses and performances as well as DC power recovering, especially on hard faults. The HVDC control system with fuzzy controllers in soft faults and variations with small amplitude, are similar conventional control, but on hard faults and variation with large amplitude, the performances are improved in compare with conventional control.
This document compares the performance of indirect vector control of an induction motor using proportional-integral (PI) and proportional-integral-derivative (PID) speed controllers. It first provides background on induction motors, vector control techniques, and PI/PID controllers. It then presents the simulation model and results, which show the PID controller provides better speed response characteristics like shorter settling time. In conclusion, the PID controller improves the speed performance for indirect vector control of an induction motor drive.
IRJET- Vector Control of Three Phase Induction MotorIRJET Journal
This document discusses vector control of a three-phase induction motor. Vector control, also called field-oriented control, allows independent control of torque and flux in induction motors, similar to DC motors. The document describes:
1) How vector control works by transforming stator currents into orthogonal d-q components representing flux and torque.
2) The principle of field-oriented control which locks the d-q reference frame to the rotor flux vector for decoupled control of flux and torque.
3) The simulation model built in MATLAB/Simulink to test vector control, including blocks for Clarke/Park transformations, current control, and a PI speed controller.
Study on Hydraulic Steering System of Automatic Driving Agricultural MachineryIJRES Journal
The hydraulic steering system plays an important role in the automatic driving agricultural
machinery, its dynamic characteristics directly affect the accuracy and reliability of the automatic driving. In
this paper, a set of hydraulic steering system is designed. The response characteristics of the hydraulic steering
system are tested by experiments. The mathematical model for transfer function is established according to the
response characteristics of hydraulic steering system. The simulation model is built. The PID parameters are
adjusted. The performance of the response characteristic of hydraulic steering system is improved. Finally, the
design of the hydraulic steering system is proved to be effective by square wave signal and sine wave signal
tracking experiments.
1) A novel gearshift system is introduced comprising a 2 degree-of-freedom electromagnetic actuator to simplify structure, increase efficiency, and improve shift quality of automated manual transmissions.
2) The gearshift process is divided into non-synchronization and synchronization phases, with different control algorithms designed for each. Extended state observer based inverse system method is used for non-synchronization, while active disturbance rejection controller is used for synchronization.
3) Comparative simulations and experiments demonstrate the effectiveness of the proposed control method in achieving good gearshift performance for the novel system. The control strategy provides a new solution for automated manual transmission applications.
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.
Neural – Adaptive Control Based on Feedback Linearization for Electro Hydraul...IOSR Journals
This document presents a neural adaptive control method based on feedback linearization for an electro hydraulic servo system (EHSS) to control velocity and regulate pressure in the presence of nonlinearities. The proposed controller consists of four parts: a PID controller, a feedback linearization controller, a neural network controller, and a neural network identifier. The feedback linearization controller is used to keep the system state within a region where the neural network can be accurately trained for optimal control. Simulation results show that the combination of controllers can stabilize the system and adapt to changing conditions. The performance of the proposed neural adaptive controller is compared to feedback linearization, backstepping, and PID controllers.
Comparative Performance Study for Closed Loop Operation of an Adjustable Spee...IJPEDS-IAES
In this paper an extensive comparative study is carried out between PI
and PID controlled closed loop model of an adjustable speed Permanent
Magnet Synchronous Motor (PMSM) drive. The incorporation of Sinusoidal
Pulse Width Modulation (SPWM) strategy establishes near sinusoidal
armature phase currents and comparatively less torque ripples without
sacrificing torque/weight ratio. In this closed loop model of PMSM drive, the
information about reference speed is provided to a speed controller, to ensure
that actual drive speed tracks the reference speed with ideally zero steady
state speed error. The entire model of PMSM closed loop drive is divided
into two loops, inner loop current and outer loop speed. By taking the
different combinations of two classical controllers (PI & PID) related with
two loop control structure, different approximations are carried out. Hence a
typical comparative study is introduced to familiar with the different
performance indices of the system corresponding to time domain and
frequency domain specifications. Therefore overall performance of closed
loop PMSM drive is tested and effectiveness of controllers will be
determined for different combinations.
Comparison Analysis of Indirect FOC Induction Motor Drive using PI, Anti-Wind...IAES-IJPEDS
This paper presents the speed performance analysis of indirect Field Oriented Control (FOC) induction motor drive by applying Proportional Integral (PI) controller, PI with Anti-Windup (PIAW) and Pre- Filter (PF). The objective of this experiment is to have quantitative comparison between the controller strategies towards the performance of the motor in term of speed tracking and load rejection capability in low, medium and rated speed operation. In the first part, PI controller is applied to the FOC induction motor drive which the gain is obtained based on determined Induction Motor (IM) motor parameters. Secondly an AWPI strategy is added to the outer loop and finally, PF is added to the system. The Space Vector Pulse Width Modulation (SVPWM) technique is used to control the voltage source inverter and complete vector control scheme of the IM drive is tested by using a DSpace 1103 controller board. The analysis of the results shows that, the PI and AWPI controller schemes produce similar performance at low speed operation. However, for the medium and rated speed operation the AWPI scheme shown significant improvement in reducing the overshoot problem and improving the setting time. The PF scheme on the other hand, produces a slower speed and torque response for all tested speed operation. All schemes show similar performance for load disturbance rejection capability.
This document describes a study comparing different speed control methods for a separately excited DC motor using MATLAB simulation. It develops a mathematical model of the DC motor and designs proportional-integral-derivative (PID), internal model control (IMC), and fuzzy logic controllers. It then simulates the performance of each controller and analyzes the step response results. The fuzzy logic controller provided the fastest rise time and lowest overshoot compared to the PID and IMC controllers.
Performance investigation of hydraulic actuator based mass lift system using ...Mustefa Jibril
A hydraulic actuator is a system that can provide a large power amplification in industries and
factories. In this paper, mass lifter hydraulic actuator system to a desired displacement is designed
using optimal control theory. MPC and LQR controllers are used to design and improve the
performance of the hydraulic actuator. The hydraulic actuator system is linearized using Taylor
series linearization method and designed using Matlab/Simulink tool. Comparison of the hydraulic
actuator with MPC and LQR controllers using three desired output displacement signals (step, sine
wave and white noise) is done and simulation results have been analyzed successfully. For the
desired step input signal, the hydraulic actuator system with MPC controller lower rise and settling
times with small percentage overshoot as compared to the hydraulic actuator system with LQR
controller and for the desired sine wave signal, the hydraulic actuator system with MPC controller
almost track the desired sine wave input signal correctly as compared to the hydraulic actuator
system with LQR controller. While for the desired white noise input signal, the hydraulic actuator
system with MPC controller have tried to track the desired white noise input signal with small
variation in amplitude as compared to the hydraulic actuator system with LQR controller. Finally
the comparative simulation results prove the effectiveness of the proposed hydraulic actuator
system with MPC controller.
Optimization of controlling of performance characteristics of induction moIAEME Publication
This document summarizes an article from the International Journal of Electrical Engineering and Technology that proposes a fuzzy logic based online efficiency optimization control for an indirect vector controlled induction motor drive system. The control aims to minimize input power by decrementing rotor flux until the lowest power point is reached. This is done without requiring knowledge of motor parameters and is insensitive to parameter changes. Fast convergence is achieved using an adaptive excitation current step size, and low frequency torque pulsations are suppressed via feedforward compensation. The control scheme is described and mathematical models of the induction motor, electrical systems, and mechanical systems are provided.
For Induction motor is a system that works at their speed, nevertheless there are applications at which the speed operations are needed. The control of range of speed of induction motor techniques is available. The robust control is used with induction motor and the performance of the system with the controller will be improved. The mathematical model to the controller, which were coded in MATLAB. The modeling and controller will be shown by the conditions of robustness of be less than one.
Speed and Torque Control of Mechanically Coupled Permanent Magnet Direct Curr...IDES Editor
A new controller is designed for speed and torque
control of a Permanent Magnet DC motor based on
measurements of speed and current. This research work
focuses on investigating the effects of control of the speed and
torque of two brushless dc motors that are mechanically
coupled. Two controller design methods: the Root Locus
method and Bode Plot method as well as two controllers:
Proportional-Integral-Derivative (PID) and Proportional-
Integral (PI) are used to obtain the control objectives of speed
control and torque control. The simulation is performed using
MATLAB/SIMULINK software. The effects of varying the
controller gains on the system performance is studied and
quantified. The simulation results show that the speed control
objectives of the motor are satisfied even in the case of torque
disturbance from the other motor.
Optimized Aircraft Electric Control System Based on Adaptive Tabu Search Algo...ijeei-iaes
Three conventional control constant instantaneous power control, sinusoidal current control, and synchronous reference frame techniques for extracting reference currents for shunt active power filters have been optimized using Fuzzy Logic control and Adaptive Tabu search Algorithm and their performances have been compared. Critical analysis of Comparison of the compensation ability of different control strategies based on THD and speed will be done, and suggestions will be given for the selection of technique to be used. The simulated results using MATLAB model are presented, and they will clearly prove the value of the proposed control method of aircraft shunt APF. The waveforms observed after the application of filter will be having the harmonics within the limits and the power quality will be improved.
Hardware-in-the-loop based comparative analysis of speed controllers for a tw...journalBEEI
A comparative study of speed control performance of an induction motor drive system connecting to a load via a non-rigid shaft. The nonrigidity of the coupling is represented by stiffness and damping coefficients deteriorating speed regulating operations of the system and can be regarded as a two-mass system. In the paper, the ability of flatness based and backstepping controls in control the two-mass system is verified through comprehensive hardware-in-the-loop experiments and with the assumption of ideal stator current loop performance. Step-by-step control design procedures are given, in addition, system responses with classical PID control are also provided for parallel comparisons.
This document presents research on sensorless speed control of an induction motor using predictive current and torque controllers. It begins with an abstract summarizing the research, which involves using a closed-loop observer system and predictive controllers to control an induction motor drive without requiring direct measurement of motor speed or flux. The document then provides background information on sensorless induction motor control and challenges associated with it. It describes the proposed control system, which uses a closed-loop observer to estimate motor flux and speed, along with a predictive current controller and predictive torque controller. Simulation results are presented confirming the effectiveness of the proposed sensorless control approach.
Design and implementation of antenna control servo system for satellite grouIAEME Publication
This document summarizes the design and implementation of an antenna control servo system for a satellite ground station. It describes the modeling and analysis of the system both theoretically and experimentally. Key aspects include designing the drive control system for the antenna, integrating drive chains for elevation and azimuth axes, optimizing the system through mathematical modeling and simulation, and testing the operational system by tracking real satellite passes. Both simulation and experimental results showed the system providing stable and accurate antenna positioning to receive satellite data as required.
This summary provides the key details from the document in 3 sentences:
The document presents a study on implementing an anti-windup PI controller for speed control of an induction machine using direct torque control (DTC) strategy. Simulation and experimental results showed that the proposed anti-windup PI controller improved the dynamic step response of speed control in terms of overshoot compared to a conventional PI controller. The validity of the control strategy was verified by implementing the anti-windup PI controller on a dSPACE 1104 board to control the speed of a 1.5 kW induction machine.
In this paper, a detail design and description of a predictive current control scheme are adopted for three-phase grid-connected two-level inverter and its application in wind energy conversion systems. Despite its advantages, the predictive current controller is very sensitive to parameter variations which could eventually affected on system stability. To solve this problem, an estimation technique proposed to identify the value of harmonic filter parameter based on Model reference adaptive system (MRAS). Lyapunov stability theory is selected to guarantee a robust adaptation and stable response over large system parameter variation. The simulation results shows the efficiency of the proposed techniques to improve the current tracking performance.
This paper reports on the design and implementation in DSP as hardware in the loop of a nonlinear control strategy for a grid-connected variable speed wind turbine using a doubly fed induction generator (DFIG). The objective of this work is to build a real-time nonlinear hybrid approach combining Backstepping control and sliding mode control strategies for DFIG used in wind energy conversion systems (WECS). The results of the DSP implementation are discussed and qualitative and quantitative performance evaluations are performed under various disturbed conditions. The implementation is performed using the TMS320F28335 DSP combined with the MATLAB/Simulink (2016a) environment. The experimental results have been satisfactorily achieved, which implies that the proposed strategy is an efficient and robust approach to monitor the WECS.
Fuzzy optimization strategy of the maximum power point tracking for a variab...IJECEIAES
Wind power systems are gaining more and more interests; in order to diminish dependence on fossil fuels. In this paper, we present a variable speed-wind energy global system based on a synchronous generator with permanent magnetic (PMSG). The major goal of this study is to track the maximum power that is present in the turbine. An examination of control methods to extract the MPPT point, from a wind energy conversion system (WECS) under variable speed situations is presented. An intelligent controller based on the fuzzy logic control (FLC) is proposed for regulating permanent magnetic synchronous generator (PMSG) output power, in order to improve tracking performance. The principle of this maximum power point tracking (MPPT) algorithm consists in looking for an optimal operating relation of the maximum power, then tracking this last. We simulated our system with MATLAB-Simulink software. The found results will be debated to elucidate performance of the global system.
Power Optimization and Control in Wind Energy Conversion Systems using Fracti...IRJET Journal
This document describes a proposed method for optimizing power extraction from a wind energy conversion system (WECS) using fractional order extremum seeking control (FOESC). The WECS uses an induction generator connected to the grid through a matrix converter. An inner loop nonlinear controller based on field oriented control is used to control the generator along with an outer loop maximum power point tracking controller. The proposed outer loop controller is a FOESC, which is a non-model based optimization method that can track the maximum power point faster than conventional extremum seeking control methods. Simulation results are presented to demonstrate the effectiveness of using FOESC for maximum power point tracking in a WECS.
Control of a servo-hydraulic system utilizing an extended wavelet functional ...nooriasukmaningtyas
Servo-hydraulic systems have been extensively employed in various industrial applications. However, these systems are characterized by their highly complex and nonlinear dynamics, which complicates the control design stage of such systems. In this paper, an extended wavelet functional link neural network (EWFLNN) is proposed to control the displacement response of the servo-hydraulic system. To optimize the controller's parameters, a recently developed optimization technique, which is called the modified sine cosine algorithm (M-SCA), is exploited as the training method. The proposed controller has achieved remarkable results in terms of tracking two different displacement signals and handling external disturbances. From a comparative study, the proposed EWFLNN controller has attained the best control precision compared with those of other controllers, namely, a proportional-integralderivative (PID) controller, an artificial neural network (ANN) controller, a wavelet neural network (WNN) controller, and the original wavelet functional link neural network (WFLNN) controller. Moreover, compared to the genetic algorithm (GA) and the original sine cosine algorithm (SCA), the M-SCA has shown better optimization results in finding the optimal values of the controller's parameters.
This paper presents a study concerning a sensorless vector control of an induction machine fed by a voltage source inverter. The aim is to provide a scheme to control the speed and the rotor flux using a sensorless integral backstepping control approach. The rotor speed estimation is done by an observer using the model reference adaptive system (MRAS) technique whereas the nonlinear backstepping observer is used to get the rotor flux. The main objective is to achieve a robust control, adaptive and efficient, which will allow us to test and evaluate the performance of the proposed observer, combined with a sensorless control of the induction machine. Tests and validation are done using numerical simulations with MATLAB/SIMULINK-PSB (Power System Block set) toolbox. The results show good performance in terms of robustness regarding machine parameter variations and show the excellent quality of the control law associated with the observer, despite the observability problems when the machine operates at low speed.
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.
Modeling and control of double star induction machine by active disturbance r...TELKOMNIKA JOURNAL
This paper aims to contribute to the modeling and control of the double star induction machine (DSIM) by a robust method called active disturbance rejection control (ADRC). The ADRC has become in the last decade one of the most important techniques of regulation. This method is based on the use of an ESO (Extended State Observer) which estimates in real-time and at the same time the external disturbances and the errors due to the variations of the parameters of the machine and to the uncertainties of modeling. The two stators of DSIM are powered by three-phase inverters based on transistors and MLI control and the entire system is modeled in Park's reference. We analyze in the Matlab/Simulink environment the dynamic behavior of the system and the different ADRC controllers under different operating conditions. The result has demonstrated the performance and effectiveness of the ADRC.
Stability by assigning structures by applying the multivariable subspace iden...TELKOMNIKA JOURNAL
In this paper, a controller for a doubly fed induction generator (DFIG) connected to a wind system is proposed. This control assigning its own structures as an optimal control method, the electric model in the DFIG state space is also shown, for which it is expected to estimate a linear model through the subspace technique and thus to design the controller. It will be possible to show that a structure assignment controller is undoubtedly a good option for the control of multivariable systems. The results of the output signals will be analyzed when applying the controller, assigning their own structures, which will allow us to observe that the response and disturbance times are below two tenths of a second.
Nonlinear control of WECS based on PMSG for optimal power extraction IJECEIAES
This document presents a study that proposes an integral backstepping control strategy to optimize power extraction from a wind energy conversion system based on a permanent magnet synchronous generator. The control regulates the generator's rotational speed to track the optimal speed for maximum power point tracking. Simulation results show that the integral backstepping control achieves better performance than a conventional PI vector control in regulating speed during stochastic and step changes in wind speed, allowing for more effective maximum power point tracking.
DESIGN AND DEVELOPMENT OF PNEUMATIC STEERING CONTROL SYSTEM FOR AUTOMOTIVE VE...IRJET Journal
The document describes the design and development of a pneumatic steering control system for automotive vehicles. It discusses how pneumatic systems use compressed air to power actuators that control machinery. The proposed system uses a pneumatic actuator connected to wheels via links to control steering. It also includes a pneumatic cylinder, solenoid valve, hoses, and other components to regulate air pressure and control steering. The system is intended to make driving easier by providing power steering using compressed air rather than hydraulic fluid.
Improvements the direct torque control performance for an induction machine u...IJECEIAES
This article examines a solution to the major problems of induction machine control in order to achieve superior dynamic performance. Conventional direct torque control and indirect control with flux orientation have some drawbacks, such as current harmonics, torque ripples, flux ripples, and rise time. In this article, we propose a comparative analysis between previous approaches and the one using fuzzy logic. Results from the simulation show that the direct torque control method using fuzzy logic is more effective in providing a precise and fast response without overshooting, and it eliminates torque and flux fluctuations at low switching frequencies. The demonstrated improvements in dynamic performance contribute to increased operational efficiency and reliability in industrial applications.
Metamodel-based Optimization of a PID Controller Parameters for a Coupled-tan...TELKOMNIKA JOURNAL
Liquid flow and level control are essential requirements in various industries, such as paper
manufacturing, petrochemical industries, waste management, and others. Controlling the liquids flow and
levels in such industries is challenging due to the existence of nonlinearity and modeling uncertainties of
the plants. This paper presents a method to control the liquid level in a second tank of a coupled-tank plant
through variable manipulation of a water pump in the first tank. The optimum controller parameters of this
plant are calculated using radial basis function neural network metamodel. A time-varying nonlinear
dynamic model is developed and the corresponding linearized perturbation models are derived from the
nonlinear model. The performance of the developed optimized controller using metamodeling is compared
with the original large space design. In addition, linearized perturbation models are derived from the
nonlinear dynamic model with time-varying parameters.
Model Validation and Control of an In-Wheel DC Motor Prototype for Hybrid El...Scientific Review SR
In this paper, a mathematical model and a controller for a DC motor are developed for the
construction of an in-wheel motor. In-wheel motors can be used in hybrid electric vehicles to provide traction
force of front or rear wheels. The model identification is achieved using a simple and low cost data acquisition
system. An Arduino Uno embedded board system is used to collect data from sensors to a computer and for
control purposes. Data processing is performed using Matlab/Simulink. Validations of the devel oped
mathematical model and controller performance are carried out by comparing simulation and experimental results.
The results obtained show that the mathematical model is accurate enough to assist in speed controller design and
implementation.
This paper introduces experimental comparison study between six and four switch inverter fed three phase induction motor drive system. The control strategy of the drive is based on speed sensoreless vector control using model reference adaptive system as a speed estimator. The adaptive mechanism of speed control loop depends on fuzzy logic control. Four switch inverter conFigureurations reduces the cost of the inverter, the switching losses, the complexity of the control algorithms, interface circuits, the computation of real-time implementation, volume-compactness and reliability of the drive system. The robustness of the proposed model reference adaptive system based on four switch three-phase inverter (FSTPI) fed induction motor drive is verified experimentally at different operating conditions. Experimental work is carried using digital signal processor (DSP1103) for a 1.1 kW motor. A performance comparison of the proposed FSTP inverter fed IM drive with a conventional six switch three-phase inverter (SSTP) inverter system is also made in terms of speed response. The results show that the proposed drive system provides a fast speed response and good disturbance rejection capability. The proposed FSTP inverter fed IM drive is found quite acceptable considering its performance, cost reduction and other advantages features.
A steepest descent algorithm for the optimal control of a cascaded hydropowe...IJECEIAES
Optimal power generation along the cascaded Kainji-Jebba hydroelectric power system had been very difficult to achieve. The reservoirs operating heads are being affected by possible variation in impoundments upstream, stochastic factors that are weather-related, availability of the turbo-alternators and power generated at any time. Proposed in this paper, is an algorithm for solving the optimal release of water on the cascaded hydropower system based on steepest descent method. The uniqueness of this work is the conversion of the infinite dimensional control problem to a finite one, the introduction of clever techniques for choosing the steepest descent step size in each iteration and the nonlinear penalty embedded in the procedure. The control algorithm was implemented in an Excel VBA® environment to solve the formulated Lagrange problem within an accuracy of 0.03%. It is recommended for use in system studies and control design for the optimal power generation in the cascaded hydropower system.
A New Control Method for the Multi-Area LFC System Based on Port-Hamiltonian ...IRJET Journal
This document presents a new control method for load frequency control (LFC) in a multi-area power system based on Port-Hamiltonian and cascade systems. The proposed method uses PID control laws that decouple total tie-line power flow and provide robust disturbance rejection. Simulation results in Matlab/Simulink validate that the proposed method performs better than existing PID methods by achieving faster response speeds and smaller overshoots for changes in tie-line power and frequency deviations in both two-area and four-area test systems with and without reheated turbines.
This document summarizes a research paper that proposes a new control technique for a Doubly Fed Induction Generator (DFG) used in variable speed wind turbines. The technique uses a nonlinear sliding mode control approach with an exponential reaching law (ERL) to control the active and reactive powers generated by the wind turbine. Simulation results show that this sliding mode control with ERL is more robust and improves power quality and stability compared to traditional sliding mode control approaches. It reduces chattering phenomenon while also accelerating the system response for better tracking of the desired control objectives.
This paper presents a real-time emulator of a dual permanent magnet synchronous motor (PMSM) drive implemented on a field-programmable gate array (FPGA) board for supervision and observation purposes. In order to increase the reliability of the drive, a sensorless speed control method is proposed. This method allows replacing the physical sensor while guaranteeing a satisfactory operation even in faulty conditions. The novelty of the proposed approach consists of an FPGA implementation of an emulator to control the actual system. Hence, this emulator operates in real-time with actual system control in healthy or faulty mode. It gives an observation of the speed rotation in case of fault for the sake of continuity of service. The observation of the rotor position and the speed are achieved using the dSPACE DS52030D digital platform with a digital signal processor (DSP) associated with a Xilinx FPGA.
Similar to Optimization of PID for industrial electro-hydraulic actuator using PSOGSA (20)
Amazon products reviews classification based on machine learning, deep learni...TELKOMNIKA JOURNAL
In recent times, the trend of online shopping through e-commerce stores and websites has grown to a huge extent. Whenever a product is purchased on an e-commerce platform, people leave their reviews about the product. These reviews are very helpful for the store owners and the product’s manufacturers for the betterment of their work process as well as product quality. An automated system is proposed in this work that operates on two datasets D1 and D2 obtained from Amazon. After certain preprocessing steps, N-gram and word embedding-based features are extracted using term frequency-inverse document frequency (TF-IDF), bag of words (BoW) and global vectors (GloVe), and Word2vec, respectively. Four machine learning (ML) models support vector machines (SVM), logistic regression (RF), logistic regression (LR), multinomial Naïve Bayes (MNB), two deep learning (DL) models convolutional neural network (CNN), long-short term memory (LSTM), and standalone bidirectional encoder representations (BERT) are used to classify reviews as either positive or negative. The results obtained by the standard ML, DL models and BERT are evaluated using certain performance evaluation measures. BERT turns out to be the best-performing model in the case of D1 with an accuracy of 90% on features derived by word embedding models while the CNN provides the best accuracy of 97% upon word embedding features in the case of D2. The proposed model shows better overall performance on D2 as compared to D1.
Design, simulation, and analysis of microstrip patch antenna for wireless app...TELKOMNIKA JOURNAL
In this study, a microstrip patch antenna that works at 3.6 GHz was built and tested to see how well it works. In this work, Rogers RT/Duroid 5880 has been used as the substrate material, with a dielectric permittivity of 2.2 and a thickness of 0.3451 mm; it serves as the base for the examined antenna. The computer simulation technology (CST) studio suite is utilized to show the recommended antenna design. The goal of this study was to get a more extensive transmission capacity, a lower voltage standing wave ratio (VSWR), and a lower return loss, but the main goal was to get a higher gain, directivity, and efficiency. After simulation, the return loss, gain, directivity, bandwidth, and efficiency of the supplied antenna are found to be -17.626 dB, 9.671 dBi, 9.924 dBi, 0.2 GHz, and 97.45%, respectively. Besides, the recreation uncovered that the transfer speed side-lobe level at phi was much better than those of the earlier works, at -28.8 dB, respectively. Thus, it makes a solid contender for remote innovation and more robust communication.
Design and simulation an optimal enhanced PI controller for congestion avoida...TELKOMNIKA JOURNAL
This document describes using a snake optimization algorithm to tune the gains of an enhanced proportional-integral controller for congestion avoidance in a TCP/AQM system. The controller aims to maintain a stable and desired queue size without noise or transmission problems. A linearized model of the TCP/AQM system is presented. An enhanced PI controller combining nonlinear gain and original PI gains is proposed. The snake optimization algorithm is then used to tune the parameters of the enhanced PI controller to achieve optimal system performance and response. Simulation results are discussed showing the proposed controller provides a stable and robust behavior for congestion control.
Improving the detection of intrusion in vehicular ad-hoc networks with modifi...TELKOMNIKA JOURNAL
Vehicular ad-hoc networks (VANETs) are wireless-equipped vehicles that form networks along the road. The security of this network has been a major challenge. The identity-based cryptosystem (IBC) previously used to secure the networks suffers from membership authentication security features. This paper focuses on improving the detection of intruders in VANETs with a modified identity-based cryptosystem (MIBC). The MIBC is developed using a non-singular elliptic curve with Lagrange interpolation. The public key of vehicles and roadside units on the network are derived from number plates and location identification numbers, respectively. Pseudo-identities are used to mask the real identity of users to preserve their privacy. The membership authentication mechanism ensures that only valid and authenticated members of the network are allowed to join the network. The performance of the MIBC is evaluated using intrusion detection ratio (IDR) and computation time (CT) and then validated with the existing IBC. The result obtained shows that the MIBC recorded an IDR of 99.3% against 94.3% obtained for the existing identity-based cryptosystem (EIBC) for 140 unregistered vehicles attempting to intrude on the network. The MIBC shows lower CT values of 1.17 ms against 1.70 ms for EIBC. The MIBC can be used to improve the security of VANETs.
Conceptual model of internet banking adoption with perceived risk and trust f...TELKOMNIKA JOURNAL
Understanding the primary factors of internet banking (IB) acceptance is critical for both banks and users; nevertheless, our knowledge of the role of users’ perceived risk and trust in IB adoption is limited. As a result, we develop a conceptual model by incorporating perceived risk and trust into the technology acceptance model (TAM) theory toward the IB. The proper research emphasized that the most essential component in explaining IB adoption behavior is behavioral intention to use IB adoption. TAM is helpful for figuring out how elements that affect IB adoption are connected to one another. According to previous literature on IB and the use of such technology in Iraq, one has to choose a theoretical foundation that may justify the acceptance of IB from the customer’s perspective. The conceptual model was therefore constructed using the TAM as a foundation. Furthermore, perceived risk and trust were added to the TAM dimensions as external factors. The key objective of this work was to extend the TAM to construct a conceptual model for IB adoption and to get sufficient theoretical support from the existing literature for the essential elements and their relationships in order to unearth new insights about factors responsible for IB adoption.
Efficient combined fuzzy logic and LMS algorithm for smart antennaTELKOMNIKA JOURNAL
The smart antennas are broadly used in wireless communication. The least mean square (LMS) algorithm is a procedure that is concerned in controlling the smart antenna pattern to accommodate specified requirements such as steering the beam toward the desired signal, in addition to placing the deep nulls in the direction of unwanted signals. The conventional LMS (C-LMS) has some drawbacks like slow convergence speed besides high steady state fluctuation error. To overcome these shortcomings, the present paper adopts an adaptive fuzzy control step size least mean square (FC-LMS) algorithm to adjust its step size. Computer simulation outcomes illustrate that the given model has fast convergence rate as well as low mean square error steady state.
Design and implementation of a LoRa-based system for warning of forest fireTELKOMNIKA JOURNAL
This paper presents the design and implementation of a forest fire monitoring and warning system based on long range (LoRa) technology, a novel ultra-low power consumption and long-range wireless communication technology for remote sensing applications. The proposed system includes a wireless sensor network that records environmental parameters such as temperature, humidity, wind speed, and carbon dioxide (CO2) concentration in the air, as well as taking infrared photos.The data collected at each sensor node will be transmitted to the gateway via LoRa wireless transmission. Data will be collected, processed, and uploaded to a cloud database at the gateway. An Android smartphone application that allows anyone to easily view the recorded data has been developed. When a fire is detected, the system will sound a siren and send a warning message to the responsible personnel, instructing them to take appropriate action. Experiments in Tram Chim Park, Vietnam, have been conducted to verify and evaluate the operation of the system.
Wavelet-based sensing technique in cognitive radio networkTELKOMNIKA JOURNAL
Cognitive radio is a smart radio that can change its transmitter parameter based on interaction with the environment in which it operates. The demand for frequency spectrum is growing due to a big data issue as many Internet of Things (IoT) devices are in the network. Based on previous research, most frequency spectrum was used, but some spectrums were not used, called spectrum hole. Energy detection is one of the spectrum sensing methods that has been frequently used since it is easy to use and does not require license users to have any prior signal understanding. But this technique is incapable of detecting at low signal-to-noise ratio (SNR) levels. Therefore, the wavelet-based sensing is proposed to overcome this issue and detect spectrum holes. The main objective of this work is to evaluate the performance of wavelet-based sensing and compare it with the energy detection technique. The findings show that the percentage of detection in wavelet-based sensing is 83% higher than energy detection performance. This result indicates that the wavelet-based sensing has higher precision in detection and the interference towards primary user can be decreased.
A novel compact dual-band bandstop filter with enhanced rejection bandsTELKOMNIKA JOURNAL
In this paper, we present the design of a new wide dual-band bandstop filter (DBBSF) using nonuniform transmission lines. The method used to design this filter is to replace conventional uniform transmission lines with nonuniform lines governed by a truncated Fourier series. Based on how impedances are profiled in the proposed DBBSF structure, the fractional bandwidths of the two 10 dB-down rejection bands are widened to 39.72% and 52.63%, respectively, and the physical size has been reduced compared to that of the filter with the uniform transmission lines. The results of the electromagnetic (EM) simulation support the obtained analytical response and show an improved frequency behavior.
Deep learning approach to DDoS attack with imbalanced data at the application...TELKOMNIKA JOURNAL
A distributed denial of service (DDoS) attack is where one or more computers attack or target a server computer, by flooding internet traffic to the server. As a result, the server cannot be accessed by legitimate users. A result of this attack causes enormous losses for a company because it can reduce the level of user trust, and reduce the company’s reputation to lose customers due to downtime. One of the services at the application layer that can be accessed by users is a web-based lightweight directory access protocol (LDAP) service that can provide safe and easy services to access directory applications. We used a deep learning approach to detect DDoS attacks on the CICDDoS 2019 dataset on a complex computer network at the application layer to get fast and accurate results for dealing with unbalanced data. Based on the results obtained, it is observed that DDoS attack detection using a deep learning approach on imbalanced data performs better when implemented using synthetic minority oversampling technique (SMOTE) method for binary classes. On the other hand, the proposed deep learning approach performs better for detecting DDoS attacks in multiclass when implemented using the adaptive synthetic (ADASYN) method.
The appearance of uncertainties and disturbances often effects the characteristics of either linear or nonlinear systems. Plus, the stabilization process may be deteriorated thus incurring a catastrophic effect to the system performance. As such, this manuscript addresses the concept of matching condition for the systems that are suffering from miss-match uncertainties and exogeneous disturbances. The perturbation towards the system at hand is assumed to be known and unbounded. To reach this outcome, uncertainties and their classifications are reviewed thoroughly. The structural matching condition is proposed and tabulated in the proposition 1. Two types of mathematical expressions are presented to distinguish the system with matched uncertainty and the system with miss-matched uncertainty. Lastly, two-dimensional numerical expressions are provided to practice the proposed proposition. The outcome shows that matching condition has the ability to change the system to a design-friendly model for asymptotic stabilization.
Implementation of FinFET technology based low power 4×4 Wallace tree multipli...TELKOMNIKA JOURNAL
Many systems, including digital signal processors, finite impulse response (FIR) filters, application-specific integrated circuits, and microprocessors, use multipliers. The demand for low power multipliers is gradually rising day by day in the current technological trend. In this study, we describe a 4×4 Wallace multiplier based on a carry select adder (CSA) that uses less power and has a better power delay product than existing multipliers. HSPICE tool at 16 nm technology is used to simulate the results. In comparison to the traditional CSA-based multiplier, which has a power consumption of 1.7 µW and power delay product (PDP) of 57.3 fJ, the results demonstrate that the Wallace multiplier design employing CSA with first zero finding logic (FZF) logic has the lowest power consumption of 1.4 µW and PDP of 27.5 fJ.
Evaluation of the weighted-overlap add model with massive MIMO in a 5G systemTELKOMNIKA JOURNAL
The flaw in 5G orthogonal frequency division multiplexing (OFDM) becomes apparent in high-speed situations. Because the doppler effect causes frequency shifts, the orthogonality of OFDM subcarriers is broken, lowering both their bit error rate (BER) and throughput output. As part of this research, we use a novel design that combines massive multiple input multiple output (MIMO) and weighted overlap and add (WOLA) to improve the performance of 5G systems. To determine which design is superior, throughput and BER are calculated for both the proposed design and OFDM. The results of the improved system show a massive improvement in performance ver the conventional system and significant improvements with massive MIMO, including the best throughput and BER. When compared to conventional systems, the improved system has a throughput that is around 22% higher and the best performance in terms of BER, but it still has around 25% less error than OFDM.
Reflector antenna design in different frequencies using frequency selective s...TELKOMNIKA JOURNAL
In this study, it is aimed to obtain two different asymmetric radiation patterns obtained from antennas in the shape of the cross-section of a parabolic reflector (fan blade type antennas) and antennas with cosecant-square radiation characteristics at two different frequencies from a single antenna. For this purpose, firstly, a fan blade type antenna design will be made, and then the reflective surface of this antenna will be completed to the shape of the reflective surface of the antenna with the cosecant-square radiation characteristic with the frequency selective surface designed to provide the characteristics suitable for the purpose. The frequency selective surface designed and it provides the perfect transmission as possible at 4 GHz operating frequency, while it will act as a band-quenching filter for electromagnetic waves at 5 GHz operating frequency and will be a reflective surface. Thanks to this frequency selective surface to be used as a reflective surface in the antenna, a fan blade type radiation characteristic at 4 GHz operating frequency will be obtained, while a cosecant-square radiation characteristic at 5 GHz operating frequency will be obtained.
Reagentless iron detection in water based on unclad fiber optical sensorTELKOMNIKA JOURNAL
A simple and low-cost fiber based optical sensor for iron detection is demonstrated in this paper. The sensor head consist of an unclad optical fiber with the unclad length of 1 cm and it has a straight structure. Results obtained shows a linear relationship between the output light intensity and iron concentration, illustrating the functionality of this iron optical sensor. Based on the experimental results, the sensitivity and linearity are achieved at 0.0328/ppm and 0.9824 respectively at the wavelength of 690 nm. With the same wavelength, other performance parameters are also studied. Resolution and limit of detection (LOD) are found to be 0.3049 ppm and 0.0755 ppm correspondingly. This iron sensor is advantageous in that it does not require any reagent for detection, enabling it to be simpler and cost-effective in the implementation of the iron sensing.
Impact of CuS counter electrode calcination temperature on quantum dot sensit...TELKOMNIKA JOURNAL
In place of the commercial Pt electrode used in quantum sensitized solar cells, the low-cost CuS cathode is created using electrophoresis. High resolution scanning electron microscopy and X-ray diffraction were used to analyze the structure and morphology of structural cubic samples with diameters ranging from 40 nm to 200 nm. The conversion efficiency of solar cells is significantly impacted by the calcination temperatures of cathodes at 100 °C, 120 °C, 150 °C, and 180 °C under vacuum. The fluorine doped tin oxide (FTO)/CuS cathode electrode reached a maximum efficiency of 3.89% when it was calcined at 120 °C. Compared to other temperature combinations, CuS nanoparticles crystallize at 120 °C, which lowers resistance while increasing electron lifetime.
In place of the commercial Pt electrode used in quantum sensitized solar cells, the low-cost CuS cathode is created using electrophoresis. High resolution scanning electron microscopy and X-ray diffraction were used to analyze the structure and morphology of structural cubic samples with diameters ranging from 40 nm to 200 nm. The conversion efficiency of solar cells is significantly impacted by the calcination temperatures of cathodes at 100 °C, 120 °C, 150 °C, and 180 °C under vacuum. The fluorine doped tin oxide (FTO)/CuS cathode electrode reached a maximum efficiency of 3.89% when it was calcined at 120 °C. Compared to other temperature combinations, CuS nanoparticles crystallize at 120 °C, which lowers resistance while increasing electron lifetime.
A progressive learning for structural tolerance online sequential extreme lea...TELKOMNIKA JOURNAL
This article discusses the progressive learning for structural tolerance online sequential extreme learning machine (PSTOS-ELM). PSTOS-ELM can save robust accuracy while updating the new data and the new class data on the online training situation. The robustness accuracy arises from using the householder block exact QR decomposition recursive least squares (HBQRD-RLS) of the PSTOS-ELM. This method is suitable for applications that have data streaming and often have new class data. Our experiment compares the PSTOS-ELM accuracy and accuracy robustness while data is updating with the batch-extreme learning machine (ELM) and structural tolerance online sequential extreme learning machine (STOS-ELM) that both must retrain the data in a new class data case. The experimental results show that PSTOS-ELM has accuracy and robustness comparable to ELM and STOS-ELM while also can update new class data immediately.
Electroencephalography-based brain-computer interface using neural networksTELKOMNIKA JOURNAL
This study aimed to develop a brain-computer interface that can control an electric wheelchair using electroencephalography (EEG) signals. First, we used the Mind Wave Mobile 2 device to capture raw EEG signals from the surface of the scalp. The signals were transformed into the frequency domain using fast Fourier transform (FFT) and filtered to monitor changes in attention and relaxation. Next, we performed time and frequency domain analyses to identify features for five eye gestures: opened, closed, blink per second, double blink, and lookup. The base state was the opened-eyes gesture, and we compared the features of the remaining four action gestures to the base state to identify potential gestures. We then built a multilayer neural network to classify these features into five signals that control the wheelchair’s movement. Finally, we designed an experimental wheelchair system to test the effectiveness of the proposed approach. The results demonstrate that the EEG classification was highly accurate and computationally efficient. Moreover, the average performance of the brain-controlled wheelchair system was over 75% across different individuals, which suggests the feasibility of this approach.
Adaptive segmentation algorithm based on level set model in medical imagingTELKOMNIKA JOURNAL
For image segmentation, level set models are frequently employed. It offer best solution to overcome the main limitations of deformable parametric models. However, the challenge when applying those models in medical images stills deal with removing blurs in image edges which directly affects the edge indicator function, leads to not adaptively segmenting images and causes a wrong analysis of pathologies wich prevents to conclude a correct diagnosis. To overcome such issues, an effective process is suggested by simultaneously modelling and solving systems’ two-dimensional partial differential equations (PDE). The first PDE equation allows restoration using Euler’s equation similar to an anisotropic smoothing based on a regularized Perona and Malik filter that eliminates noise while preserving edge information in accordance with detected contours in the second equation that segments the image based on the first equation solutions. This approach allows developing a new algorithm which overcome the studied model drawbacks. Results of the proposed method give clear segments that can be applied to any application. Experiments on many medical images in particular blurry images with high information losses, demonstrate that the developed approach produces superior segmentation results in terms of quantity and quality compared to other models already presented in previeous works.
Automatic channel selection using shuffled frog leaping algorithm for EEG bas...TELKOMNIKA JOURNAL
Drug addiction is a complex neurobiological disorder that necessitates comprehensive treatment of both the body and mind. It is categorized as a brain disorder due to its impact on the brain. Various methods such as electroencephalography (EEG), functional magnetic resonance imaging (FMRI), and magnetoencephalography (MEG) can capture brain activities and structures. EEG signals provide valuable insights into neurological disorders, including drug addiction. Accurate classification of drug addiction from EEG signals relies on appropriate features and channel selection. Choosing the right EEG channels is essential to reduce computational costs and mitigate the risk of overfitting associated with using all available channels. To address the challenge of optimal channel selection in addiction detection from EEG signals, this work employs the shuffled frog leaping algorithm (SFLA). SFLA facilitates the selection of appropriate channels, leading to improved accuracy. Wavelet features extracted from the selected input channel signals are then analyzed using various machine learning classifiers to detect addiction. Experimental results indicate that after selecting features from the appropriate channels, classification accuracy significantly increased across all classifiers. Particularly, the multi-layer perceptron (MLP) classifier combined with SFLA demonstrated a remarkable accuracy improvement of 15.78% while reducing time complexity.
ACEP Magazine edition 4th launched on 05.06.2024Rahul
This document provides information about the third edition of the magazine "Sthapatya" published by the Association of Civil Engineers (Practicing) Aurangabad. It includes messages from current and past presidents of ACEP, memories and photos from past ACEP events, information on life time achievement awards given by ACEP, and a technical article on concrete maintenance, repairs and strengthening. The document highlights activities of ACEP and provides a technical educational article for members.
Literature Review Basics and Understanding Reference Management.pptxDr Ramhari Poudyal
Three-day training on academic research focuses on analytical tools at United Technical College, supported by the University Grant Commission, Nepal. 24-26 May 2024
Using recycled concrete aggregates (RCA) for pavements is crucial to achieving sustainability. Implementing RCA for new pavement can minimize carbon footprint, conserve natural resources, reduce harmful emissions, and lower life cycle costs. Compared to natural aggregate (NA), RCA pavement has fewer comprehensive studies and sustainability assessments.
Batteries -Introduction – Types of Batteries – discharging and charging of battery - characteristics of battery –battery rating- various tests on battery- – Primary battery: silver button cell- Secondary battery :Ni-Cd battery-modern battery: lithium ion battery-maintenance of batteries-choices of batteries for electric vehicle applications.
Fuel Cells: Introduction- importance and classification of fuel cells - description, principle, components, applications of fuel cells: H2-O2 fuel cell, alkaline fuel cell, molten carbonate fuel cell and direct methanol fuel cells.
TIME DIVISION MULTIPLEXING TECHNIQUE FOR COMMUNICATION SYSTEMHODECEDSIET
Time Division Multiplexing (TDM) is a method of transmitting multiple signals over a single communication channel by dividing the signal into many segments, each having a very short duration of time. These time slots are then allocated to different data streams, allowing multiple signals to share the same transmission medium efficiently. TDM is widely used in telecommunications and data communication systems.
### How TDM Works
1. **Time Slots Allocation**: The core principle of TDM is to assign distinct time slots to each signal. During each time slot, the respective signal is transmitted, and then the process repeats cyclically. For example, if there are four signals to be transmitted, the TDM cycle will divide time into four slots, each assigned to one signal.
2. **Synchronization**: Synchronization is crucial in TDM systems to ensure that the signals are correctly aligned with their respective time slots. Both the transmitter and receiver must be synchronized to avoid any overlap or loss of data. This synchronization is typically maintained by a clock signal that ensures time slots are accurately aligned.
3. **Frame Structure**: TDM data is organized into frames, where each frame consists of a set of time slots. Each frame is repeated at regular intervals, ensuring continuous transmission of data streams. The frame structure helps in managing the data streams and maintaining the synchronization between the transmitter and receiver.
4. **Multiplexer and Demultiplexer**: At the transmitting end, a multiplexer combines multiple input signals into a single composite signal by assigning each signal to a specific time slot. At the receiving end, a demultiplexer separates the composite signal back into individual signals based on their respective time slots.
### Types of TDM
1. **Synchronous TDM**: In synchronous TDM, time slots are pre-assigned to each signal, regardless of whether the signal has data to transmit or not. This can lead to inefficiencies if some time slots remain empty due to the absence of data.
2. **Asynchronous TDM (or Statistical TDM)**: Asynchronous TDM addresses the inefficiencies of synchronous TDM by allocating time slots dynamically based on the presence of data. Time slots are assigned only when there is data to transmit, which optimizes the use of the communication channel.
### Applications of TDM
- **Telecommunications**: TDM is extensively used in telecommunication systems, such as in T1 and E1 lines, where multiple telephone calls are transmitted over a single line by assigning each call to a specific time slot.
- **Digital Audio and Video Broadcasting**: TDM is used in broadcasting systems to transmit multiple audio or video streams over a single channel, ensuring efficient use of bandwidth.
- **Computer Networks**: TDM is used in network protocols and systems to manage the transmission of data from multiple sources over a single network medium.
### Advantages of TDM
- **Efficient Use of Bandwidth**: TDM all
Introduction- e - waste – definition - sources of e-waste– hazardous substances in e-waste - effects of e-waste on environment and human health- need for e-waste management– e-waste handling rules - waste minimization techniques for managing e-waste – recycling of e-waste - disposal treatment methods of e- waste – mechanism of extraction of precious metal from leaching solution-global Scenario of E-waste – E-waste in India- case studies.
Electric vehicle and photovoltaic advanced roles in enhancing the financial p...IJECEIAES
Climate change's impact on the planet forced the United Nations and governments to promote green energies and electric transportation. The deployments of photovoltaic (PV) and electric vehicle (EV) systems gained stronger momentum due to their numerous advantages over fossil fuel types. The advantages go beyond sustainability to reach financial support and stability. The work in this paper introduces the hybrid system between PV and EV to support industrial and commercial plants. This paper covers the theoretical framework of the proposed hybrid system including the required equation to complete the cost analysis when PV and EV are present. In addition, the proposed design diagram which sets the priorities and requirements of the system is presented. The proposed approach allows setup to advance their power stability, especially during power outages. The presented information supports researchers and plant owners to complete the necessary analysis while promoting the deployment of clean energy. The result of a case study that represents a dairy milk farmer supports the theoretical works and highlights its advanced benefits to existing plants. The short return on investment of the proposed approach supports the paper's novelty approach for the sustainable electrical system. In addition, the proposed system allows for an isolated power setup without the need for a transmission line which enhances the safety of the electrical network
DEEP LEARNING FOR SMART GRID INTRUSION DETECTION: A HYBRID CNN-LSTM-BASED MODELgerogepatton
As digital technology becomes more deeply embedded in power systems, protecting the communication
networks of Smart Grids (SG) has emerged as a critical concern. Distributed Network Protocol 3 (DNP3)
represents a multi-tiered application layer protocol extensively utilized in Supervisory Control and Data
Acquisition (SCADA)-based smart grids to facilitate real-time data gathering and control functionalities.
Robust Intrusion Detection Systems (IDS) are necessary for early threat detection and mitigation because
of the interconnection of these networks, which makes them vulnerable to a variety of cyberattacks. To
solve this issue, this paper develops a hybrid Deep Learning (DL) model specifically designed for intrusion
detection in smart grids. The proposed approach is a combination of the Convolutional Neural Network
(CNN) and the Long-Short-Term Memory algorithms (LSTM). We employed a recent intrusion detection
dataset (DNP3), which focuses on unauthorized commands and Denial of Service (DoS) cyberattacks, to
train and test our model. The results of our experiments show that our CNN-LSTM method is much better
at finding smart grid intrusions than other deep learning algorithms used for classification. In addition,
our proposed approach improves accuracy, precision, recall, and F1 score, achieving a high detection
accuracy rate of 99.50%.
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variations occurring in a control system [9]. This two types of controllers have been used together
with POSGSA, in order to get the best result of controlling the position of the EHA. Comparative
assessment of both control schemes to the system performance is presented and discussed.
2. Research Method
The actuator dynamic equation of electro-hydraulic actuator servo system is expressed
as in [10]:
𝑚𝑥̈ 𝑝 = 𝑆𝑃𝐿 − 𝑓𝑥̇ 𝑝 − 𝑘𝑥 𝑝 − 𝐹𝐿 (1)
where, m is load at the rod of the system, 𝑥 𝑝 is the displacement of the piston, S is
the piston area, 𝑃𝐿 is the difference in pressure between the chambers, 𝑓 is the coefficient of thick
contact, is the coefficient of aerodynamic elastic force, 𝐹𝐿 is the external disturbance injected into
the system’s actuator. Servo valve is used in the system with the assumption of having a high
response, the controller connected to the arrangement of the spool valve will be corresponding to
the spool position and it is given by the following equation:
𝑥 𝑣 = 𝑘 𝑣 𝑢 (2)
here the opening valve is expressed by 𝑥 𝑣, the coefficient of the servo valve is expressed by 𝑘 𝑣,
and the input voltage by our system is having a double acting cylinder by assuming it is a
symmetrical piston area and volume for each port are similar. Thus, the dynamic of cylinder oil
flow is given by the following equation:
𝑄 𝐿 = 𝑃̇ 𝐿 +
2𝛽𝑠
𝑣
𝑥̇ 𝑝 (3)
where, 𝑄 𝐿 is the difference between supplied flow rate to the chambers, 𝛽 is the effective bulk
modulus of the fluid and 𝑣 is the volume of the chamber. Thus, the difference of the flow rate 𝑄 𝐿
to the chambers is given as the following:
𝑄 𝐿 =
2𝛽
𝑣
[𝑐 𝑑 𝑤√
𝑃 𝑎−𝑃 𝐿
𝜌
𝑥 𝑣 − 𝑘𝑙 𝑃𝐿] (4)
The coefficient of the volumetric stream of the valve port is expressed by 𝑐 𝑑, the supply
pressure expressed by 𝑃𝑎 , the oil density is expressed by 𝜌 and the coefficient of internal leakage
between the cylinder chambers by 𝑘𝑙. Let,𝑥1 = 𝑥 𝑝, 𝑥2 = 𝑥̇ 𝑝 and 𝑥3 = 𝑃𝐿
𝑥̇1 = 𝑥̇ 𝑝 = 𝑥2 (5)
𝑥̇2 = 𝑥̈ 𝑝 (6)
referring to (1),
𝑥̈ 𝑝 =
𝑆
𝑚
𝑃𝐿 −
𝑓
𝑚
𝑥̇ 𝑝 −
𝑘
𝑚
𝑥 𝑝 −
𝐹 𝐿
𝑚
(7)
thus,
𝑥2 =
𝑆
𝑚
𝑃𝐿 −
𝑓
𝑚
𝑥̇ 𝑝 −
𝑘
𝑚
𝑥 𝑝 −
𝐹 𝐿
𝑚
(8)
𝑥̇3 = 𝑃̇ 𝐿 (9)
from (3),
𝑃𝐿 = 𝑄 𝐿 −
2𝛽𝑠
𝑣
𝑥̇ 𝑝 (10)
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Optimization of PID for industrial electro-hydraulic... (Mohammed Maged Abdullah ALQadasi)
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substituting (4) into (10)
𝑃𝐿 =
2𝛽𝑠
𝑣
𝑐 𝑑 𝑤√
𝑃 𝑎−𝑃 𝐿
𝜌
𝑥 𝑣 −
2𝛽𝑠
𝑣
𝑘𝑙 𝑃𝐿 −
2𝛽
𝑣
𝑥̇ 𝑝 (11)
from the previous equations we can get that the differential equations governing
the dynamics of electro-hydraulic actuator servo system with external disturbance injected to its
actuator is given as the following:
𝑥̇1 = 𝑥2 (12)
𝑥̇2 = −
𝑘
𝑚
𝑥1 −
𝑓
𝑚
𝑥2 +
𝑆
𝑚
𝑥3 −
𝐹 𝐿
𝑚
(13)
𝑥̇3 = −
𝑠
𝑘 𝑐
𝑥2 −
𝑘 𝑙
𝑘 𝑐
𝑥2 +
𝑐
𝑘 𝑐
√
𝑃 𝑎−𝑃 𝐿
𝜌
𝑘 𝑣 (14)
𝐹𝑜 is the external disturbance given to the system and it can be constant or a time varying signal.
Table 1 shows the parameters of electro hydraulic actuator system.
Table 1. EHA system parameters [11]
Symbol Description Value
𝑚 Load at the EHA rod 0.33 N𝑠2
/𝑐𝑚
𝑠 Piston Area 10 𝑐𝑚2
𝑓 Coefficient of vicious friction 27.5 Ns/cm
𝑘 Coefficient of aerodynamic
elastic force
1000 N/cm
𝑤 Valve port width 0.05 cm
𝑃𝑎 Supply pressure 2100 𝑁/𝑐𝑚2
𝑐 𝑑 Coefficient of volumetric flow
of the valve port
0.63
𝜌 Oil density 8.87× 10−7
𝑁𝑠2
/𝑐𝑚4
𝑘𝑙 Coefficient of internal
Leakage
2.38× 10−3
𝑐𝑚5
/𝑁𝑠
𝑘 𝑣 Coefficient of servo valve 0.017 cm/N
𝑘 𝑐 Coefficient involving bulk
modulus and EHA volume
2.5× 10−4
𝑐𝑚5
/𝑁
𝐹𝑜 External disturbance 3500 N
2.1. Controller Design and Simulation
In this section, three controller schemes PID, PID-PSOGSA and MRAC are proposed and
described. The following controllers designed requirements have been made to examine
the performance of the controller strategies for the displacement of the pistonpiston 𝑥1, when
there is an external disturbance injected to the system. 𝐹𝑜 is an external disturbance that will be
injected to the system’s actuator as perturbations to the EHA system. The signal of 𝐹𝑜 is used to
examine the response of the controllers. Constant value of signal 𝐹𝑜=3500 N is added as a
perturbation to the system actuator.
2.1.1. PID Controller
The popularity of PID controller can be attributed partly to their robust performance in a
wide range of operating conditions and partly to their functional simplicity [12], which allows
engineers to operate them in a simple, straightforward manner. PID algorithm consists of three
basic coefficients, 𝐾𝑃 proportional, 𝐾𝑖 integral and 𝐾𝑑 derivative which are varied to get optimal
response. In order to get better performance of the PID controller in any system the three
parameters of the controller 𝐾𝑃 ,𝐾𝑖 and 𝐾𝑑 must be tuned. This classical method for determining
the parameters of the PID controller was presented by Ziegler and Nichols in 1942, and it is still
widely used until today [13]. Figure 1 shows the simulation model of the EHA system with
PID controller.
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Figure 1. The simulation model of the EHA with PID controller
2.1.2. MRAC Controller
MRAC is one type of the adaptive controllers. It is been initially proposed to take care of
an issue, where the details are given in terms of a reference model that characterize the wanted
behaviour of the closed-loop system. This is a necessary approach for adaptive control. Figure 2
shows the simulation model of the EHA system with MRAC.
Figure 2. The simulation model of the EHA with MRAC
2.2. PSOGSA Algorithm
The main goal of PSOGSA algorithm is to locate the best outcome among all
the conceivable arrangements in the result (optimal solution) [14]. PSOGSA algorithm is a
combination of two algorithms which are Particle Swarm Optimization (PSO) and Gravitational
Search Algorithm (GSA). The main idea is to integrate the ability of exploitation in PSO with
the ability of exploration in GSA to synthesize both algorithms strength [15].
2.2.1. PSO Algorithm
It has proposed by Kennedy and Eberhart 1995, as an evolutionary computation
technique [16]. It is based on a randomly initialized population and searches for optimal
iteration-to-iteration updating. In the literatures there are some studies done the optimization for
PID controller using PSO algorithm [17, 18]. In order to solve many problems in various systems
one of those problems is nonlinearity issues of the EHA system such as the internal leakage, fluid
flow expression through the servo valve and the friction. Most of the researchers and engineers
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Optimization of PID for industrial electro-hydraulic... (Mohammed Maged Abdullah ALQadasi)
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prefer to use PID controllers in control applications because it could develop many features in
the execution of the system, for example, rise time, settling time, overshoot, and the unfaltering
state mistake, which makes the system more effective. Figure 3, shows the general process
flowchart of the PSO technique [19].
Start
Initializing particles with a random position
and velocity
Evaluate each particles
Compare and update local best position
Compare and update global best position
Update velocity and position
Stopping Criteria
Meet?
End
Yes
No
Step 2
Step 3
Step 1
Step 4
Figure 3. Flowchart of the PSO technique
The arrangement of the procedure is expressed as follows. To begin with, the generation
of beginning conditions for looking point, the state of each particle and the speeds 𝑉𝑖 produced
randomly inside the predetermined range, now Pbest will be considered for the best searching
point in the particles.While the best-assessed parameter of Pbest will be set to Gbest and the put
away parameter will be the molecule number with the best parameter as in Step 1.
2.2.2. GSA Algorithm
It is based on Newton's Law of Gravity and mass interaction [20]. In this algorithm,
the searcher agents survey the masses that interact with each other using the law of gravity and
law of motion. Moreover, the gravitational constant decreased with time to arrange the accuracy
of the search, which defined as the most significant feature of the GSA [21]. Figure 4, shows
the general process flowchart of the GSA technique.
The arrangement of the procedure expressed as follows; the places of the N number of
operators introduced arbitrarily. For minimization or boost issues, the wellness advancement
performed by assessing the best and most exceedingly bad wellness for all specialists at every
emphasis [22]. Gravitational constant G is computed at iteration t. Gravitational and idleness
masses for every specialist are computed at emphasis t. Acceleration of the 𝑖 𝑡ℎ
operators at cycle
t is determined, position and the velocity of the agents at the next cycle (t+1) are determined,
stages 2 to 6 are repeated until the cycles reaches them maximum limit and wellness value at
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the last iteration is figured as the worldwide wellness while the position of the comparing operator
at determined measurements is figured as the worldwide arrangement of that specific issue.
Figure 4. Flowchart of the GSA technique
2.2.3. PSOGSA Algorithm
Figure 5, shows the general process flowchart of the GSA technique and the arrangement
of the procedure expressed as the follows, all agents haphazardly introduced. Each agent
considered as an applicant arrangement after initialization, Gravitational power, gravitational
steady, and resultant powers among specialists are determined, from that point forward,
the increasing speeds of particles are characterized [23]. In every cycle and the best solution so
far will be updated, then the velocities of all agents will be determined with the position as well
finally the process of updating velocities and positions will be stopped by meeting an end
criterion [24, 25]. The parameters used in the PSOGSA are as follows:
− Number of particles: 25,
− Dimension of the problem: 3,
− Number of maximum iterations: 50,
Figure 6 illustrates the block diagram of the PID controller with PSOGSA algorithm.
Figure 5. Flowchart of the PSOGSA technique Figure 6. PID controller tuning based on
PSOGSA algorithm for EHA system
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3. Results and Analysis
PID controller has been applied to the Electro-hydraulic actuator system, where it was
tuned using the Ziegler-Nichols method. An external disturbance was applied to the system too
(𝐹𝑜= 3500 N), to examine the robustness of the controller in piston 𝑥1 positioning, the output
response of the system is shown in Figure 7.
Figure 7. Conventional PID response when 𝐹𝑜 = 3500N
In Figure 7, the system is not showing an efficient response where it has shown that in
the beginning there was an oscillation. Moreover, when the system is changing from one point to
another one the response does not follow the reference trajectory perfectly, it is showing some
instability in the system. To see how PSOGSA is efficient some remarks were noted as follow. In
PSOGSA, the quality of solutions (fitness) is considered in the updating procedure. The iterations
near to good solutions try to attract the other iteration, which is exploring the search space. When
all iterations are near to a good solution, they move very slowly. In this case, the GBest help them
to exploit the global best. PSOGSA use a memory (GBest) to save the best solution has found so
far, so it is accessible. This paper aimed to optimize the system with different values of iteration
(T) and particles (N) to see clearly to performance of the system and the changes that will happen
to the system response when an external disturbance is applied to the system, where the external
disturbance value that been used here is 𝐹𝑜 = 3500 N, the responses of the system are showing
in Figures 8, 9 and 10. The optimization for the system started with a small number of particles
and iterations, where the system response has shown a good improvement compared to
the conventional PID response. However, it is still not an efficient response where it is still has
some over and under shoots. Moreover, it produces errors when the position of
the system changed.
As shown in Figure 9, the system response has improved more than the previous one
where the overshoot minimized to zero and the settling time becomes faster that means when
the number of particles and iterations increased the system response becomes more stable and
accurate. When the number of iteration and particles increase the optimization algorithm will have
a bigger search space to find the best solution so far for the system (Global optimum), but also it
has some noise appears when the system response changes from one position to another one.
In Figure 10, the response of the system in the last experiment has shown the system
becomes more accurate and the performance has improved by minimizing the overshoot, settling
time, and rise time. Moreover, it has a better tracking performance in following the reference
trajectory. In this paper, two controllers have been used which are PID and adaptive MRAC.
The PID controller was applied to the electrohydraulic actuator (EHA) system two times first as
Conventional PID tuned by Ziegler-Nichols method and the second time using PSOGSA
Algorithm. Where an adaptive controller MRAC has been used with the EHA system for
comparison with the PID controller, the responses of the controllers and the comparison is shown
in Figure 11.
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Figure 11 shows that all the controllers ha ve the capability to control the piston position
of the EHA system but with different level of noise, osculation and instability, overall it shows that
the best performance was done by the PID-PSOGSA where it shows a better response than other
controllers with a less overshoot, undershoot, rise time and settling time also with a fast response
for the system when it is changed from one position to another one.
Figure 8. The response of the system with PID-PSOGSA
when the Particles=5 and iterations=10
Figure 9. The response of the system with PID-PSOGSA
when the Particles=30 and iterations=15
9. TELKOMNIKA ISSN: 1693-6930 ◼
Optimization of PID for industrial electro-hydraulic... (Mohammed Maged Abdullah ALQadasi)
2633
Figure 10. The response of the system with PID-PSOGSA
when the Particles=25 and iterations=50
Figure 11. Response of the system with CPID, PID-PSOGSA and MRAC when 𝐹𝑜 = 3500 N
The optimization procedure started with 5 particles 10 iterations, then increased to
15 particles 30 iterations and lastly 25 particles and 50 iterations. The reason for increasing
the number of particles and iterations is to get the optimal solution for the system. Moreover
the idea of the particles and iterations is that for each 5 particles, 10 iterations are going to move
around it in the search space then it will take the best solution so far among them and continue
the same process until it gets the global best fitness of the system overall as it is shown in
the following SSE Table 2. In the SSE table, the values of the Global best fitness are shown in
each optimization loop as it is illustrated.
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Table 2. SSE Particles
5 10 15 20 25
10 1.6974 1.8437 1.1818 9.5420 1.5201
20 2.2395 1.2720 1.3165 4.3583 4.1127
30 1.6654 1.3324 3.4051 6.1781 2.3875
40 1.5356 5.4396 8.8156 2.7457 1.6182
50 2.3414 7.7045 5.9921 2.4633 1.6477
4. Conclusion
In this paper, three controllers such as PID, PID-PSOGSA and MRAC are successfully
designed. Based on the results and the analysis, a conclusion has been made that comparison
of CPID, PID-PSOGSA and MRAC controllers in term of the best performance by responding to
the changes of the system positions with external disturbance controllers have shown the ability
of controlling the nonlinear electro-hydraulic actuator displacement of the piston and fulfilled all
the design requirements. The responses of each controller were plotted in one window. Simulation
results in Figure 10 and Figure 11 shows that PID-PSOGSA controller has better performance
compared to the PID and MRAC controllers. The PSOGSA algorithm has made a significant
improvement in the system. Further improvement needs to be done for the modern controller
MRAC by optimizing it using PSOGSA algorithm in order to improve the response of
the EHA systems.
Acknowledgements
The authors would like to acknowledge Universiti Teknologi Malaysia (UTM), Universiti
Malaysia Perlis (UniMaP) and Ministry of Higher Education (MOHE) of Malaysia under FRGS
Grant No. 4F817. Their support is gratefully acknowledged
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