The need for effective design of satellite attitude control (SAC) subsystem for a microsatellite is imperative in order to guarantee both the quality and reliability of the data acquisition. A proportional-integral-derivative (PID) controller was proposed in this study because of its numerous advantages. The performance of PID controller can be greatly improved by adopting an integral time absolute error (ITAE) robust controller design approach. Since the system to be controlled is of the 4th order, it was approximated by its 2nd order version and then used for the controller design. Both the reduced and higher-order pre-filter transfer functions were designed and tested, in order to improve the system performance. As revealed by the results, three out of the four designed systems satisfy the design specifications; and the PD-controlled system without pre-filter transfer function was recommended out of the three systems due to its structural simplicity, which eventually enhances its digital implementation.
Antenna Azimuth Position Control System using PIDController & State-Feedback ...IJECEIAES
This paper analyzed two controllers with the view to improve the overall control of an antenna azimuth position. Frequency ranges were utilized for the PID controller in the system; while Ziegler-Nichols was used to tune the PID parameter gains. A state feedback controller was formulated from the state-space equation and pole-placements were adopted to ensure the model design complied with the specifications to meet transient response. MATLAB Simulink platform was used for the system simulation. The system response for both the two controllers were analyzed and compared to ascertain the best controller with best azimuth positioning for the antenna. It was observed that state-feedback controller provided the best azimuth positioning control with a little settling time, some value of overshoot and no steady-state error is detected.
The objective of the paper is to investigate the possibility of using a 2DOF controller in disturbance rejection associated with delayed double integrating processes. The effect of time delay of the process in a range between 0.1 and 0.9 seconds is considered. The controller is tuned using MATLAB optimization toolbox with three forms of the objective function in terms of the error between the step time response of the closed-loop control system and the desired zero value. Using the proposed controller with the fractional delayed double integrating process indicates the robustness of the controller in the time delay range used. The 2DOF controller is able to complete with the PID plus first-order lag controller , but it can not compete with other types of controllers such as the I-PD and PD-PI controllers..
Keywords — Delayed double integrating process, 2DOF controller, controller tuning, MATLAB optimization toolbox, Control system performance.
This document presents a novel adaptive PID control scheme for flexible joint robot manipulators with known upper bounds on external disturbances. The control law combines PID feedback control with robust adaptive compensation of disturbances and unknown parameters. Lyapunov stability theory and Barbalat's lemma are used to prove global asymptotic stability of the closed-loop system. Simulation results on a two-degree-of-freedom flexible joint robot illustrate the effectiveness of the proposed controller in improving trajectory tracking accuracy and dynamic performance compared to existing adaptive PD control methods.
Simulation DC Motor Speed Control System by using PID Controllerijtsrd
Speed control system is the most common control algorithm used in industry and has been universally accepted in industrial control. One of the applications used here is to control the speed of the DC motor. Controlling the speed of a DC motor is very important as any small change can lead to instability of the closed loop system. The aim of this thesis is to show how DC motor can be controlled by using PID controller in MATLAB. The development of the PID controller with the mathematical model of DC motor is done using automatic tuning method. The PID parameter is to be test with an actual motor also with the PID controller in MATLAB Simulink. In this paper describe the results to demonstrate the effectiveness and the proposed of this PID controller produce significant improvement control performance and advantages of the control system DC motor. Mrs Khin Ei Ei Khine | Mrs Win Mote Mote Htwe | Mrs Yin Yin Mon ""Simulation DC Motor Speed Control System by using PID Controller"" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-3 | Issue-4 , June 2019, URL: https://www.ijtsrd.com/papers/ijtsrd25114.pdf
Paper URL: https://www.ijtsrd.com/engineering/electrical-engineering/25114/simulation-dc-motor-speed-control-system-by-using-pid-controller/mrs-khin-ei-ei-khine
PID Controller Design for a Real Time Ball and Beam System – A Double Integra...idescitation
In this paper, the authors have discussed and shown
how to tune the PID controller in closed loop with time-delay
for the double integrator systems for a particular stability
margins. In math model it is assumed that time delay (ô) of
the plant is known. As a case study the authors have consid-
ered the mathematical model of the real-time beam and ball
system and analyzed the simulation and real time response.
Enhanced self-regulation nonlinear PID for industrial pneumatic actuatorIJECEIAES
The present article describes the improvement of Self-regulation Nonlinear PID (SN-PID) controller. A new function is introduced to improve the system performance in terms of transient without affecting the steady state performance. It is used to optimize the nonlinear function available on this controller. The signal error is reprocessed through this function, and the result is used to tune the nonlinear function of the controller. Furthermore, the presence of the dead zone on the proportional valve is solved using Dead Zone Compensator (DZC). Simulations and experiments were carried out on the pneumatic positioning system. Comparisons between the existing methods were examined and successfully demonstrated.
Analysis & Control of Inverted Pendulum System Using PID ControllerIJERA Editor
This document describes the design of a two-loop PID controller for an inverted pendulum system using pole placement technique. An LQR design is first used to obtain the dominant closed-loop poles. A two-loop PID controller is then designed by placing the closed-loop poles at the same locations as the LQR design. Simulation results show the PID controller achieves better response than the LQR design by reducing oscillations, while maintaining similar robustness. The PID controller performance is verified through simulations and experiments on the inverted pendulum system.
This document summarizes a paper presented at the International Conference on Mechatronics in Kumamoto, Japan in May 2007. The paper presents analysis and implementation of exact model knowledge and direct adaptive control schemes for a 4th order ball and beam system. Two controllers are designed - one using the exact model and one using direct adaptive control. Experimental results show that both controllers can track constant and sinusoidal references for the ball position asymptotically on a physical ball and beam system.
Antenna Azimuth Position Control System using PIDController & State-Feedback ...IJECEIAES
This paper analyzed two controllers with the view to improve the overall control of an antenna azimuth position. Frequency ranges were utilized for the PID controller in the system; while Ziegler-Nichols was used to tune the PID parameter gains. A state feedback controller was formulated from the state-space equation and pole-placements were adopted to ensure the model design complied with the specifications to meet transient response. MATLAB Simulink platform was used for the system simulation. The system response for both the two controllers were analyzed and compared to ascertain the best controller with best azimuth positioning for the antenna. It was observed that state-feedback controller provided the best azimuth positioning control with a little settling time, some value of overshoot and no steady-state error is detected.
The objective of the paper is to investigate the possibility of using a 2DOF controller in disturbance rejection associated with delayed double integrating processes. The effect of time delay of the process in a range between 0.1 and 0.9 seconds is considered. The controller is tuned using MATLAB optimization toolbox with three forms of the objective function in terms of the error between the step time response of the closed-loop control system and the desired zero value. Using the proposed controller with the fractional delayed double integrating process indicates the robustness of the controller in the time delay range used. The 2DOF controller is able to complete with the PID plus first-order lag controller , but it can not compete with other types of controllers such as the I-PD and PD-PI controllers..
Keywords — Delayed double integrating process, 2DOF controller, controller tuning, MATLAB optimization toolbox, Control system performance.
This document presents a novel adaptive PID control scheme for flexible joint robot manipulators with known upper bounds on external disturbances. The control law combines PID feedback control with robust adaptive compensation of disturbances and unknown parameters. Lyapunov stability theory and Barbalat's lemma are used to prove global asymptotic stability of the closed-loop system. Simulation results on a two-degree-of-freedom flexible joint robot illustrate the effectiveness of the proposed controller in improving trajectory tracking accuracy and dynamic performance compared to existing adaptive PD control methods.
Simulation DC Motor Speed Control System by using PID Controllerijtsrd
Speed control system is the most common control algorithm used in industry and has been universally accepted in industrial control. One of the applications used here is to control the speed of the DC motor. Controlling the speed of a DC motor is very important as any small change can lead to instability of the closed loop system. The aim of this thesis is to show how DC motor can be controlled by using PID controller in MATLAB. The development of the PID controller with the mathematical model of DC motor is done using automatic tuning method. The PID parameter is to be test with an actual motor also with the PID controller in MATLAB Simulink. In this paper describe the results to demonstrate the effectiveness and the proposed of this PID controller produce significant improvement control performance and advantages of the control system DC motor. Mrs Khin Ei Ei Khine | Mrs Win Mote Mote Htwe | Mrs Yin Yin Mon ""Simulation DC Motor Speed Control System by using PID Controller"" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-3 | Issue-4 , June 2019, URL: https://www.ijtsrd.com/papers/ijtsrd25114.pdf
Paper URL: https://www.ijtsrd.com/engineering/electrical-engineering/25114/simulation-dc-motor-speed-control-system-by-using-pid-controller/mrs-khin-ei-ei-khine
PID Controller Design for a Real Time Ball and Beam System – A Double Integra...idescitation
In this paper, the authors have discussed and shown
how to tune the PID controller in closed loop with time-delay
for the double integrator systems for a particular stability
margins. In math model it is assumed that time delay (ô) of
the plant is known. As a case study the authors have consid-
ered the mathematical model of the real-time beam and ball
system and analyzed the simulation and real time response.
Enhanced self-regulation nonlinear PID for industrial pneumatic actuatorIJECEIAES
The present article describes the improvement of Self-regulation Nonlinear PID (SN-PID) controller. A new function is introduced to improve the system performance in terms of transient without affecting the steady state performance. It is used to optimize the nonlinear function available on this controller. The signal error is reprocessed through this function, and the result is used to tune the nonlinear function of the controller. Furthermore, the presence of the dead zone on the proportional valve is solved using Dead Zone Compensator (DZC). Simulations and experiments were carried out on the pneumatic positioning system. Comparisons between the existing methods were examined and successfully demonstrated.
Analysis & Control of Inverted Pendulum System Using PID ControllerIJERA Editor
This document describes the design of a two-loop PID controller for an inverted pendulum system using pole placement technique. An LQR design is first used to obtain the dominant closed-loop poles. A two-loop PID controller is then designed by placing the closed-loop poles at the same locations as the LQR design. Simulation results show the PID controller achieves better response than the LQR design by reducing oscillations, while maintaining similar robustness. The PID controller performance is verified through simulations and experiments on the inverted pendulum system.
This document summarizes a paper presented at the International Conference on Mechatronics in Kumamoto, Japan in May 2007. The paper presents analysis and implementation of exact model knowledge and direct adaptive control schemes for a 4th order ball and beam system. Two controllers are designed - one using the exact model and one using direct adaptive control. Experimental results show that both controllers can track constant and sinusoidal references for the ball position asymptotically on a physical ball and beam system.
Speed control of dc motor using relay feedback tuned piAlexander Decker
This document discusses speed control of a DC motor using different controller types, including a relay feedback tuned PI controller, fuzzy PI controller (FPIC), and self-tuned fuzzy PI controller (STFPIC). The FPIC and STFPIC are developed using fuzzy logic to overcome limitations of conventional PID controllers for nonlinear systems without an accurate mathematical model. An experimental setup is used to test the controllers' performance on a DC motor. Results show the model-independent STFPIC and FPIC controllers improve speed control performance compared to the relay-tuned PI controller.
Disturbance Rejection with a Highly Oscillating Second-Order Process, Part I...Scientific Review SR
This research paper aims at investigating disturbance rejection associated with a highly oscillating
second-order process. The PD-PI controller having three parameters are tuned to provide efficient rejection of a
step input disturbance input. Controller tuning based on using MATLAB control and optimization toolboxes.
Using the suggested tuning technique, it is possible to reduce the maximum time response of the closed loop
control system to as low as 0.0095 and obtain time response to the disturbance input having zero settling time.
The effect of the proportional gain of the PD-PI controller on the control system dynamics is investigated for a
gain ≤ 100. The performance of the control system during disturbance rejection using the PD -PI controller is
compared with that using a second-order compensator. The PD-PI controller is superior in dealing with the
disturbance rejection associated with the highly oscillating second-order process
Due to extensive use of motion control system in industry, there has been growing research on proportional-integral-derivative (PID) controllers. DC motors are widely used various areas of industrial applications. The aim of this paper is to implement efficient method for controlling speed of DC motor using a PID controller based. Proposed system is implemented using arduino microcontroller and PID controller. Motor speed is controlled through PID based revolutions per minute of the motor. This encoder data will be send through microcontroller to Personal Computer with PID controller implemented in MATLAB. Results shows that PID controllers used provide efficient controlling of DC motor.
Optimal and pid controller for controlling camera’s position in unmanned aeri...Zac Darcy
This paper describes two controllers designed specifically for adjusting camera’s position in a small unmanned aerial vehicle (UAV). The optimal controller was designed and first simulated by using MATLAB technique and the results displayed graphically, also PID controller was designedand simulatedby using MATLAB technique .The goal of this paper is to connect the tow controllers in cascade mode to obtain the desired performance and correction in camera’s position in both roll and pitch.
IRJET- Analysis of 3-Phase Induction Motor with High Step-Up PWM DC-DC Conver...IRJET Journal
This document discusses control methods for STATCOMs using fuzzy logic controllers and genetic algorithm-tuned PID controllers. STATCOMs are shunt FACTS devices that help solve power quality issues through fast reactive power control. Conventionally, PID controllers are used but require trial and error to tune parameters. The document proposes using fuzzy logic controllers and genetic algorithms to optimize PID parameters to improve STATCOM current control response. It describes STATCOM modeling, fuzzy logic controller design including fuzzification, inference, and defuzzification. Genetic algorithms are used to find optimal PID parameters. Simulation results in MATLAB show the proposed methods improve current control response over conventional PID control.
Optimal backstepping control of quadrotor UAV using gravitational search opti...journalBEEI
Quadrotor unmanned aerial vehicle (UAV) has superior characteristics such as ability to take off and land vertically, to hover in a stable air condition and to perform fast maneuvers. However, developing a high-performance quadrotor UAV controller is a difficult problem as quadrotor is an unstable and underactuated nonlinear system. The effort in this article focuses on designing and optimizing an autonomous quadrotor UAV controller. First, the aerial vehicle's dynamic model is presented. Then it is suggested an optimal backstepping controller (OBC). Traditionally, backstepping controller (BC) parameters are often selected arbitrarily. The gravitational search algorithm (GSA) is used here to determine the BC parameter optimum values. In the algorithm, the control parameters are calculated using an integral absolute error to minimize the fitness function. As the control law is based on the theorem of Lyapunov, the asymptotic stability of the scheme can be ensured. Finally, several simulation studies are conducted to show the efficacy of the suggested OBC.
Performance Based Comparison Between Various Z-N Tuninng PID And Fuzzy Logic ...ijsc
The objective of this paper is to compare the time specification performance between conventional
controller and Fuzzy Logic controller in position control system of a DC motor. The scope of this research
is to apply direct control technique in position control system. Two types of controller namely PID and
fuzzy logic PID controller will be used to control the output response. This paper was written to reflect on
the work done on the implementation of a fuzzy logic PID controller. The fuzzy controller was used to
control the position of a motor which can be considered for a general basis in any project design
containing logic control. Motor parameters were taken from a datasheet with respect to a real motor and a
simulated model was developed using Matlab Simulink Toolbox. The fuzzy control was also designed using
the Fuzzy Control Toolbox provided within Matlab, with each rule consisting of fuzzy sets conditioned to
provide appropriate response times with regards to the limitations of our chosen motor. The Fuzzy
Inference Engine chosen for our control was the Mamdani Minimum Inference engine. The results of the
control provided response times suitable for our application.
This document summarizes research on tuning an I-PD controller to control a highly oscillating second-order industrial process. The process has an 85.45% maximum overshoot and 8 second settling time. An I-PD controller is tuned using MATLAB optimization to minimize the integral of the squared error. The tuned controller completely cancels the overshoot and decreases the settling time to 1.46 seconds without undershoot, demonstrating improved performance over standard tuning techniques for controlling highly oscillating processes.
Configuration of pid controller for speed control of dc motor utilizing optim...Santosh Suman
This document discusses using optimization techniques and intelligent strategies to tune PID controllers for speed control of DC motors. It first provides background on DC motors and PID controllers. It then discusses using genetic algorithms, particle swarm optimization, differential evolution and fuzzy logic to tune the PID parameters for better performance in terms of settling time, overshoot, rise time and transient response. Tuning PID parameters is challenging but these optimization techniques and intelligent strategies can help overcome issues with conventional PID controllers for DC motor speed control applications.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Mathematical Modeling and Fuzzy Adaptive PID Control of Erection MechanismTELKOMNIKA JOURNAL
This paper describes an application of fuzzy adaptive PID controller to erection mechanism.
Mathematical model of erection mechanism was derived. Erection mechanism is driven by electrohydraulic
actuator system which is difficult to control due to its nonlinearity and complexity. Therefore fuzzy
adaptive PID controller was applied to control the system. Simulation was performed in Simulink software
and experiment was accomplished on laboratory equipment. Simulation and experiment results of erection
angle controlled by fuzzy logic, PID and fuzzy adaptive PID controllers were respectively obtained. The
results show that fuzzy adaptive PID controller can effectively achieve the best performance for erection
mechanism in comparison with fuzzy logic and PID controllers.
OPTIMAL PID CONTROLLER DESIGN FOR SPEED CONTROL OF A SEPARATELY EXCITED DC MO...ijscmcjournal
This paper presents a new approach to determine the optimal proportional-integral-derivative controller
parameters for the speed control of a separately excited DC motor using firefly optimization technique.
Firefly algorithm is one of the recent evolutionary methods which are inspired by the Firefly’s behavior in
nature. The firefly optimization technique is successfully implemented using MATLAB software. A
comparison is drawn from the results obtained between the linear quadratic regulator and firefly
optimization techniques. Simulation results are presented to illustrate the performance and validity of the
design method.
This document proposes a new one-step method for tuning PI/PID controllers based on closed-loop experiments. It derives simple correlations between data from a proportional-only closed-loop step response experiment and PI/PID settings that provide good performance and robustness. Specifically:
1) A proportional-only controller is used to generate a step response with 10-60% overshoot. The gain, overshoot, peak time, and steady-state change are recorded.
2) Simulations show the proposed controller gain is proportional to the proportional gain used in the experiment, with the ratio dependent only on overshoot. Simple equations are derived relating overshoot and peak time to the PI/PID settings.
3
Analysis and Design of Conventional Controller for Speed Control of DC Motor ...IJERA Editor
The objective of this paper is to control the speed of the motor using conventional controller; compensator is used to improve the steady state error. To evaluate the performance of the controller, time response analysis is carried out. The time response analysis consists of two type of analysis. One is unit step response analysis and other is performance indices analysis. The paper describes the designing of a closed loop model of the dc motor drive for controlling speed. Accuracy and the dynamic responses are better in a closed loop system. The compensator is used to compensate the parameter of the system in such a way to meet the specification, so that it improves the steady state response of the system and get desired response.
This document summarizes a study comparing three control methods - PID, IMC, and IMC-PID - for controlling a first-order motor-tachometer system. The key findings are:
1) IMC performs better than PID when near system limitations, as PID can exhibit reset windup causing poor control. IMC avoids this issue.
2) Both IMC and IMC-PID effectively control the system under normal operation. However, IMC has less noise than IMC-PID.
3) When a large disturbance occurs, IMC returns to the setpoint faster than IMC-PID, which overshoots due to integral windup.
Speed Control of DC Motor using PID FUZZY Controller.Binod kafle
speed control of separately excited dc motor using fuzzy PID controller(FLC).In this research, speed of separately excited DC motor is controlled at 1500 RPM using two approaches i.e. PSO PID and fuzzy logic based PID controller. A mathematical model of system is needed for PSO PID while knowledge based rules obtained via experiment required for fuzzy PID controller . The conventional PID controller parameters are obtained using PSO optimization technique. The simulation is performed using the in-built toolbox from MATLAB and output response are analyzed. The tuning of fuzzy PID uses simple approach based on the rules proposed and membership function of the fuzzy variables. Design specification of fuzzy logic controller (FLC) requires fuzzification, rule list and defuzzification process. The FLC has two input and three output. Inputs are the speed error and rate of change in speed error. The corresponding outputs are Kp, Ki and Kd. There are 25 fuzzy based rule list. FLC uses mamdani system which employs fuzzy sets in consequent part. The obtained result is compared on the basis of rise time, peak time, settling time, overshoot and steady state error. PSO PID controller has fast response but slightly greater overshoot whereas fuzzy PID controller has sluggish response but low overshoot. The selection can be done on the basis of system properties and working environment conditions. PSO PID can be used where the response desired is fast like robotics where as fuzzy PID can be used where desired operation is smooth like industries.
IRJET- Control of Induction Motor using Neural NetworkIRJET Journal
This document describes research into using neural networks to control induction motors. It begins by introducing the topic and noting limitations of traditional PI controllers for induction motor control. It then provides details on the experimental setup, which uses an artificial neural network (ANN) to mimic a PI controller for speed control of an induction motor drive system. Simulation results are presented comparing the performance of the ANN controller to a traditional PI controller under different dynamic operating conditions. The document concludes that the ANN mapping controller provides superior performance to the PI controller.
Simulation and experimental study on PID control of a quadrotor MAV with pert...journalBEEI
This paper presents a proportional-integral-derivative (PID) flight controller for a quadrotor micro air vehicle (MAV). The MAV (Parrot Mambo minidrones) is small, therefore, a slight perturbation will affect its performance. Hence, for the actuated dynamics, roll (ϕ), pitch (θ), yaw (ψ), and z stabilization, a PID control scheme is proposed. Furthermore, the same controller technique is also applied for under-actuated dynamics x and y position control. The newtonian model is simulated using simulink with a normal Gaussian noise of force as external disturbances. using simulink support package for Parrot Minidrones by MATLAB and based on the simulation parameter, the algorithm is deployed using Bluetooth® Low energy connection via personal area network (PAN). A slight force by hand is applied as perturbation during hovering to investigation system performances. Finally, the simulation and experimental on this commercial MAV, Parrot Mambo minidrones shows good performance of the flight controller scheme in the presence of external disturbances.
This document presents a second order integral sliding mode control approach for speed control of a DC motor system. The DC motor system is modeled as a second order system with uncertainty and disturbances. Three controllers are designed and compared - a second order integral sliding mode controller, a conventional sliding mode controller, and a PID controller. Simulation results show that the proposed second order integral sliding mode controller has the fastest response time, no overshoot, smooth control input, and drives the sliding surface to zero, performing better than the other controllers in terms of robustness and disturbance rejection.
Real Time Implementation of Fuzzy Adaptive PI-sliding Mode Controller for Ind...IJECEIAES
In this work, a fuzzy adaptive PI-sliding mode control is proposed for Induction Motor speed control. First, an adaptive PI-sliding mode controller with a proportional plus integral equivalent control action is investigated, in which a simple adaptive algorithm is utilized for generalized soft-switching parameters. The proposed control design uses a fuzzy inference system to overcome the drawbacks of the sliding mode control in terms of high control gains and chattering to form a fuzzy sliding mode controller. The proposed controller has implemented for a 1.5kW three-Phase IM are completely carried out using a dSPACE DS1104 digital signal processor based real-time data acquisition control system, and MATLAB/Simulink environment. Digital experimental results show that the proposed controller can not only attenuate the chattering extent of the adaptive PI-sliding mode controller but can provide high-performance dynamic characteristics with regard to plant external load disturbance and reference variations.
Design and Implementation of Sliding Mode Controller using Coefficient Diagra...IOSR Journals
This document describes the design and implementation of a sliding mode controller using the coefficient diagram method for a nonlinear spherical tank process. It begins with background on sliding mode control and introduces a second order sliding mode control algorithm. It then describes using the coefficient diagram method to design a two degree of freedom adaptive sliding mode controller that satisfies time and frequency domain specifications. Simulation and real-time results are presented comparing the sliding mode controller to a PI controller, showing the sliding mode controller has better performance in terms of settling time, overshoot, and error criteria. In conclusion, the coefficient diagram method is shown to be an effective way to optimize sliding mode controller parameters for the nonlinear spherical tank process.
Evaluation of the stability enhancement of the conventional sliding mode cont...nooriasukmaningtyas
The proposed work is an attempt to investigate the stability of the nonlinear
system by using a whale optimization algorithm as of one of the metaheuristic optimization methods, and this investigation was conducted on a
single inverted pendulum as a study model. The evaluation measures which
were used in this article values of gain and sliding surface of the
conventional sliding mode controller to illustrate the extent of the system`s
stability. Furthermore, control action, the relationship between error and its
derivative, desired, and actual position in addition to sliding response
graphically showed the feasibility of the proposed solution. The attained
results illustrated considerable improvement in the settling time and
minimizing the impact of chattering behavior.
Speed control of dc motor using relay feedback tuned piAlexander Decker
This document discusses speed control of a DC motor using different controller types, including a relay feedback tuned PI controller, fuzzy PI controller (FPIC), and self-tuned fuzzy PI controller (STFPIC). The FPIC and STFPIC are developed using fuzzy logic to overcome limitations of conventional PID controllers for nonlinear systems without an accurate mathematical model. An experimental setup is used to test the controllers' performance on a DC motor. Results show the model-independent STFPIC and FPIC controllers improve speed control performance compared to the relay-tuned PI controller.
Disturbance Rejection with a Highly Oscillating Second-Order Process, Part I...Scientific Review SR
This research paper aims at investigating disturbance rejection associated with a highly oscillating
second-order process. The PD-PI controller having three parameters are tuned to provide efficient rejection of a
step input disturbance input. Controller tuning based on using MATLAB control and optimization toolboxes.
Using the suggested tuning technique, it is possible to reduce the maximum time response of the closed loop
control system to as low as 0.0095 and obtain time response to the disturbance input having zero settling time.
The effect of the proportional gain of the PD-PI controller on the control system dynamics is investigated for a
gain ≤ 100. The performance of the control system during disturbance rejection using the PD -PI controller is
compared with that using a second-order compensator. The PD-PI controller is superior in dealing with the
disturbance rejection associated with the highly oscillating second-order process
Due to extensive use of motion control system in industry, there has been growing research on proportional-integral-derivative (PID) controllers. DC motors are widely used various areas of industrial applications. The aim of this paper is to implement efficient method for controlling speed of DC motor using a PID controller based. Proposed system is implemented using arduino microcontroller and PID controller. Motor speed is controlled through PID based revolutions per minute of the motor. This encoder data will be send through microcontroller to Personal Computer with PID controller implemented in MATLAB. Results shows that PID controllers used provide efficient controlling of DC motor.
Optimal and pid controller for controlling camera’s position in unmanned aeri...Zac Darcy
This paper describes two controllers designed specifically for adjusting camera’s position in a small unmanned aerial vehicle (UAV). The optimal controller was designed and first simulated by using MATLAB technique and the results displayed graphically, also PID controller was designedand simulatedby using MATLAB technique .The goal of this paper is to connect the tow controllers in cascade mode to obtain the desired performance and correction in camera’s position in both roll and pitch.
IRJET- Analysis of 3-Phase Induction Motor with High Step-Up PWM DC-DC Conver...IRJET Journal
This document discusses control methods for STATCOMs using fuzzy logic controllers and genetic algorithm-tuned PID controllers. STATCOMs are shunt FACTS devices that help solve power quality issues through fast reactive power control. Conventionally, PID controllers are used but require trial and error to tune parameters. The document proposes using fuzzy logic controllers and genetic algorithms to optimize PID parameters to improve STATCOM current control response. It describes STATCOM modeling, fuzzy logic controller design including fuzzification, inference, and defuzzification. Genetic algorithms are used to find optimal PID parameters. Simulation results in MATLAB show the proposed methods improve current control response over conventional PID control.
Optimal backstepping control of quadrotor UAV using gravitational search opti...journalBEEI
Quadrotor unmanned aerial vehicle (UAV) has superior characteristics such as ability to take off and land vertically, to hover in a stable air condition and to perform fast maneuvers. However, developing a high-performance quadrotor UAV controller is a difficult problem as quadrotor is an unstable and underactuated nonlinear system. The effort in this article focuses on designing and optimizing an autonomous quadrotor UAV controller. First, the aerial vehicle's dynamic model is presented. Then it is suggested an optimal backstepping controller (OBC). Traditionally, backstepping controller (BC) parameters are often selected arbitrarily. The gravitational search algorithm (GSA) is used here to determine the BC parameter optimum values. In the algorithm, the control parameters are calculated using an integral absolute error to minimize the fitness function. As the control law is based on the theorem of Lyapunov, the asymptotic stability of the scheme can be ensured. Finally, several simulation studies are conducted to show the efficacy of the suggested OBC.
Performance Based Comparison Between Various Z-N Tuninng PID And Fuzzy Logic ...ijsc
The objective of this paper is to compare the time specification performance between conventional
controller and Fuzzy Logic controller in position control system of a DC motor. The scope of this research
is to apply direct control technique in position control system. Two types of controller namely PID and
fuzzy logic PID controller will be used to control the output response. This paper was written to reflect on
the work done on the implementation of a fuzzy logic PID controller. The fuzzy controller was used to
control the position of a motor which can be considered for a general basis in any project design
containing logic control. Motor parameters were taken from a datasheet with respect to a real motor and a
simulated model was developed using Matlab Simulink Toolbox. The fuzzy control was also designed using
the Fuzzy Control Toolbox provided within Matlab, with each rule consisting of fuzzy sets conditioned to
provide appropriate response times with regards to the limitations of our chosen motor. The Fuzzy
Inference Engine chosen for our control was the Mamdani Minimum Inference engine. The results of the
control provided response times suitable for our application.
This document summarizes research on tuning an I-PD controller to control a highly oscillating second-order industrial process. The process has an 85.45% maximum overshoot and 8 second settling time. An I-PD controller is tuned using MATLAB optimization to minimize the integral of the squared error. The tuned controller completely cancels the overshoot and decreases the settling time to 1.46 seconds without undershoot, demonstrating improved performance over standard tuning techniques for controlling highly oscillating processes.
Configuration of pid controller for speed control of dc motor utilizing optim...Santosh Suman
This document discusses using optimization techniques and intelligent strategies to tune PID controllers for speed control of DC motors. It first provides background on DC motors and PID controllers. It then discusses using genetic algorithms, particle swarm optimization, differential evolution and fuzzy logic to tune the PID parameters for better performance in terms of settling time, overshoot, rise time and transient response. Tuning PID parameters is challenging but these optimization techniques and intelligent strategies can help overcome issues with conventional PID controllers for DC motor speed control applications.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Mathematical Modeling and Fuzzy Adaptive PID Control of Erection MechanismTELKOMNIKA JOURNAL
This paper describes an application of fuzzy adaptive PID controller to erection mechanism.
Mathematical model of erection mechanism was derived. Erection mechanism is driven by electrohydraulic
actuator system which is difficult to control due to its nonlinearity and complexity. Therefore fuzzy
adaptive PID controller was applied to control the system. Simulation was performed in Simulink software
and experiment was accomplished on laboratory equipment. Simulation and experiment results of erection
angle controlled by fuzzy logic, PID and fuzzy adaptive PID controllers were respectively obtained. The
results show that fuzzy adaptive PID controller can effectively achieve the best performance for erection
mechanism in comparison with fuzzy logic and PID controllers.
OPTIMAL PID CONTROLLER DESIGN FOR SPEED CONTROL OF A SEPARATELY EXCITED DC MO...ijscmcjournal
This paper presents a new approach to determine the optimal proportional-integral-derivative controller
parameters for the speed control of a separately excited DC motor using firefly optimization technique.
Firefly algorithm is one of the recent evolutionary methods which are inspired by the Firefly’s behavior in
nature. The firefly optimization technique is successfully implemented using MATLAB software. A
comparison is drawn from the results obtained between the linear quadratic regulator and firefly
optimization techniques. Simulation results are presented to illustrate the performance and validity of the
design method.
This document proposes a new one-step method for tuning PI/PID controllers based on closed-loop experiments. It derives simple correlations between data from a proportional-only closed-loop step response experiment and PI/PID settings that provide good performance and robustness. Specifically:
1) A proportional-only controller is used to generate a step response with 10-60% overshoot. The gain, overshoot, peak time, and steady-state change are recorded.
2) Simulations show the proposed controller gain is proportional to the proportional gain used in the experiment, with the ratio dependent only on overshoot. Simple equations are derived relating overshoot and peak time to the PI/PID settings.
3
Analysis and Design of Conventional Controller for Speed Control of DC Motor ...IJERA Editor
The objective of this paper is to control the speed of the motor using conventional controller; compensator is used to improve the steady state error. To evaluate the performance of the controller, time response analysis is carried out. The time response analysis consists of two type of analysis. One is unit step response analysis and other is performance indices analysis. The paper describes the designing of a closed loop model of the dc motor drive for controlling speed. Accuracy and the dynamic responses are better in a closed loop system. The compensator is used to compensate the parameter of the system in such a way to meet the specification, so that it improves the steady state response of the system and get desired response.
This document summarizes a study comparing three control methods - PID, IMC, and IMC-PID - for controlling a first-order motor-tachometer system. The key findings are:
1) IMC performs better than PID when near system limitations, as PID can exhibit reset windup causing poor control. IMC avoids this issue.
2) Both IMC and IMC-PID effectively control the system under normal operation. However, IMC has less noise than IMC-PID.
3) When a large disturbance occurs, IMC returns to the setpoint faster than IMC-PID, which overshoots due to integral windup.
Speed Control of DC Motor using PID FUZZY Controller.Binod kafle
speed control of separately excited dc motor using fuzzy PID controller(FLC).In this research, speed of separately excited DC motor is controlled at 1500 RPM using two approaches i.e. PSO PID and fuzzy logic based PID controller. A mathematical model of system is needed for PSO PID while knowledge based rules obtained via experiment required for fuzzy PID controller . The conventional PID controller parameters are obtained using PSO optimization technique. The simulation is performed using the in-built toolbox from MATLAB and output response are analyzed. The tuning of fuzzy PID uses simple approach based on the rules proposed and membership function of the fuzzy variables. Design specification of fuzzy logic controller (FLC) requires fuzzification, rule list and defuzzification process. The FLC has two input and three output. Inputs are the speed error and rate of change in speed error. The corresponding outputs are Kp, Ki and Kd. There are 25 fuzzy based rule list. FLC uses mamdani system which employs fuzzy sets in consequent part. The obtained result is compared on the basis of rise time, peak time, settling time, overshoot and steady state error. PSO PID controller has fast response but slightly greater overshoot whereas fuzzy PID controller has sluggish response but low overshoot. The selection can be done on the basis of system properties and working environment conditions. PSO PID can be used where the response desired is fast like robotics where as fuzzy PID can be used where desired operation is smooth like industries.
IRJET- Control of Induction Motor using Neural NetworkIRJET Journal
This document describes research into using neural networks to control induction motors. It begins by introducing the topic and noting limitations of traditional PI controllers for induction motor control. It then provides details on the experimental setup, which uses an artificial neural network (ANN) to mimic a PI controller for speed control of an induction motor drive system. Simulation results are presented comparing the performance of the ANN controller to a traditional PI controller under different dynamic operating conditions. The document concludes that the ANN mapping controller provides superior performance to the PI controller.
Simulation and experimental study on PID control of a quadrotor MAV with pert...journalBEEI
This paper presents a proportional-integral-derivative (PID) flight controller for a quadrotor micro air vehicle (MAV). The MAV (Parrot Mambo minidrones) is small, therefore, a slight perturbation will affect its performance. Hence, for the actuated dynamics, roll (ϕ), pitch (θ), yaw (ψ), and z stabilization, a PID control scheme is proposed. Furthermore, the same controller technique is also applied for under-actuated dynamics x and y position control. The newtonian model is simulated using simulink with a normal Gaussian noise of force as external disturbances. using simulink support package for Parrot Minidrones by MATLAB and based on the simulation parameter, the algorithm is deployed using Bluetooth® Low energy connection via personal area network (PAN). A slight force by hand is applied as perturbation during hovering to investigation system performances. Finally, the simulation and experimental on this commercial MAV, Parrot Mambo minidrones shows good performance of the flight controller scheme in the presence of external disturbances.
This document presents a second order integral sliding mode control approach for speed control of a DC motor system. The DC motor system is modeled as a second order system with uncertainty and disturbances. Three controllers are designed and compared - a second order integral sliding mode controller, a conventional sliding mode controller, and a PID controller. Simulation results show that the proposed second order integral sliding mode controller has the fastest response time, no overshoot, smooth control input, and drives the sliding surface to zero, performing better than the other controllers in terms of robustness and disturbance rejection.
Real Time Implementation of Fuzzy Adaptive PI-sliding Mode Controller for Ind...IJECEIAES
In this work, a fuzzy adaptive PI-sliding mode control is proposed for Induction Motor speed control. First, an adaptive PI-sliding mode controller with a proportional plus integral equivalent control action is investigated, in which a simple adaptive algorithm is utilized for generalized soft-switching parameters. The proposed control design uses a fuzzy inference system to overcome the drawbacks of the sliding mode control in terms of high control gains and chattering to form a fuzzy sliding mode controller. The proposed controller has implemented for a 1.5kW three-Phase IM are completely carried out using a dSPACE DS1104 digital signal processor based real-time data acquisition control system, and MATLAB/Simulink environment. Digital experimental results show that the proposed controller can not only attenuate the chattering extent of the adaptive PI-sliding mode controller but can provide high-performance dynamic characteristics with regard to plant external load disturbance and reference variations.
Design and Implementation of Sliding Mode Controller using Coefficient Diagra...IOSR Journals
This document describes the design and implementation of a sliding mode controller using the coefficient diagram method for a nonlinear spherical tank process. It begins with background on sliding mode control and introduces a second order sliding mode control algorithm. It then describes using the coefficient diagram method to design a two degree of freedom adaptive sliding mode controller that satisfies time and frequency domain specifications. Simulation and real-time results are presented comparing the sliding mode controller to a PI controller, showing the sliding mode controller has better performance in terms of settling time, overshoot, and error criteria. In conclusion, the coefficient diagram method is shown to be an effective way to optimize sliding mode controller parameters for the nonlinear spherical tank process.
Evaluation of the stability enhancement of the conventional sliding mode cont...nooriasukmaningtyas
The proposed work is an attempt to investigate the stability of the nonlinear
system by using a whale optimization algorithm as of one of the metaheuristic optimization methods, and this investigation was conducted on a
single inverted pendulum as a study model. The evaluation measures which
were used in this article values of gain and sliding surface of the
conventional sliding mode controller to illustrate the extent of the system`s
stability. Furthermore, control action, the relationship between error and its
derivative, desired, and actual position in addition to sliding response
graphically showed the feasibility of the proposed solution. The attained
results illustrated considerable improvement in the settling time and
minimizing the impact of chattering behavior.
Modified Chattering Free Sliding Mode Control of DC MotorIJMER
This document discusses the design of a modified sliding mode controller for position control of a DC motor. It begins with an introduction to PID controllers and sliding mode controllers. It then provides the mathematical modeling of a DC motor and describes the conventional sliding mode control approach. It discusses some issues with chattering in sliding mode control and proposes a modified approach using a boundary layer. The document also describes tuning a PID controller using the Ziegler-Nichols method. It aims to compare the performance of the modified sliding mode controller to PID controllers for position control of a DC motor.
IRJET- Design and Analysis of Fuzzy and GA-PID Controllers for Optimized Perf...IRJET Journal
This document describes research into using different controller types, including fuzzy logic controllers and genetic algorithm optimized PID controllers, to control a STATCOM device for improved reactive power compensation performance. A STATCOM is a shunt Flexible AC Transmission System device that can help solve power quality issues. Conventionally, PID controllers are used but require trial and error to tune parameters. The document models a STATCOM system and explores using fuzzy logic control or genetic algorithms to automatically determine optimal PID parameters to achieve faster response compared to conventional PID control. Simulation results in MATLAB show that both fuzzy logic control and genetic algorithm optimized PID control improve the STATCOM current control response compared to manually tuned PID controllers.
Design of multiloop controller for multivariable system using coefficient 2IAEME Publication
The document describes the design of a multivariable controller for a coupled tank system using the Coefficient Diagram Method (CDM). CDM is a polynomial method for control design that is based on choosing coefficients for the closed-loop system's characteristic polynomial according to desired performance specifications like equivalent time constant, stability indices, and stability limit. The controller is designed by using CDM to determine the coefficients of the controller polynomials. The coupled tank process is modeled using mass balance equations and its parameters are provided. Controller design using CDM is demonstrated for multivariable processes like the coupled tank system to provide stable and robust performance while meeting time domain specifications.
Non integer order controller based robust performance analysis of a conical t...Editor Jacotech
The design of robust controller for any non linear process is a
challenging task because of the presence of various types of
uncertainties. In this paper, various design methods of robust
PID controller for the level control of conical tank are
discussed. Uncertainties are of different types, among that
structured uncertainty of 30% is introduced to the nominal
plant for analysing the robustness. As a first step, the control
of level is done by using conventional integer order controller
for both nominal and uncertain system. Then, the control is
done by means of Fractional Order Proportional Integral
Derivative (FOPID) controller for achieving robustness. With
the help of time series parameters, a comparison is made
between conventional PID and FOPID with respect to the
simulated output using MATLAB and also analyzed the
robustness.
In this paper, the tracking control scheme is presented using the framework of finite-time sliding mode control (SMC) law and high-gain observer for disturbed/uncertain multi-motor driving systems under the consideration multi-output systems. The convergence time of sliding mode control is estimated in connection with linear matrix inequalities (LMIs). The input state stability (ISS) of proposed controller was analyzed by Lyapunov stability theory. Finally, the extensive simulation results are given to validate the advantages of proposed control design.
Design of Adaptive Sliding Mode Control with Fuzzy Controller and PID Tuning ...IRJET Journal
This document presents a control system that combines fuzzy sliding mode control and PID tuning to control uncertain systems. A fuzzy logic controller is proposed using two inputs (error and derivative of error) and simple membership functions and rules. An adaptive sliding mode controller with PID tuning is also designed. The PID gains are systematically and continuously updated according to adaptive laws. This combined fuzzy sliding mode controller with PID tuning is applied to control a brushless DC motor. Simulation results show the system achieves good trajectory tracking performance while eliminating chattering through the use of a boundary layer.
Fuzzy gain scheduling control apply to an RC Hovercraft IJECEIAES
The Fuzzy Gain Scheduling (FGS) methodology for tuning the ProportionalIntegral-Derivative (PID) traditional controller parameters by scheduling controlled gains in different phases, is a simple and effective application both in industries and real-time complex models while assuring the high achievements over pass decades, is proposed in this article. The Fuzzy logic rules of the triangular membership functions are exploited on-line to verify the Gain Scheduling of the Proportional-Integral-Derivative controller gains in different stages because it can minimize the tracking control error and utilize the Integral of Time Absolute Error (ITAE) minima criterion of the controller design process. For that reason, the controller design could tune the system model in the whole operation time to display the efficiency in tracking error. It is then implemented in a novel Remote Controlled (RC) Hovercraft motion models to demonstrate better control performance in comparison with the PID conventional controller.
IRJET- Speed Control of Induction Motor using Hybrid PID Fuzzy ControllerIRJET Journal
This document presents a study on using a hybrid PID fuzzy controller with a BAT optimization algorithm to control the speed of an induction motor. It begins with background on PID controllers and fuzzy logic controllers. It then proposes using a BAT algorithm to select the Kp and Ki parameters of a PI controller to regulate motor speed. The results show that the proposed BAT-PID controller reduces speed fluctuations and settling time compared to a traditional PID controller. In conclusion, the hybrid fuzzy-PID controller with BAT optimization improves induction motor speed control.
Speed Control of Dc Motor using Adaptive PID with SMC SchemeIRJET Journal
This document summarizes research on using an adaptive PID controller with sliding mode control (SMC) to control the speed of a DC motor. It begins by introducing DC motors and their use in industry. It then discusses PID, SMC, and adaptive PID+SMC control approaches. The document outlines the modeling of a separately excited DC motor. It presents the design of PID, SMC, and adaptive PID+SMC controllers for speed control. Simulation results using MATLAB/Simulink show that the adaptive PID+SMC controller provides superior performance to PID and SMC alone in terms of settling time, rise time, and eliminating overshoot under parameter variations and disturbances.
Arm based automatic control system of nano positioning stage for micromanufac...csandit
This document describes an automatic control system for nano-positioning stages used in micromanufacturing. An ARM microcontroller interfaces with a piezoelectric ultrasonic nano-positioning stage driven by a PI line controller. The microcontroller provides a user interface on an LCD screen to allow the user to choose geometric patterns for the stage movement. Different tuning parameters for the PI controller were evaluated to achieve optimal step response of the positioning stage. The system allows for precise positioning, trajectory planning, and task repetition for micromanufacturing applications such as laser machining.
ARM BASED AUTOMATIC CONTROL SYSTEM OF NANO POSITIONING STAGE FOR MICROMANUFAC...cscpconf
A microcontroller based control system to drive the Physik Instrumente (PI ) piezoelectric ultrasonic nano-positioning (PUN) stage for a micro-factory has beenproposed by the author. The tuning parameters of the PI Line Controller are chosen such that the PUN stage shows optimum step response. The microcontroller i.e.LPC2478R provides the user with the choices of operations on the 3.2” QVGA LCD screen and the choice can be made by a 5-key joystick. The PUN stage moves in different geometrical patterns as chosen by the user. The stage is placed in the workspace of the Clark-MXRR,Inc. CPA-2101 femto-second laser. Different patterns are made on the material in question. As compared to the previous works in this area,the user is given the power for position control, real time tracking, and trajectory planning of the actuator. The user interface has been made very easy to comprehend.The repeatability of tasks, portability of the as- sembly, the reduction in the size of the system , power consumption and the human involvement are the major achievements after the inclusion of a microcontroller.
Optimal and Pid Controller for Controlling Camera's Position InUnmanned Aeria...Zac Darcy
This paper describes two controllers designed specifically for adjusting camera’s position in a small
unmanned aerial vehicle (UAV). The optimal controller was designed and first simulated by using
MATLAB technique and the results displayed graphically, also PID controller was designedand
simulatedby using MATLAB technique .The goal of this paper is to connect the tow controllers in cascade
mode to obtain the desired performance and correction in camera’s position in both roll and pitch.
The peer-reviewed International Journal of Engineering Inventions (IJEI) is started with a mission to encourage contribution to research in Science and Technology. Encourage and motivate researchers in challenging areas of Sciences and Technology.
Elevation, pitch and travel axis stabilization of 3DOF helicopter with hybrid...IJECEIAES
This research work introduces an efficient hybrid control methodology through combining the traditional proportional-integral-derivative (PID) controller and linear quadratic regulator (LQR) optimal controlher. The proposed hybrid control approach is adopted to design three degree of freedom (3DOF) stabilizing system for helicopter. The gain parameters of the classic PID controller are determined using the elements of the LQR feedback gain matrix. The dynamic behaviour of the LQR based PID controller, is modeled in state space form to enable utlizing state feedback controller technique. The performance of the proposed LQR based LQR controller is improved by using Genetic Algorithm optimization method which are adopted to obtain optimum values for LQR controller gain parameters. The LQR-PID hybrid controller is simulated using Matlab environment and its performance is evaluated based on rise time, settling time, overshoot and steady state error parameters to validate the proposed 3DOF helicopter balancing system. Based on GA tuning approach, the simulation results suggest that the hybrid LQR-PID controller can be effectively employed to stabilize the 3DOF helicopter system.
Design and control of ems magnetic levitation train using fuzzy mras and pid ...Mustefa Jibril
1) The document describes a study on using fuzzy logic, PID, and MRAS controllers to improve passenger comfort and handling of a magnetic levitation train system.
2) A MATLAB Simulink model is used to simulate and compare the performance of the three controllers. The MRAS controller has the shortest settling time while the PID controller has the lowest percentage overshoot.
3) Tables and figures show the output responses, stability analysis, and change in air gap over time for the different controller designs. The study demonstrates the effectiveness of using fuzzy logic control for the magnetic levitation train system.
Induction motors are work-horse of the industry and major element in energy conversion. The replacement of the existing non-adjustable speed drives with the modern variable frequency drives would save considerable amount of electricity. A proper control scheme for variable frequency drives can enhance the efficiency and performance of the drive. This paper attempt to provide a rigorous review of various control schemes for the induction motor control and provides critical analysis and guidelines for the future research work. A detailed study of sensor based control schemes and sensor-less control schemes has been investigated. The operation, advantages, and limitations of the various control schemes are highlighted and different types of optimization techniques have been suggested to overcome the limitations of control techniques.
Similar to PID controller for microsatellite yaw-axis attitude control system using ITAE method (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.
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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.
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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
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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.
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DEEP LEARNING FOR SMART GRID INTRUSION DETECTION: A HYBRID CNN-LSTM-BASED MODELijaia
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reach in time. Our project will provide an optimum solution to this draw back. A piezo electric
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PID controller for microsatellite yaw-axis attitude control system using ITAE method
1. TELKOMNIKA Telecommunication, Computing, Electronics and Control
Vol. 18, No. 2, April 2020, pp. 1001~1011
ISSN: 1693-6930, accredited First Grade by Kemenristekdikti, Decree No: 21/E/KPT/2018
DOI: 10.12928/TELKOMNIKA.v18i2.14303 1001
Journal homepage: http://journal.uad.ac.id/index.php/TELKOMNIKA
PID controller for microsatellite yaw-axis
attitude control system using ITAE method
Ajiboye A. T.1
, Popoola J. O.2
, Oniyide O.3
, Ayinla S. L.4
1,2,4
Department of Computer Engineering, University of Ilorin, Nigeria
3
Department of Electrical and Electronics Engineering, University of Ilorin, Nigeria
Article Info ABSTRACT
Article history:
Received Oct 10, 2019
Revised Jan 18, 2020
Accepted Feb 10, 2020
The need for effective design of satellite attitude control (SAC) subsystem
for a microsatellite is imperative in order to guarantee both the quality
and reliability of the data acquisition. A proportional-integral-derivative
(PID) controller was proposed in this study because of its numerous
advantages. The performance of PID controller can be greatly improved by
adopting an integral time absolute error (ITAE) robust controller design
approach. Since the system to be controlled is of the 4th
order, it was
approximated by its 2nd
order version and then used for the controller design.
Both the reduced and higher-order pre-filter transfer functions were designed
and tested, in order to improve the system performance. As revealed by the
results, three out of the four designed systems satisfy the design
specifications; and the PD-controlled system without pre-filter transfer
function was recommended out of the three systems due to its structural
simplicity, which eventually enhances its digital implementation.
Keywords:
ITAE
Microsatellite attitude
Performance parameters
PID controller,
Pre-filter
This is an open access article under the CC BY-SA license.
Corresponding Author:
Ajiboye A. T.,
Department of Computer Engineering,
University of Ilorin, Ilorin, Nigeria.
Email: ajiboye.at@unilorin.edu.ng
1. INTRODUCTION
Satellites are exposed to many disturbances in space [1] which can adversely affect their attitude.
The reliability of the microsatellite data acquisition is highly dependent on the quality of the SAC system
because the attitude control system is crucial for accurate satellite operation [2]. Therefore, the needs for
an accurate design of attitude control subsystem which guarantees the quality and reliability of the data.
Several methods exist in the literature for achieving SAC. [3] and [4] proposed direct and modified adaptive
controllers, respectively to mitigate different scenarios in spacecraft attitude control. Fixed-time [5],
finite-time [6], adaptive gain based integral second order [7], fast terminal [8] and adaptive fast terminal [9]
sliding mode techniques have been employed in rigid spacecraft attitude controller design.
Several applications of PID controller for satellite attitude control can be found in the literature. PID
attitude controller for a rigid body satellite designed using a combination of Kharitonov theorem
and vectored particle swarm optimization method was presented in [10]. Spacecraft control torque
and velocity constraints dependent sliding mode based robust PID attitude controller were presented
by Y. Li et al. [11]. Latest research by [12-16] employed an observer-based PID controller to control
the attitude of a rigid satellite with ON/OFF thruster actuator which showed improvement in attitude control
performance. The optimal PID controller for SAC, designed by [17] gave acceptable results for both
the settling time and percentage overshoot, even though the bounds of controller parameters were arbitrarily
2. ISSN: 1693-6930
TELKOMNIKA Telecommun Comput El Control, Vol. 18, No. 2, April 2020: 1001 - 1011
1002
chosen [18] designed both PID and Fuzzy logic-based satellite attitude controllers in which the dynamics
model of BILSAT-1 were utilized. Compared to the PID controller, the Fuzzy logic counterpart performed
better in terms of system response speed and robustness. More so, [19] designed a PID controller to optimally
control the satellite yaw attitude; and when tested via simulation, the settling time and percentage overshoot
obtained were satisfactory as their values were within the design specifications.
PID controllers are popularly used in the control of industrial processes due to their structural
and functional simplicity which in turn make their tuning relatively simple, most especially by a trial
and error method [20]. It is also found in the majority of control systems due to its reliable performance and
fine control capabilities [21]. At least 95% of control loops in process industries are PID in nature [22],
which can be attributed partly to their robust performance in a wide range of operating conditions [23].
The performance of PID controller can be greatly improved by using an ITAE robust controller design which
optimizes the controller gains, and subsequently the system performance parameters. The tool was adopted in
this study as the system optimum performance parameters can be easily extracted as the system parameters
and controller gains are varied [23]. Also, ITAE was identified as one of the best methods for robust control
system designs [24]. The optimum coefficients for the ITAE performance criterion for a step input that can
be used to find the best controller parameters have been determined for the standardized closed-loop transfer
function in [23, 24]. Compared the results obtained by using Ziegler-Nichols and ITAE tuning methods for
both first-order and second-order systems with dead time [25]. The results showed that ITAE tuning method
was better than the Ziegler-Nichols tuning method in both scenarios. In most cases, the closed-loop response
of the controlled system may not meet the desired specifications, under this condition a pre-filter transfer
function must be designed and connected in series with the designed closed-loop system transfer
function [24, 26]. It should be noted that all the parameters of the designed pre-filter transfer function are
normally obtained directly from the dc gain and zeros of the designed closed-loop system transfer
function [26].
2. DESIGN SPECIFICATIONS
The system design specifications considering unit step input are shown in Table 1. In this study,
the system 𝑃𝑂 is a function of system damping ratio, while 𝑇𝑠 is the time for which
the system response remains within 2% of the final value as given in (1) and (2), respectively.
Table 1. Design specifications
Parameters Values
Percentage Overshoot (𝑃𝑂) ≤ 5%
Settling time, 𝑇𝑠 (for 2% criterion) ≤ 2 s
Steady-state error 0
𝑃𝑜 = 100𝑒−(𝜁𝜋/√1−𝜁2) (1)
𝑇𝑠 =
4
𝜁𝜔 𝑛
(2)
Where 𝜁and 𝜔 𝑛 are the damping ratio and natural frequency in rad/sec for the closed-loop system. From (1):
𝜁 =
𝑋2
√(𝜋2 + 𝑋2)
(3)
where 𝑋 = − log 0. 01𝑃𝑂. Also, from (2),
𝜔 𝑛 =
4
𝑇𝑠 𝜁
(4)
in order to achieve the system design specifications, the threshold values for 𝜁 and 𝜔 𝑛 were determined
using (3) and (4) [27]. The required conditions are 𝜁 ≥ 0.7797 (≈0.8) and 𝜔 𝑛 ≥ 6 rad/s.
3. TELKOMNIKA Telecommun Comput El Control
PID controller for microsatellite yaw-axis attitude control… (Ajiboye A. T.)
1003
3. SYSTEM MODEL
The yaw-axis attitude model for the satellite used in this study was derived based on a single input
single output and linear time-invariant assumption which then yielded the transfer function that was used for
the controller design.
3.1. Determination of open-loop transfer function and PID control algorithm selection
The yaw-axis ACS is represented by the block diagram of Figure 1 while its sub-systems’ transfer
functions are as expressed in (5)-(8).
Figure 1. Block Diagram of microsatellite yaw-axis ACS
Gsat(s) =
𝜃 𝑦(𝑠)
𝑇𝑎(𝑠)
=
1
0.8𝑠2 (5)
Ga(s) =
𝑇𝑎(𝑠)
𝑉𝑎(𝑠)
=
78.3𝑠
𝑠2 + 1815.4𝑠 + 24466
(6)
Gamp(s) =
𝑉𝑎(𝑠)
𝑉(𝑠)
=
240
0.1𝑠 + 1
(7)
Gc(s) =
V(s)
𝑉𝑒(𝑠)
=
𝐾 𝐷 𝑠2
+ 𝐾 𝑃 𝑠 + 𝐾𝐼
𝑠
(8)
Where all the parameters are in Laplace Transform (s-domain); 𝜃 𝑦 is the actual yaw attitude in degrees;
𝑇𝑎 is the actuator torque in Nm; 𝑉𝑎 is the motor armature voltage in volts; 𝑉 is the controller output voltage
in volts; 𝑉𝑒 is error voltage in volts; Gsat is the satellite structure dynamic transfer function; Ga(s)
is the actuator dynamic transfer function; Gamp(s) is the amplifier transfer function; Gc(s) is the controller
transfer function; 𝐾𝑝 is the proportional gain; 𝐾𝑖 is the integral gain; and 𝐾𝑑 is the derivative gain.
The system open-loop transfer function shown in (9) was determined by cascading the transfer function of (5)
to (8). The closed-loop transfer function obtained from (9) is as expressed in (10).
𝜃 𝑦(𝑠)
𝑉𝑒(𝑠)
=
234900 ∗ 𝐾𝑑 𝑠2
+ 234900 ∗ 𝐾𝑝 𝑠 + 234900 ∗ 𝐾𝑖
s5 + 1825s4 + 42625s3 + 244625s2 (9)
𝜃𝑦(𝑠)
𝜃𝑟(𝑠)
=
234900 ∗ 𝐾𝑑 𝑠2
+ 234900 ∗ 𝐾𝑝 𝑠 + 234900 ∗ 𝐾𝑖
s5 + 1825 ∗ s4 + 42625 ∗ s3 + (244625 + 234900 ∗ 𝐾𝑑) ∗ s2 + 234900 ∗ 𝐾𝑝 𝑠 + 234900 ∗ 𝐾𝑖
(10)
3.2. Reduction of system transfer function for controller design
An analysis of the uncontrolled system response to a specified test signal is necessary to determine
the degree of the control effort required if any. To achieve this, the uncontrolled yaw-axis ACS open
and closed-loop transfer functions, (11) and (12), were obtained from (9) and (10) respectively, assuming
a unity controller transfer function. (12) was subjected to unit step function input and the resulting system
step response is as shown in Figure 2. As shown in the Figure, the response will reach the set point at infinite
time, therefore there is no overshoot, and settling time was 3.49 seconds. Considering this step response there
is the need to incorporate a controller into the system so that the system design specifications shown in
Table 1 can be achieved.
𝜃 𝑦(𝑠)
𝑉(𝑠)
=
234900
s4 + 1825s3 + 42625s2 + 244625s
(11)
𝜃 𝑦(𝑠)
𝜃𝑟(𝑠)
=
234900
s4 + 1825s3 + 42625s2 + 244625s + 234900
(12)
4. ISSN: 1693-6930
TELKOMNIKA Telecommun Comput El Control, Vol. 18, No. 2, April 2020: 1001 - 1011
1004
The PID control algorithm was considered due to its numerous advantages, such as simple design
methodology and effectiveness in system control. It should be noted that PID control algorithm (either in full
PID, PI or PD) performs better when the order of the system to be controlled is first, second or higher-order
that can be approximated by either first or second-order dynamic [23]. The system to be controlled was
reduced from 4th
to a 2nd
order using Balred reduction model, and the transfer function of the reduced-order
version is as shown in (13). Both the 4th
order and 2nd
order versions exhibit good conformity, as evidenced
in the plots of unit step responses of (12) and (13) shown in Figure 3.
𝐺 𝑟𝑐𝑙(𝑠) =
−0.16728𝑠 + 6.081
s2 + 6.002 s + 6.096
(13)
Figure 2. Uncontrolled closed-loop yaw-axis attitude step response
Figure 3. Plots of closed-loop unit step responses of the 4th
and 2nd
order of the uncontrolled system
The step response parameters of the two systems shown in Table 2 were obtained from Figure 3.
Considering the closeness of the values, the higher-order one can be approximated by its reduced order
version, which is subsequently used for PID controller design to achieve better performance.
Table 2. Step response parameters for uncontrolled higher and reduced-order closed-loop systems
Time-domain parameters Higher-order system Reduced-order system
Rise time (sec.) 1.890 1.800
Settling time (sec.) 3.490 3.290
Peak amplitude 0.998 0.997
Peak time (sec.) 5.230 5.580
% Overshoot 0.000 0.000
Steady state final value 1.000 0.998
5. TELKOMNIKA Telecommun Comput El Control
PID controller for microsatellite yaw-axis attitude control… (Ajiboye A. T.)
1005
𝐺 𝑟𝑐𝑙(𝑠) =
𝐺 𝑟𝑜𝑙(𝑠)
1 + 𝐺 𝑟𝑜𝑙(𝑠)
(14)
Substituting (13) into (14) yields the open-loop transfer function of the reduced-order system 𝐺 𝑟𝑜𝑙(𝑠),
as follows:
𝐺 𝑟𝑜𝑙(𝑠) =
−0.16728𝑠 + 6.081
s2 + 6.1693s + 0.0150
(15)
𝐺 𝑟𝑜𝑙(𝑠) =
𝐴𝑠 + B
s2 + C s + D
(16)
where A = -0.1673, B = 6.081, C = 6.1693 and D = 0.0150.
4. CONTROLLER DESIGN
4.1. Determination of PID controller gains
The full PID controller transfer function is as expressed in (8), while the open-loop PID controlled
transfer function for the reduced-order system was obtained by multiplying (8) and (16) to yield (17).
𝐺𝑟𝑐𝑜𝑙(𝑠) = (
𝐴𝐾 𝑑 𝑠3
+ (𝐵𝐾𝑑 + 𝐴𝐾𝑝)𝑠2
+ (𝐵𝐾𝑝 + 𝐴𝐾𝑖)𝑠 + 𝐵𝐾𝑖
s3 + Cs2 + Ds
) (17)
Using (17) the closed-loop transfer function for the reduced-order PID controlled system, 𝐺 𝑟𝑐𝑐𝑙(𝑠) is
given by (18).
𝐺𝑟𝑐𝑐𝑙(𝑠) = (
(
1
1 + 𝐴𝐾𝑑
) (𝐴𝐾𝑑 𝑠3
+ (𝐵𝐾𝑑 + 𝐴𝐾𝑝)𝑠2
+ (𝐵𝐾𝑝 + 𝐴𝐾𝑖)𝑠 + 𝐵𝐾𝑖)
s3 + (
𝐵𝐾𝑑 + 𝐴𝐾𝑝 + C
1 + 𝐴𝐾𝑑
)s2 + (
𝐵𝐾𝑝 + 𝐴𝐾𝑖 + D
1 + 𝐴𝐾𝑑
) s +
𝐵𝐾𝑖
1 + 𝐴𝐾𝑑
) (18)
The characteristic of (18) is (19).
s3
+ (
𝐵𝐾𝑑 + 𝐴𝐾𝑝 + C
1 + 𝐴𝐾 𝑑
)s2
+ (
𝐵𝐾𝑝 + 𝐴𝐾𝑖 + D
1 + 𝐴𝐾𝑑
) s +
𝐵𝐾𝑖
1 + 𝐴𝐾𝑑
= 0 (19)
Since the characteristic equation of the transfer function is of 3rd
order, the value of controller gains
using ITAE design method can be determined by obtaining a standardised form of 3rd
order characteristic
equation. These can be found in the table of optimum coefficients of system closed-loop transfer function
based on the ITAE criterion for a step input [23]. The obtained standardised characteristic equation from
the table is given in (20).
s3
+ 1.75ωns2
+ 2.15ωn
2
s + ωn
3
= 0 (20)
Where ωn= 6 rad/s from (4). Equating the coefficients of 𝑠3
, 𝑠2
and 𝑠 in (19) and (20), and then rearranging,
we can obtain
−0.1673𝐾𝑝 + 7.8377𝐾𝑑 = 4.3307 (21)
6.081𝐾𝑝 − 0.1673𝐾𝑖 + 13𝐾𝑑 = 77.385 (22)
𝐾𝑖 + 5.9426𝐾𝑑 = 35.5205 (23)
The values of 𝐾𝑝, 𝐾𝑖 and 𝐾𝑑 are 11.8492, 30.7337, and 0.8055 respectively, obtained by
solving (21), (22) and (23) simultaneously. The transfer function 𝐺 𝑟𝑐𝑐𝑙 of the closed-loop PID-controlled
reduced-order system was obtained by substituting the values of A, B, C, D, Kp, Ki and Kd in (18).
𝐺 𝑟𝑐𝑐𝑙 =
−0.1557s3
+ 3.37s2
+ 77.33s + 216
s3 + 10.5s 2 + 77.35s + 216
(24)
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Also, the transfer function 𝐺hccl of the higher-order system of the PID was obtained by substituting
the values of 𝐾𝑝, 𝐾𝑖 and 𝐾𝑑 in (10).
𝐺hccl =
189200(s2
+ 14.71s + 38.16)
s5 + 1825s4 + 42625s3 + 433800s2 + 2783000𝑠 + 7219000
(25)
4.2. Determination of PD controller gains
The uncontrolled system reduced-order open-loop transfer function was already given in (16).
The PD controller transfer function was obtained from (8) by assuming 𝐾𝑖 = 0 and is as expressed in (26).
𝐺𝑐 = (𝐾𝑑 𝑠 + 𝐾𝑝) (26)
The open and closed-loop PD controlled reduced-order system transfer function were derived based on (16)
and (26), as shown in (27) and (28) respectively.
𝐺 𝑟𝑐𝑜𝑙 =
(𝐴𝐾𝑑 𝑠2 + (𝐵𝐾𝑑 + 𝐴𝐾𝑝)𝑠 + 𝐵𝐾𝑝)
s2 + Cs + D
(27)
𝐺 𝑟𝑐𝑐𝑙 =
(
1
1 + 𝐴𝐾𝑑
) (𝐴𝐾𝑑 𝑠2 + (𝐵𝐾𝑑 + 𝐴𝐾𝑝)𝑠 + 𝐵𝐾𝑝)
s2 + (
𝐵𝐾𝑑 + 𝐴𝐾𝑝 + C
1 + 𝐴𝐾𝑑
) s +
𝐵𝐾𝑝 + D
1 + 𝐴𝐾𝑑
(28)
The characteristic (28) is as shown in (29).
s2
+ (
𝐵𝐾𝑑 + 𝐴𝐾𝑝 + C
1 + 𝐴𝐾𝑑
) s +
𝐵𝐾𝑝 + D
1 + 𝐴𝐾𝑑
(29)
The characteristic of (29) is of order 2, therefore to determine the PD controller gains values by
applying ITAE method the corresponding standardised second-order characteristic equation was obtained
from the optimum coefficients’ table. The obtained characteristic equation is:
s2
+ 1.4ωns + ωn
2
(30)
where ωn= 6 rad/s. Equating the coefficients of 𝑠2
and 𝑠 in (29) to (30) and rearranging, we have
−0.1673𝐾𝑝 + 7.4863𝐾𝑑 = 2.2307 (31)
6.081𝐾𝑝 + −6.0228𝐾𝑑 = 35.9850 (32)
the values of 𝐾𝑝 and 𝐾𝑑 were obtained as 5.5008 and 0.4209, respectively, by solving (31) and (32)
simultaneously. Substituting the values of A, B, C, D, Kp and Kd in (28) gives (33).
𝐺 𝑟𝑐𝑐𝑙 =
0.07575(−s2
+ 23.27s + 475)
(s2 + 8.4 s + 36)
(33)
Substituting the values of 𝐾𝑝, 𝐾𝑑 with 𝐾𝑖=0 into (10) gives the closed-loop transfer function of PD controlled
higher-order system of (34)
𝐺hccl =
98870(s + 13.07)
s4 + 1825s3 + 42625s2 + 343500𝑠 + 1292000
(34)
5. DESIGN OF PRE-FILTER TRANSFER FUNCTION
As can be seen from (24), (25), (33) and (34) both the reduced and higher-order PID and PD
controlled closed-loop systems have zeros, which will negatively affect their response [23, 24, 26].
To ameliorate this effect, there is the need to incorporate pre-filter transfer function in series with the system
closed-loop transfer function as shown in Figure 4. This is necessary to ensure that the resulting closed-loop
transfer function will contain no zero and still maintain unity dc gain which will lead to the overall
improvement of the system response [23]. Two pre-filter transfer functions were designed, the first
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was based on the reduced-order system and the second was based on the higher-order system for each of
the controller design.
Figure 4. System closed-loop transfer function with pre-filter
5.1. Determination of pre-filter transfer function using PID controlled reduced-order system
Factorizing the numerator of (24) yielded (35).
𝐺 𝑟𝑐𝑐𝑙 =
0.1557(s − 36. .3250)(s + 11.3653)(s + 3.3596)
s3 + 10.5s 2 + 77.35s + 216
(35)
It can be seen from (35) that the introduction of PID controller transfer function into the system has added 2
more zeros to this system at s = −11.3653 and s = −3.3596 in addition to the already existing zero for
the uncontrolled system which is at the point s = 36.3250. The expected closed-loop reduced-order PID
controlled system transfer function when the pre-filter transfer function is introduced is as given in (36).
𝐺 𝑟𝑐𝑐𝑙𝑓 =
216
s3 + 10.5s 2 + 77.35s + 216
(36)
But,
𝐺 𝑟𝑐𝑐𝑙𝑓 = 𝐺 𝑟𝑐𝑐𝑙 𝐺 𝑟𝑓 (37)
therefore, the lower order-based pre-filter transfer function (𝐺 𝑟𝑓) was realized using (37) and is as
expressed as
𝐺 𝑟𝑓 =
1387
(−s3 + 21.6s2 + 496.7s + 1387)
(38)
As can be seen from (38), one of the poles of the reduced-order pre-filter transfer function is on
the right-hand side of s-plane, therefore combining it in series with the controlled system closed-loop transfer
function will cause instability. As a result, the response of the closed-loop controlled system with pre-filter
will be different from the expected response of (36). In order to improve the system response, obtaining
the pre-filter transfer function from the closed-loop PID controlled transfer function for the original
higher-order system was considered.
5.2. Determination of pre-filter transfer function using higher-order PID controlled system
The PID controlled closed-loop transfer function for the original higher-order system is as
shown in (25). Factorizing the numerator of (25) yielded (39), which shows that incorporation of PID
controller into the system has increased the number of system zero from 0 to 2 and these zeros are at
s = −11.3470 and 𝑠 = −3.3630.
𝐺hccl =
189200(s + 11.3470)(s + 3.3630)
s5 + 1825s4 + 42625s3 + 433800s2 + 2783000𝑠 + 7219000
(39)
Now the transfer function for the controlled closed-loop system with a pre-filter transfer function
(𝐺hcclf) is as expressed in (40).
𝐺hcclf = 𝐺h𝑓 𝐺hccl (40)
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Where: 𝐺h𝑓 is the pre-filter transfer function obtained from the original higher-order control system.
The expected controlled system transfer function with pre-filter is as expressed in (41).
𝐺hcclf =
7219000
s5 + 1825s4 + 42625s3 + 433800s2 + 2.783000𝑠 + 7219000
(41)
Therefore, from (39), (40), and (41),
𝐺h𝑓 =
38.16
(s2 + 14.71s + 38.16)
(42)
Since 𝐺h𝑓 is stable and can be used to improve the system response, therefore the transfer function
for PID controlled higher-order system with higher-order pre-filter using (40) can be expressed as
𝐺hcclf = (
38.16
s2 + 14.71s + 38.16
) (
189200(s2
+ 14.71s + 38.16)
s5 + 1825s4 + 42625s3 + 433800s2 + 2783000𝑠 + 7219000
) (43)
5.3. Determination of pre-filter transfer function from reduced-order PD controlled system
The PD controlled reduced-order closed-loop system transfer function is as shown in (33), which
may be rewritten as,
𝐺 𝑟𝑐𝑐𝑙 =
0.07575(s − 36.3407)(s + 13.0707)
(s2 + 8.4 s + 36)
(44)
This shows that the introduction of PD controller into the system has increased the number of reduced-order
system closed-loop zeros from 1, for the uncontrolled system located at s = 36.3522 to 2 for the controlled
system at s = 36.3522 and s = −13.0707. The expected closed-loop reduced-order PD controlled system
with pre-filtered transfer function is as given in (45).
𝐺 𝑟𝑐𝑐𝑙𝑓 =
36
s2 + 8.4 s + 36
(45)
But from (37),
𝐺 𝑟𝑓 =
𝐺 𝑟𝑐𝑐𝑙
𝐺 𝑟𝑐𝑐𝑙𝑓
(46)
therefore,
𝐺 𝑟𝑓 =
475.2475
(−s2 + 23.27s + 475)
(47)
The closed-loop reduced-order PD controlled system with this pre-filter transfer function will not
give the expected pre-filtered closed-loop response because of the introduction of the right-hand side pole
into the system by the pre-filter transfer function. Since the pre-filter transfer function obtained from
the closed-loop reduced-order PD controlled system will destabilize the system, the next option is to obtain
the pre-filter transfer function from the closed-loop PD controlled transfer function for the original
higher-order system.
5.4. Determination of pre-filter transfer function from higher-order PD controlled system
The PD controlled closed-loop transfer function for the original higher-order system is as
shown in (34). Factorizing the numerator of (34) gives (48).
𝐺hccl =
98870(s + 13.07)
s4 + 1825s3 + 42625s2 + 343500𝑠 + 1292000
(48)
It can be seen from (48) that the introduction of PD controller into the system has increased the number of
reduced-order system closed-loop zero from 0 for the uncontrolled system to 1 for the controlled system at
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s = −13.0707. The expected PD controlled closed-loop transfer function for the original higher-order
system with pre-filter transfer function is as shown in (49).
𝐺hcclf =
1292000
s4 + 1825s3 + 42625s2 + 343500𝑠 + 1292000
(49)
But from (40),
𝐺hf =
𝐺hccl
𝐺hcclf
(50)
therefore,
𝐺hf =
13.07
(s + 13.07)
(51)
From (51), the transfer function for PD controlled higher-order system with higher-order pre-filter is
expressed as,
𝐺hcclf = (
13.07
s + 13.07
) (
98870(s + 13.07)
s4 + 1825s3 + 42625s2 + 343500𝑠 + 1292000
) (52)
6. SIMULATION
The controller design carried out in this paper has resulted into four types of controlled systems,
namely PID controlled system without pre-filter, PID controlled system with pre-filter, PD controlled system
without pre-filter and PD controlled system with pre-filter. It should be noted that the system of interest
is the higher-order system which is the original system. Therefore, to select the most appropriate out of these
four designed micro-SAC systems, there is the need to investigate their performance via simulation.
Therefore, the system unit step response was plotted for these systems and the time domain performance
parameters were extracted and used as the basis for selecting the most appropriate system after comparison.
The time-domain performance parameters of interest are the rise time (𝑇𝑟), settling time (𝑇𝑠), percentage
overshoot (𝑃𝑂), time to peak overshoot (𝑇𝑝) and steady-state error (𝐸𝑠𝑠). To easy the system performance,
comparison and analysis the system simulation was carried out using the uncontrolled and controlled systems
closed-loop transfer functions as follows. Using (12), (25), (34), (43) and (52), the closed-loop step responses
for the uncontrolled higher-order system; PID controlled higher-order system without pre-filter; PD
controlled higher-order system without pre-filter; PID controlled higher-order system with pre-filter and PD
controlled higher-order system with pre-filter were plotted as shown in Figure 5.
Figure 5. Closed-loop step response for uncontrolled and controlled higher order system
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7. RESULTS AND DISCUSSION
The step response parameters in Table 3 were obtained from the uncontrolled and controlled
systems closed-loop step response of Figure 5. As can be seen from Figure 5 and Table 3, the PID-controlled
system without pre-filter has a better performance compared to the uncontrolled system when the rise time,
settling time and time to peak overshoot were considered, but the performance becomes worse in terms
of percentage overshoot. Introduction of pre-filter into the PID controlled system reduces the settling time
and percentage overshoot but worsen both the rise time and time-to-peak overshoot by increasing the
numerical value of these parameters. Introduction of pre-filter into the PD controlled system worsen the
system performance by increasing the numerical value of the rise time, settling time and time to peak
overshoot. But there is a reduction in the value of the percentage overshoot encountered by this system when
compared to PD controlled system without pre-filter. Both the PD controlled systems without and with pre-
filter have better performance compared to the uncontrolled system considering the rise time, settling time
and time to peak overshoot. But the percentage overshoot for the uncontrolled system is less than that for any
of the two PD controlled system.
Table 3. Step response performance parameters for yaw-axis attitude closed-loop controlled system
System condition 𝑇𝑟 (s) 𝑇𝑠 (s) PO 𝑇𝑝 (s) 𝐸𝑠𝑠
Uncontrolled system 1.89 3.49 0 5.23 0
PID controlled system without pre-filter 0.136 1.31 48.1 0.37 0
PID controlled system with pre-filter 0.365 1.17 1.07 0.761 0
PD controlled system without pre-filter 0.288 0.814 4.73 0.593 0
PD controlled system with pre-filter 0.332 0.887 3.66 0.706 0
From the results, there are three major time-domain performance specifications to be satisfied; it can
be seen in Table 3 that the uncontrolled system satisfies the 𝑃𝑂 and 𝐸𝑠𝑠 conditions, PID controlled system
without pre-filter satisfied the 𝑇𝑠 and 𝐸𝑠𝑠 conditions, PID controlled system with pre-filter satisfied
the 𝑇𝑠, 𝑃𝑂 and 𝐸𝑠𝑠 conditions, the PD controlled system either with or without pre-filter satisfies the 𝑇𝑠,
PO and 𝐸𝑠𝑠 conditions. Finally, three out of the four controlled systems designed satisfy the design
specifications of 𝑇𝑠 ≤2 s, 𝑃𝑂 ≤ 5%, and 𝐸𝑠𝑠 = 0. It is noted that the three are the PID controlled system with
pre-filter, PD controlled system without pre-filter and PD controlled system with pre-filter. Based on this
analysis any of the three systems can be used but PD controlled system without pre-filter is the most
preferable due to its structural simplicity which will enhance its digital implementation.
8. CONCLUSION
PID and PD controller-based microsatellite attitude controllers were designed. Pre-filter transfer
functions were designed and incorporated into the designed systems to improve their performance.
The designed systems were tested via simulation and the results revealed that three out of the four systems
satisfy the design specifications and the PD controlled system without pre-filter transfer function is the most
preferable due to its structural simplicity which will enhance its digital implementation.
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