In this paper, the new automatic tool that is based on the firefly algorithm whose purpose is optimization of pole location in the control of state feedback has been presented. The aim is satisfying specifications of performance like settling and rise time, steady state as well as overshoot error. Utilization of Firefly algorithm has demonstrated the benefits of controllers based on this kind of time domain over controllers based on the frequency domain like Proportional-Integral Derivative (PID). The presented method is more particular for the multi-input multi-output (MIMO) systems that have substantial state numbers. The simulation results indicated that the proposed method had superior performance in providing solution to the problems that involved stabilization of helicopter under the Rationalized Model of helicopter/ Moreover, it demonstrates the Firefly algorithm effectiveness with regards to, the state observer design and feedback controller and auto-tuning.
Permanent magnet direct current motors (PMDCM) are widely used in various applications such as space technologies, personal computers, medical, military, robotics, electrical vehicles, etc. In this paper, the mathematical model of PMDCM is designed and simulated using MATLAB software. The PMDCM speed is controlled using rate feedback controller due to its ability of improving system damping. To improve the controller performance, it’s parameters are tuned using genetic algorithm (GA) and direct search (DS) techniques. The tuning process based on different performance criteria. The most four common performance criteria used in this paper are JIAE (Integral of Absolute Error), JISE (Integral of Square Error), JITAE (Integral of Time-Weighted Absolute Error), and JITSE (Integral of Time-Weighted Square Error). The results obtained from these evolutionary techniques are compared. The results show an obvious improvement in system performance including enhancing the transient and steady state of PMDCM speed responses for all performance criteria.
In this paper, the closed loop speed controller parameters are optimized for the permanent magnet synchronous motor (PMSM) drive on the basis of the indirect field-oriented control (IFOC) technique. In this derive system under study, the speed and current controllers are implemented using the fractional order proportional, integral, and derivative (FOPID) controlling technique. FOPID is considered as efficient techniques for ripple minimization. The hybrid grey wolf optimizer (HGWO) is applied to obtain the optimal controllers in case of implementing conventional PID as well as FOPID controllers in the derive system. The optimal controller parameters tend to enhance the drive response as ripple content in speed and current, either during steady state time or transient time. The drive system is modeled and tested under various operating condition of load torque and speed. Finally, the performance for PID and FOPID are evaluated and compared within MATLAB/Simulink environment. The results attain the efficacy of the operating performance with the FOPID controller. The result shows a fast response and reduction of ripples in the torque and the current.
Data-based PID control of flexible joint robot using adaptive safe experiment...journalBEEI
This paper proposes the data-based PID controller of flexible joint robot based on adaptive safe experimentation dynamics (ASED) algorithm. The ASED algorithm is an enhanced version of SED algorithm where the updated tuning variable is modified to adapt to the change of the objective function. By adopting the adaptive term to the updated equation of SED, it is expected that the convergence accuracy can be further improved. The effectiveness of the ASED algorithm is verified to tune the PID controller of flexible joint robot. In this flexible joint control problem, two PID controllers are utilized to control both rotary angle tracking and vibration of flexible joint robot. The performance of the proposed data-based PID controller is assessed in terms of trajectory tracking of angular motion, vibration reduction and statistical analysis of the pre-defined control objective function. The simulation results showed that the data-based PID controller based on ASED is able to produce better control accuracy than the conventional SED based method.
Permanent magnet direct current motors (PMDCM) are widely used in various applications such as space technologies, personal computers, medical, military, robotics, electrical vehicles, etc. In this paper, the mathematical model of PMDCM is designed and simulated using MATLAB software. The PMDCM speed is controlled using rate feedback controller due to its ability of improving system damping. To improve the controller performance, it’s parameters are tuned using genetic algorithm (GA) and direct search (DS) techniques. The tuning process based on different performance criteria. The most four common performance criteria used in this paper are JIAE (Integral of Absolute Error), JISE (Integral of Square Error), JITAE (Integral of Time-Weighted Absolute Error), and JITSE (Integral of Time-Weighted Square Error). The results obtained from these evolutionary techniques are compared. The results show an obvious improvement in system performance including enhancing the transient and steady state of PMDCM speed responses for all performance criteria.
In this paper, the closed loop speed controller parameters are optimized for the permanent magnet synchronous motor (PMSM) drive on the basis of the indirect field-oriented control (IFOC) technique. In this derive system under study, the speed and current controllers are implemented using the fractional order proportional, integral, and derivative (FOPID) controlling technique. FOPID is considered as efficient techniques for ripple minimization. The hybrid grey wolf optimizer (HGWO) is applied to obtain the optimal controllers in case of implementing conventional PID as well as FOPID controllers in the derive system. The optimal controller parameters tend to enhance the drive response as ripple content in speed and current, either during steady state time or transient time. The drive system is modeled and tested under various operating condition of load torque and speed. Finally, the performance for PID and FOPID are evaluated and compared within MATLAB/Simulink environment. The results attain the efficacy of the operating performance with the FOPID controller. The result shows a fast response and reduction of ripples in the torque and the current.
Data-based PID control of flexible joint robot using adaptive safe experiment...journalBEEI
This paper proposes the data-based PID controller of flexible joint robot based on adaptive safe experimentation dynamics (ASED) algorithm. The ASED algorithm is an enhanced version of SED algorithm where the updated tuning variable is modified to adapt to the change of the objective function. By adopting the adaptive term to the updated equation of SED, it is expected that the convergence accuracy can be further improved. The effectiveness of the ASED algorithm is verified to tune the PID controller of flexible joint robot. In this flexible joint control problem, two PID controllers are utilized to control both rotary angle tracking and vibration of flexible joint robot. The performance of the proposed data-based PID controller is assessed in terms of trajectory tracking of angular motion, vibration reduction and statistical analysis of the pre-defined control objective function. The simulation results showed that the data-based PID controller based on ASED is able to produce better control accuracy than the conventional SED based method.
Simultaneous Data Path and Clock Path Engineering Change Order for Efficient ...IOSRJVSP
With ever increasing IC complexity and aggressive technology scaling towards cutting edge technologies, the SOC timing closure is becoming a tedious, time consuming and challenging task. Also in advanced technology nodes one has to consider the effect of PVT variation, temperature inversion, noise effect on delay, which is adding more scenarios for STA to cover. In this work, we have proposed an algorithm for simultaneous usage of data path ECO and clock path ECO for efficient timing closure in SOC. The algorithm here tries to fix multiple failing end points through simple clock path optimization, instead of performing data path optimization across multiple paths, thus reducing area and power overhead. The proposed algorithm is tested on multiple industrial designs and found to achieve 30.98% improvement interms of Worst Negative Slack, 63.63% interms of Total Negative Slack, 58.19% interms of Failing End Points. Also the algorithm is physically aware meaning that the placement blockages, congestions are considered while inserting buffers. The algorithm works under Distributed Multi Scenarios Analysis (DMSA) environment and considers the effect of ECO across multiple corners and modes
This work proposes an optimization algorithm to control speed of a permanent magnet synchronous motor (PMSM) during starting and speed reversal of motor, as well as during load disturbance conditions. The objective is to minimize the integral absolute control error of the PMSM shaft speed to achieve fast and accurate speed response under load disturbance and speed reversal conditions. The maximum overshoot, peak time, settling time and rise time of the motor is also minimized to obtain efficient transient speed response. Optimum speed control of PMSM is obtained with the aid of a PID speed controller. Modified Particle Swarm Optimization (MPSO) and Ant Colony Optimization (ACO) techniques has been employed for tuning of the PID speed controller, to determine its gain coefficients (proportional, integral and derivative). Simulation results demonstrate that with use of MPSO and ACO techniques improved control performance of PMSM can be achieved in comparison to the classical Ziegler-Nichols (Z-N) method of PID tuning.
A MODIFIED ANT COLONY ALGORITHM FOR SOLVING THE UNIT COMMITMENT PROBLEMaeijjournal
Solving the unit commitment (UC) problem is one of the most complicated issues in power systems that its
exact solving can be calculated by perfect counting of entire possible compounds of generative units. UC is
equated as a nonlinear optimization with huge size. Purpose of solving this problem is to programming the
optimization of the generative units to minimize the full action cost regarding problem constraints. In this
article, a modified version of ant colony optimization (MACO) is introduced for solving the UC problem in
a power system. ACO algorithm is a powerful optimization method which has the capability of fleeing from
local minimums by performing flexible memory system. The efficiency of proposed method in two power
system containing 4 and 10 generative units is indicated. Comparison of obtained results from the proposed
method with results of the past well-known methods is a proof for suitability of performing the introduced
algorithm in economic input and output of generative units.
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.
Security Constrained UCP with Operational and Power Flow ConstraintsIDES Editor
An algorithm to solve security constrained unit
commitment problem (UCP) with both operational and power
flow constraints (PFC) have been proposed to plan a secure
and economical hourly generation schedule. This proposed
algorithm introduces an efficient unit commitment (UC)
approach with PFC that obtains the minimum system
operating cost satisfying both unit and network constraints
when contingencies are included. In the proposed model
repeated optimal power flow for the satisfactory unit
combinations for every line removal under given study period
has been carried out to obtain UC solutions with both unit and
network constraints. The system load demand patterns have
been obtained for the test case systems taking into account of
the hourly load variations at the load buses by adding
Gaussian random noises. In this paper, the proposed
algorithm has been applied to obtain UC solutions for IEEE
30, 118 buses and Indian utility practical systems scheduled
for 24 hours. The algorithm and simulation are carried
through Matlab software and the results obtained are quite
encouraging.
Analysis & Control of Inverted Pendulum System Using PID ControllerIJERA Editor
This Analysis designs a two-loop proportional–integral–derivative (PID) controller for an inverted cart– pendulum system via pole placement technique, where the (dominant) closed-loop poles to be placed at the desired locations are obtained from an Linear quadratic regulator (LQR) design. It is seen that in addition to yielding better responses (because of additional integral action) than this LQR (equivalent to two-loop PD controller) design, the proposed PID controller is robust enough. The performance and of the PID compensation are verified through simulations as well as experiments.
Design and optimization of pid controller using genetic algorithmeSAT Journals
Abstract Natural evolution is mimicked by Genetic Algorithms (GAs) which is a stochastic global search method used for optimization. . In missile control systems Proportional Integral Derivative (PID) control is widely used, but due to empirically selected parameters Kp, Ki, Kd it is difficult to achieve parameter optimization. Genetic algorithm is a search algorithm that is based on natural selection and genetics principles.GA is a computational algorithm which deals with genetics of the human body. It evolves with the number of iterations. After ever iteration a better result is expected. These results are checked for the error. The fittest roots or solution are considered for the next generation based on the selection criterion. GA randomly generates the initial population of the PID control parameters according to the calculation of selection (Normalized Geometric Selection), crossover (Arithmetic Crossover) and mutation (Uniform Mutation), thus optimizing the control parameters. Mean Square Error (MSE) value is chosen as the performance assessment index. For a missile altitude control Proportional Integral Derivative (PID) controller using genetic algorithm is implemented & compared with the classical method Zeigler-Nichols (Z-N) in the paper. Z-N method is classical method which tunes the parameters of PID. The parameters of PID are difficult to tune. Tuned parameters give the optimum solution. Optimum solution generally converges to a solution having minimum error. Minimum error gives a response of the system in terms of maximum over shoot, Settling time, Rise time & Steady State Error. The designed PID with the Genetic Algorithm has much faster response than the classical method.
Metaheuristics-based Optimal Reactive Power Management in Offshore Wind Farms...Aimilia-Myrsini Theologi
The aim of the thesis is to optimally coordinate the reactive power sources in offshore wind farms in a predictive manner based to the principle of minimizing the wind farm power losses, as well the variations of the transformers tap positions. First, an accurate Neural Network-based wind speed forecasting algorithm was developed in order to counteract the uncertainty of the wind and finally, the optimal management of the available reactive sources is tackled by a metaheuristics-based method. Two different cases were investigated: a far-offshore wind farm with HVDC interconnection link and the AC connected Dutch wind farm BORSSELE.
PID controller for microsatellite yaw-axis attitude control system using ITAE...TELKOMNIKA JOURNAL
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.
Design of a Controller for Systems with Simultaneously Variable Parametersijtsrd
The contribution of this paper is in suggesting an analysis and design of a control system with variable parameters By applying the recommended by the author method of the Advanced D-partitioning the system's stability can be analyzed in details The method defines regions of stability in the space of the system's parameters The designed controller is enforcing desired system performance The suggested technique for analysis and design is essential and beneficial for the further development of control theory in this area Prof. Kamen Yanev "Design of a Controller for Systems with Simultaneously Variable Parameters" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-2 | Issue-6 , October 2018, URL: http://www.ijtsrd.com/papers/ijtsrd18440.pdf
Performance Indices Based Optimal Tunining Criterion for Speed Control of DC ...IAES-IJPEDS
This paper presents a framework to carry out a simulation to tune the speed controller gains for known input of DC drive system. The objective is to find the optimal controller gains (proportional and integral) in a closed loop system. Various performance indices have been considered as optimal criterion in this work. The optimal gain values have been obtained by conventional and Genetic Algorithm (GA) based optimization methods. The study has been conducted on a simulink model of three phase converter controlled direct current (DC) drive with current and speed control strategy. The results show that the GA based tunning provided better solutions as compared to conventional optimization methods based tunning.
Parallel distribution compensation PID based on Takagi-Sugeno fuzzy model app...IJECEIAES
This paper presents a new technique for a Takagi-Sugeno (TS) fuzzy parallels distribution compensation-PID'S (TSF-PDC-PID'S) to improve the performance of egyptian load frequency control (ELFC). In this technique, the inputs to a TS fuzzy model are the parameters of the change of operating points. The TS fuzzy model can definite the suitable PID control for a certain operating point. The parameters of PID'S controllers are obtained by ant colony optimization (ACO) technique in each operating point based on an effective cost function. The system controlled by the proposed TSF-PDCPID’S is investigated under different types of disturbances, uncertainty and parameters variations. The simulation results ensure that the TSF-PDC-PID'S can update the suitable PID controller at several operating points so, it has a good dynamic response under many types of disturbances compared to fixed optimal PID controller.
A novel auto-tuning method for fractional order PID controllersISA Interchange
Fractional order PID controllers benefit from an increasing amount of interest from the research community due to their proven advantages. The classical tuning approach for these controllers is based on specifying a certain gain crossover frequency, a phase margin and a robustness to gain variations. To tune the fractional order controllers, the modulus, phase and phase slope of the process at the imposed gain crossover frequency are required. Usually these values are obtained from a mathematical model of the process, e.g. a transfer function. In the absence of such model, an auto-tuning method that is able to estimate these values is a valuable alternative. Auto-tuning methods are among the least discussed design methods for fractional order PID controllers. This paper proposes a novel approach for the auto-tuning of fractional order controllers. The method is based on a simple experiment that is able to determine the modulus, phase and phase slope of the process required in the computation of the controller parameters. The proposed design technique is simple and efficient in ensuring the robustness of the closed loop system. Several simulation examples are presented, including the control of processes exhibiting integer and fractional order dynamics.
Cuckoo search algorithm based for tunning both PI and FOPID controllers for ...IJECEIAES
Wind Energy has received great attention in this century. It influences the new power systems, adding new challenges to the power system expansion problem. Nowadays, double feed induction generator (DFIG) wind turbines are used majorly in wind farms, due to their advantages over other types. Therefore, the analysis of the system using this type has become very important. In this paper, a wind turbine modelling was introduced with suggested controllers, in order to enhance the system response, with respect to both pitch control and maximum output power. Cuckoo search algorithm (CSA), a meta-heuristic optimization technique, was implemented to determine the gains of a proportional-integral (PI) controller and fractional order proportional-integral-derivative (FOPID) controller to optimize the system, which considered three control loops: pitch, rotor-side converter, and grid-side converter control loop. Simulation results were determined using MATLAB/Simulink. The comparative analysis of the results showed that the PI Controller gave the simplest and the best response in case of the pitch and rotor-side control loops while the FOPID was the best when applied to the grid-side control loop. Based on the results and discussion, a suggestion of using a compination of each controller was introduced.
Closed-loop step response for tuning PID fractional-order filter controllersISA Interchange
Analytical methods are usually applied for tuning fractional controllers. The present paper proposes an empirical method for tuning a new type of fractional controller known as PID-Fractional-Order-Filter (FOF-PID). Indeed, the setpoint overshoot method, initially introduced by Shamsuzzoha and Skogestad, has been adapted for tuning FOF-PID controller. Based on simulations for a range of first order with time delay processes, correlations have been derived to obtain PID-FOF controller parameters similar to those obtained by the Internal Model Control (IMC) tuning rule. The setpoint overshoot method requires only one closed-loop step response experiment using a proportional controller (P-controller). To highlight the potential of this method, simulation results have been compared with those obtained with the IMC method as well as other pertinent techniques. Various case studies have also been considered. The comparison has revealed that the proposed tuning method performs as good as the IMC. Moreover, it might offer a number of advantages over the IMC tuning rule. For instance, the parameters of the frac- tional controller are directly obtained from the setpoint closed-loop response data without the need of any model of the plant to be controlled.
Tuning of PID controllers for integrating systems using direct synthesis methodISA Interchange
A PID controller is designed for various forms of integrating systems with time delay using direct synthesis method. The method is based on comparing the characteristic equation of the integrating system and PID controller with a filter with the desired characteristic equation. The desired characteristic equation comprises of multiple poles which are placed at the same desired location. The tuning parameter is adjusted so as to achieve the desired robustness. Tuning rules in terms of process parameters are given for various forms of integrating systems. The tuning parameter can be selected for the desired robustness by specifying Ms value. The proposed controller design method is applied to various transfer function models and to the nonlinear model equations of jacketed CSTR to show its effectiveness and applicability.
Simultaneous Data Path and Clock Path Engineering Change Order for Efficient ...IOSRJVSP
With ever increasing IC complexity and aggressive technology scaling towards cutting edge technologies, the SOC timing closure is becoming a tedious, time consuming and challenging task. Also in advanced technology nodes one has to consider the effect of PVT variation, temperature inversion, noise effect on delay, which is adding more scenarios for STA to cover. In this work, we have proposed an algorithm for simultaneous usage of data path ECO and clock path ECO for efficient timing closure in SOC. The algorithm here tries to fix multiple failing end points through simple clock path optimization, instead of performing data path optimization across multiple paths, thus reducing area and power overhead. The proposed algorithm is tested on multiple industrial designs and found to achieve 30.98% improvement interms of Worst Negative Slack, 63.63% interms of Total Negative Slack, 58.19% interms of Failing End Points. Also the algorithm is physically aware meaning that the placement blockages, congestions are considered while inserting buffers. The algorithm works under Distributed Multi Scenarios Analysis (DMSA) environment and considers the effect of ECO across multiple corners and modes
This work proposes an optimization algorithm to control speed of a permanent magnet synchronous motor (PMSM) during starting and speed reversal of motor, as well as during load disturbance conditions. The objective is to minimize the integral absolute control error of the PMSM shaft speed to achieve fast and accurate speed response under load disturbance and speed reversal conditions. The maximum overshoot, peak time, settling time and rise time of the motor is also minimized to obtain efficient transient speed response. Optimum speed control of PMSM is obtained with the aid of a PID speed controller. Modified Particle Swarm Optimization (MPSO) and Ant Colony Optimization (ACO) techniques has been employed for tuning of the PID speed controller, to determine its gain coefficients (proportional, integral and derivative). Simulation results demonstrate that with use of MPSO and ACO techniques improved control performance of PMSM can be achieved in comparison to the classical Ziegler-Nichols (Z-N) method of PID tuning.
A MODIFIED ANT COLONY ALGORITHM FOR SOLVING THE UNIT COMMITMENT PROBLEMaeijjournal
Solving the unit commitment (UC) problem is one of the most complicated issues in power systems that its
exact solving can be calculated by perfect counting of entire possible compounds of generative units. UC is
equated as a nonlinear optimization with huge size. Purpose of solving this problem is to programming the
optimization of the generative units to minimize the full action cost regarding problem constraints. In this
article, a modified version of ant colony optimization (MACO) is introduced for solving the UC problem in
a power system. ACO algorithm is a powerful optimization method which has the capability of fleeing from
local minimums by performing flexible memory system. The efficiency of proposed method in two power
system containing 4 and 10 generative units is indicated. Comparison of obtained results from the proposed
method with results of the past well-known methods is a proof for suitability of performing the introduced
algorithm in economic input and output of generative units.
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.
Security Constrained UCP with Operational and Power Flow ConstraintsIDES Editor
An algorithm to solve security constrained unit
commitment problem (UCP) with both operational and power
flow constraints (PFC) have been proposed to plan a secure
and economical hourly generation schedule. This proposed
algorithm introduces an efficient unit commitment (UC)
approach with PFC that obtains the minimum system
operating cost satisfying both unit and network constraints
when contingencies are included. In the proposed model
repeated optimal power flow for the satisfactory unit
combinations for every line removal under given study period
has been carried out to obtain UC solutions with both unit and
network constraints. The system load demand patterns have
been obtained for the test case systems taking into account of
the hourly load variations at the load buses by adding
Gaussian random noises. In this paper, the proposed
algorithm has been applied to obtain UC solutions for IEEE
30, 118 buses and Indian utility practical systems scheduled
for 24 hours. The algorithm and simulation are carried
through Matlab software and the results obtained are quite
encouraging.
Analysis & Control of Inverted Pendulum System Using PID ControllerIJERA Editor
This Analysis designs a two-loop proportional–integral–derivative (PID) controller for an inverted cart– pendulum system via pole placement technique, where the (dominant) closed-loop poles to be placed at the desired locations are obtained from an Linear quadratic regulator (LQR) design. It is seen that in addition to yielding better responses (because of additional integral action) than this LQR (equivalent to two-loop PD controller) design, the proposed PID controller is robust enough. The performance and of the PID compensation are verified through simulations as well as experiments.
Design and optimization of pid controller using genetic algorithmeSAT Journals
Abstract Natural evolution is mimicked by Genetic Algorithms (GAs) which is a stochastic global search method used for optimization. . In missile control systems Proportional Integral Derivative (PID) control is widely used, but due to empirically selected parameters Kp, Ki, Kd it is difficult to achieve parameter optimization. Genetic algorithm is a search algorithm that is based on natural selection and genetics principles.GA is a computational algorithm which deals with genetics of the human body. It evolves with the number of iterations. After ever iteration a better result is expected. These results are checked for the error. The fittest roots or solution are considered for the next generation based on the selection criterion. GA randomly generates the initial population of the PID control parameters according to the calculation of selection (Normalized Geometric Selection), crossover (Arithmetic Crossover) and mutation (Uniform Mutation), thus optimizing the control parameters. Mean Square Error (MSE) value is chosen as the performance assessment index. For a missile altitude control Proportional Integral Derivative (PID) controller using genetic algorithm is implemented & compared with the classical method Zeigler-Nichols (Z-N) in the paper. Z-N method is classical method which tunes the parameters of PID. The parameters of PID are difficult to tune. Tuned parameters give the optimum solution. Optimum solution generally converges to a solution having minimum error. Minimum error gives a response of the system in terms of maximum over shoot, Settling time, Rise time & Steady State Error. The designed PID with the Genetic Algorithm has much faster response than the classical method.
Metaheuristics-based Optimal Reactive Power Management in Offshore Wind Farms...Aimilia-Myrsini Theologi
The aim of the thesis is to optimally coordinate the reactive power sources in offshore wind farms in a predictive manner based to the principle of minimizing the wind farm power losses, as well the variations of the transformers tap positions. First, an accurate Neural Network-based wind speed forecasting algorithm was developed in order to counteract the uncertainty of the wind and finally, the optimal management of the available reactive sources is tackled by a metaheuristics-based method. Two different cases were investigated: a far-offshore wind farm with HVDC interconnection link and the AC connected Dutch wind farm BORSSELE.
PID controller for microsatellite yaw-axis attitude control system using ITAE...TELKOMNIKA JOURNAL
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.
Design of a Controller for Systems with Simultaneously Variable Parametersijtsrd
The contribution of this paper is in suggesting an analysis and design of a control system with variable parameters By applying the recommended by the author method of the Advanced D-partitioning the system's stability can be analyzed in details The method defines regions of stability in the space of the system's parameters The designed controller is enforcing desired system performance The suggested technique for analysis and design is essential and beneficial for the further development of control theory in this area Prof. Kamen Yanev "Design of a Controller for Systems with Simultaneously Variable Parameters" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-2 | Issue-6 , October 2018, URL: http://www.ijtsrd.com/papers/ijtsrd18440.pdf
Performance Indices Based Optimal Tunining Criterion for Speed Control of DC ...IAES-IJPEDS
This paper presents a framework to carry out a simulation to tune the speed controller gains for known input of DC drive system. The objective is to find the optimal controller gains (proportional and integral) in a closed loop system. Various performance indices have been considered as optimal criterion in this work. The optimal gain values have been obtained by conventional and Genetic Algorithm (GA) based optimization methods. The study has been conducted on a simulink model of three phase converter controlled direct current (DC) drive with current and speed control strategy. The results show that the GA based tunning provided better solutions as compared to conventional optimization methods based tunning.
Parallel distribution compensation PID based on Takagi-Sugeno fuzzy model app...IJECEIAES
This paper presents a new technique for a Takagi-Sugeno (TS) fuzzy parallels distribution compensation-PID'S (TSF-PDC-PID'S) to improve the performance of egyptian load frequency control (ELFC). In this technique, the inputs to a TS fuzzy model are the parameters of the change of operating points. The TS fuzzy model can definite the suitable PID control for a certain operating point. The parameters of PID'S controllers are obtained by ant colony optimization (ACO) technique in each operating point based on an effective cost function. The system controlled by the proposed TSF-PDCPID’S is investigated under different types of disturbances, uncertainty and parameters variations. The simulation results ensure that the TSF-PDC-PID'S can update the suitable PID controller at several operating points so, it has a good dynamic response under many types of disturbances compared to fixed optimal PID controller.
A novel auto-tuning method for fractional order PID controllersISA Interchange
Fractional order PID controllers benefit from an increasing amount of interest from the research community due to their proven advantages. The classical tuning approach for these controllers is based on specifying a certain gain crossover frequency, a phase margin and a robustness to gain variations. To tune the fractional order controllers, the modulus, phase and phase slope of the process at the imposed gain crossover frequency are required. Usually these values are obtained from a mathematical model of the process, e.g. a transfer function. In the absence of such model, an auto-tuning method that is able to estimate these values is a valuable alternative. Auto-tuning methods are among the least discussed design methods for fractional order PID controllers. This paper proposes a novel approach for the auto-tuning of fractional order controllers. The method is based on a simple experiment that is able to determine the modulus, phase and phase slope of the process required in the computation of the controller parameters. The proposed design technique is simple and efficient in ensuring the robustness of the closed loop system. Several simulation examples are presented, including the control of processes exhibiting integer and fractional order dynamics.
Cuckoo search algorithm based for tunning both PI and FOPID controllers for ...IJECEIAES
Wind Energy has received great attention in this century. It influences the new power systems, adding new challenges to the power system expansion problem. Nowadays, double feed induction generator (DFIG) wind turbines are used majorly in wind farms, due to their advantages over other types. Therefore, the analysis of the system using this type has become very important. In this paper, a wind turbine modelling was introduced with suggested controllers, in order to enhance the system response, with respect to both pitch control and maximum output power. Cuckoo search algorithm (CSA), a meta-heuristic optimization technique, was implemented to determine the gains of a proportional-integral (PI) controller and fractional order proportional-integral-derivative (FOPID) controller to optimize the system, which considered three control loops: pitch, rotor-side converter, and grid-side converter control loop. Simulation results were determined using MATLAB/Simulink. The comparative analysis of the results showed that the PI Controller gave the simplest and the best response in case of the pitch and rotor-side control loops while the FOPID was the best when applied to the grid-side control loop. Based on the results and discussion, a suggestion of using a compination of each controller was introduced.
Closed-loop step response for tuning PID fractional-order filter controllersISA Interchange
Analytical methods are usually applied for tuning fractional controllers. The present paper proposes an empirical method for tuning a new type of fractional controller known as PID-Fractional-Order-Filter (FOF-PID). Indeed, the setpoint overshoot method, initially introduced by Shamsuzzoha and Skogestad, has been adapted for tuning FOF-PID controller. Based on simulations for a range of first order with time delay processes, correlations have been derived to obtain PID-FOF controller parameters similar to those obtained by the Internal Model Control (IMC) tuning rule. The setpoint overshoot method requires only one closed-loop step response experiment using a proportional controller (P-controller). To highlight the potential of this method, simulation results have been compared with those obtained with the IMC method as well as other pertinent techniques. Various case studies have also been considered. The comparison has revealed that the proposed tuning method performs as good as the IMC. Moreover, it might offer a number of advantages over the IMC tuning rule. For instance, the parameters of the frac- tional controller are directly obtained from the setpoint closed-loop response data without the need of any model of the plant to be controlled.
Tuning of PID controllers for integrating systems using direct synthesis methodISA Interchange
A PID controller is designed for various forms of integrating systems with time delay using direct synthesis method. The method is based on comparing the characteristic equation of the integrating system and PID controller with a filter with the desired characteristic equation. The desired characteristic equation comprises of multiple poles which are placed at the same desired location. The tuning parameter is adjusted so as to achieve the desired robustness. Tuning rules in terms of process parameters are given for various forms of integrating systems. The tuning parameter can be selected for the desired robustness by specifying Ms value. The proposed controller design method is applied to various transfer function models and to the nonlinear model equations of jacketed CSTR to show its effectiveness and applicability.
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.
Controller Tuning for Integrator Plus Delay Processes.theijes
A design method for PID controllers based on internal model control (IMC) principles, direct synthesis method (DS), stability analysis (SA) method for pure integrating process with time delay is proposed. Analytical expressions for PID controllers are derived for several common types of process models, including first order and second-order plus time delay models and an integrator plus time delay model. Here in this paper, a simple controller design rule and tuning procedure for unstable processes with delay time is discussed. Simulation examples are included to show the effectiveness of the proposed method
Optimal tuning of proportional integral controller for fixed-speed wind turb...IJECEIAES
The need for tuning the PI controller is to improve its performance metrics such as rise time, settling time and overshoot. This paper proposed the Grey Wolf Optimizer (GWO) tuning method of a Proportional Integral (PI) controller for fixed speed Wind Turbine. The objective is to overcome the limitations in using the Particle Swarm Optimization (PSO) and Genetic Algorithm (GA) tuning methods for tuning the PI controller, such as quick convergence occurring too soon into a local optimum, and overshoot of the controller step input response. The GWO, the PSO, and the GA tuning methods were implemented in the Matlab 2016b to search the optimal gains of the Proportional and Integral controller through minimization of the objective function. A comparison was made between the results obtained using the GWO tuning method against PSO and GA tuning techniques. The GWO computed the smallest value of the minimized objective function. It exhibited faster convergence and better time response specification compared to other two methods. These and more performance indicators show the superiority of the GWO tuning method.
Design of a model reference adaptive PID control algorithm for a tank system IJECEIAES
This paper describes the design of an adaptive controller based on model reference adaptive PID control (MRAPIDC) to stabilize a two-tank process when large variations of parameters and external disturbances affect the closed-loop system. To achieve that, an innovative structure of the adaptive PID controller is defined, an additional PI is designed to make sure that the reference model produces stable output signals and three adaptive gains are included to guarantee stability and robustness of the closed-loop system. Then, the performance of the model reference adaptive PID controller on the behaviour of the closed-loop system is compared to a PI controller designed on MATLAB when both closed-loop systems are under various conditions. The results demonstrate that the MRAPIDC performs significantly better than the conventional PI controller.
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.
DESIGN OF PID CONTROLLERS INTEGRATOR SYSTEM WITH TIME DELAY AND DOUBLE INTEGR...ijics
In this paper first we investigate optimal PID control of a double integrating plus delay process and compare with the SIMC rules. What makes the double integrating process special is that derivative action is actually necessary for stabilization. In control, there is generally a trade-off between performance and
robustness, so there does not exist a single optimal controller. However, for a given robustness level (here defined in terms of the Ms-value) we can find the optimal controller which minimizes the performance J (here defined as the integrated absolute error (IAE)-value for disturbances). Interestingly, the SIMC PID controller is almost identical to the optimal pid controller. This can be seen by comparing the paretooptimal
curve for J as a function of Ms, with the curve found by varying the SIMC tuning parameter Tc.
Second, design of Proportional Integral and Derivative (PID) controllers based on internal model control (IMC) principles, direct synthesis method (DS), stability analysis (SA) method for pure integrating process with time delay is proposed. The performances of the proposed controllers are compared with the
controllers designed by recently reported methods. The robustness of the proposed controllers for the uncertainty in model parameters is evaluated considering one parameter at a time using Kharitonov’s theorem. The proposed controllers are applied to various transfer function models and to non linear model of isothermal continuous copolymerization of styrene-acrylonitrile in CSTR. An experimental set up of tank
with the outlet connected to a pump is considered for implementation of the PID controllers designed by
the three proposed methods to show the effectiveness of the methods.
DESIGN OF PID CONTROLLERS INTEGRATOR SYSTEM WITH TIME DELAY AND DOUBLE INTEGR...ijcisjournal
In this paper first we investigate optimal PID control of a double integrating plus delay process and compare with the SIMC rules. What makes the double integrating process special is that derivative action is actually necessary for stabilization. In control, there is generally a trade-off between performance and robustness, so there does not exist a single optimal controller. However, for a given robustness level (here defined in terms of the Ms-value) we can find the optimal controller which minimizes the performance J (here defined as the integrated absolute error (IAE)-value for disturbances). Interestingly, the SIMC PID controller is almost identical to the optimal pid controller. This can be seen by comparing the paretooptimal curve for J as a function of Ms, with the curve found by varying the SIMC tuning parameter Tc. Second, design of Proportional Integral and Derivative (PID) controllers based on internal model control (IMC) principles, direct synthesis method (DS), stability analysis (SA) method for pure integrating process with time delay is proposed. The performances of the proposed controllers are compared with the
controllers designed by recently reported methods. The robustness of the proposed controllers for the uncertainty in model parameters is evaluated considering one parameter at a time using Kharitonov’s theorem. The proposed controllers are applied to various transfer function models and to non linear model of isothermal continuous copolymerization of styrene-acrylonitrile in CSTR. An experimental set up of tank with the outlet connected to a pump is considered for implementation of the PID controllers designed by the three proposed methods to show the effectiveness of the methods.
Adaptive proportional integral derivative deep feedforward network for quadr...IJECEIAES
When the controlled system is subject to parameter variations and external disturbances, a fixed-parameter proportional integral derivative (PID) controller cannot ensure its stabilization. In this case, its control requires online parameter adjustment. Specifically, as the quadrotor is a multi-input multi-output, nonlinear, and underactuated system, robust control is necessary to ensure efficient trajectory tracking flights. In this paper, an adaptive proportional integral derivative (APID) controller is proposed to control the quadrotor systems. This APID-based control strategy uses a two hidden layer deep feedforward network (DFN), where the one-step secant algorithm is chosen for initializing the DFN parameters. All the design steps of the proposed adaptive controller are described. The multidimensional particle swarm optimization (PSO) algorithm is used for tuning the DFN parameters. Then, using two simulation efficiency tests, a comparison between the proposed PSO-based APID-DFN, the (non-optimized) APID-DFN, the feedforward network APID, and the fixed-parameter PID controllers proves much efficiency of the proposed adaptive controller. The results illustrate that the proposed PSO-based APID-DFN controller can ensure good quadrotor system stabilization and achieve minimum overshoot and faster convergence speed for all quadrotor motions. Thus, the proposed control strategy could be considered an additional intelligent method-based adaptive control for unmanned aerial vehicles.
Similar to Robust pole placement using firefly algorithm (20)
Bibliometric analysis highlighting the role of women in addressing climate ch...IJECEIAES
Fossil fuel consumption increased quickly, contributing to climate change
that is evident in unusual flooding and draughts, and global warming. Over
the past ten years, women's involvement in society has grown dramatically,
and they succeeded in playing a noticeable role in reducing climate change.
A bibliometric analysis of data from the last ten years has been carried out to
examine the role of women in addressing the climate change. The analysis's
findings discussed the relevant to the sustainable development goals (SDGs),
particularly SDG 7 and SDG 13. The results considered contributions made
by women in the various sectors while taking geographic dispersion into
account. The bibliometric analysis delves into topics including women's
leadership in environmental groups, their involvement in policymaking, their
contributions to sustainable development projects, and the influence of
gender diversity on attempts to mitigate climate change. This study's results
highlight how women have influenced policies and actions related to climate
change, point out areas of research deficiency and recommendations on how
to increase role of the women in addressing the climate change and
achieving sustainability. To achieve more successful results, this initiative
aims to highlight the significance of gender equality and encourage
inclusivity in climate change decision-making processes.
Voltage and frequency control of microgrid in presence of micro-turbine inter...IJECEIAES
The active and reactive load changes have a significant impact on voltage
and frequency. In this paper, in order to stabilize the microgrid (MG) against
load variations in islanding mode, the active and reactive power of all
distributed generators (DGs), including energy storage (battery), diesel
generator, and micro-turbine, are controlled. The micro-turbine generator is
connected to MG through a three-phase to three-phase matrix converter, and
the droop control method is applied for controlling the voltage and
frequency of MG. In addition, a method is introduced for voltage and
frequency control of micro-turbines in the transition state from gridconnected mode to islanding mode. A novel switching strategy of the matrix
converter is used for converting the high-frequency output voltage of the
micro-turbine to the grid-side frequency of the utility system. Moreover,
using the switching strategy, the low-order harmonics in the output current
and voltage are not produced, and consequently, the size of the output filter
would be reduced. In fact, the suggested control strategy is load-independent
and has no frequency conversion restrictions. The proposed approach for
voltage and frequency regulation demonstrates exceptional performance and
favorable response across various load alteration scenarios. The suggested
strategy is examined in several scenarios in the MG test systems, and the
simulation results are addressed.
Enhancing battery system identification: nonlinear autoregressive modeling fo...IJECEIAES
Precisely characterizing Li-ion batteries is essential for optimizing their
performance, enhancing safety, and prolonging their lifespan across various
applications, such as electric vehicles and renewable energy systems. This
article introduces an innovative nonlinear methodology for system
identification of a Li-ion battery, employing a nonlinear autoregressive with
exogenous inputs (NARX) model. The proposed approach integrates the
benefits of nonlinear modeling with the adaptability of the NARX structure,
facilitating a more comprehensive representation of the intricate
electrochemical processes within the battery. Experimental data collected
from a Li-ion battery operating under diverse scenarios are employed to
validate the effectiveness of the proposed methodology. The identified
NARX model exhibits superior accuracy in predicting the battery's behavior
compared to traditional linear models. This study underscores the
importance of accounting for nonlinearities in battery modeling, providing
insights into the intricate relationships between state-of-charge, voltage, and
current under dynamic conditions.
Smart grid deployment: from a bibliometric analysis to a surveyIJECEIAES
Smart grids are one of the last decades' innovations in electrical energy.
They bring relevant advantages compared to the traditional grid and
significant interest from the research community. Assessing the field's
evolution is essential to propose guidelines for facing new and future smart
grid challenges. In addition, knowing the main technologies involved in the
deployment of smart grids (SGs) is important to highlight possible
shortcomings that can be mitigated by developing new tools. This paper
contributes to the research trends mentioned above by focusing on two
objectives. First, a bibliometric analysis is presented to give an overview of
the current research level about smart grid deployment. Second, a survey of
the main technological approaches used for smart grid implementation and
their contributions are highlighted. To that effect, we searched the Web of
Science (WoS), and the Scopus databases. We obtained 5,663 documents
from WoS and 7,215 from Scopus on smart grid implementation or
deployment. With the extraction limitation in the Scopus database, 5,872 of
the 7,215 documents were extracted using a multi-step process. These two
datasets have been analyzed using a bibliometric tool called bibliometrix.
The main outputs are presented with some recommendations for future
research.
Use of analytical hierarchy process for selecting and prioritizing islanding ...IJECEIAES
One of the problems that are associated to power systems is islanding
condition, which must be rapidly and properly detected to prevent any
negative consequences on the system's protection, stability, and security.
This paper offers a thorough overview of several islanding detection
strategies, which are divided into two categories: classic approaches,
including local and remote approaches, and modern techniques, including
techniques based on signal processing and computational intelligence.
Additionally, each approach is compared and assessed based on several
factors, including implementation costs, non-detected zones, declining
power quality, and response times using the analytical hierarchy process
(AHP). The multi-criteria decision-making analysis shows that the overall
weight of passive methods (24.7%), active methods (7.8%), hybrid methods
(5.6%), remote methods (14.5%), signal processing-based methods (26.6%),
and computational intelligent-based methods (20.8%) based on the
comparison of all criteria together. Thus, it can be seen from the total weight
that hybrid approaches are the least suitable to be chosen, while signal
processing-based methods are the most appropriate islanding detection
method to be selected and implemented in power system with respect to the
aforementioned factors. Using Expert Choice software, the proposed
hierarchy model is studied and examined.
Enhancing of single-stage grid-connected photovoltaic system using fuzzy logi...IJECEIAES
The power generated by photovoltaic (PV) systems is influenced by
environmental factors. This variability hampers the control and utilization of
solar cells' peak output. In this study, a single-stage grid-connected PV
system is designed to enhance power quality. Our approach employs fuzzy
logic in the direct power control (DPC) of a three-phase voltage source
inverter (VSI), enabling seamless integration of the PV connected to the
grid. Additionally, a fuzzy logic-based maximum power point tracking
(MPPT) controller is adopted, which outperforms traditional methods like
incremental conductance (INC) in enhancing solar cell efficiency and
minimizing the response time. Moreover, the inverter's real-time active and
reactive power is directly managed to achieve a unity power factor (UPF).
The system's performance is assessed through MATLAB/Simulink
implementation, showing marked improvement over conventional methods,
particularly in steady-state and varying weather conditions. For solar
irradiances of 500 and 1,000 W/m2
, the results show that the proposed
method reduces the total harmonic distortion (THD) of the injected current
to the grid by approximately 46% and 38% compared to conventional
methods, respectively. Furthermore, we compare the simulation results with
IEEE standards to evaluate the system's grid compatibility.
Enhancing photovoltaic system maximum power point tracking with fuzzy logic-b...IJECEIAES
Photovoltaic systems have emerged as a promising energy resource that
caters to the future needs of society, owing to their renewable, inexhaustible,
and cost-free nature. The power output of these systems relies on solar cell
radiation and temperature. In order to mitigate the dependence on
atmospheric conditions and enhance power tracking, a conventional
approach has been improved by integrating various methods. To optimize
the generation of electricity from solar systems, the maximum power point
tracking (MPPT) technique is employed. To overcome limitations such as
steady-state voltage oscillations and improve transient response, two
traditional MPPT methods, namely fuzzy logic controller (FLC) and perturb
and observe (P&O), have been modified. This research paper aims to
simulate and validate the step size of the proposed modified P&O and FLC
techniques within the MPPT algorithm using MATLAB/Simulink for
efficient power tracking in photovoltaic systems.
Adaptive synchronous sliding control for a robot manipulator based on neural ...IJECEIAES
Robot manipulators have become important equipment in production lines, medical fields, and transportation. Improving the quality of trajectory tracking for
robot hands is always an attractive topic in the research community. This is a
challenging problem because robot manipulators are complex nonlinear systems
and are often subject to fluctuations in loads and external disturbances. This
article proposes an adaptive synchronous sliding control scheme to improve trajectory tracking performance for a robot manipulator. The proposed controller
ensures that the positions of the joints track the desired trajectory, synchronize
the errors, and significantly reduces chattering. First, the synchronous tracking
errors and synchronous sliding surfaces are presented. Second, the synchronous
tracking error dynamics are determined. Third, a robust adaptive control law is
designed,the unknown components of the model are estimated online by the neural network, and the parameters of the switching elements are selected by fuzzy
logic. The built algorithm ensures that the tracking and approximation errors
are ultimately uniformly bounded (UUB). Finally, the effectiveness of the constructed algorithm is demonstrated through simulation and experimental results.
Simulation and experimental results show that the proposed controller is effective with small synchronous tracking errors, and the chattering phenomenon is
significantly reduced.
Remote field-programmable gate array laboratory for signal acquisition and de...IJECEIAES
A remote laboratory utilizing field-programmable gate array (FPGA) technologies enhances students’ learning experience anywhere and anytime in embedded system design. Existing remote laboratories prioritize hardware access and visual feedback for observing board behavior after programming, neglecting comprehensive debugging tools to resolve errors that require internal signal acquisition. This paper proposes a novel remote embeddedsystem design approach targeting FPGA technologies that are fully interactive via a web-based platform. Our solution provides FPGA board access and debugging capabilities beyond the visual feedback provided by existing remote laboratories. We implemented a lab module that allows users to seamlessly incorporate into their FPGA design. The module minimizes hardware resource utilization while enabling the acquisition of a large number of data samples from the signal during the experiments by adaptively compressing the signal prior to data transmission. The results demonstrate an average compression ratio of 2.90 across three benchmark signals, indicating efficient signal acquisition and effective debugging and analysis. This method allows users to acquire more data samples than conventional methods. The proposed lab allows students to remotely test and debug their designs, bridging the gap between theory and practice in embedded system design.
Detecting and resolving feature envy through automated machine learning and m...IJECEIAES
Efficiently identifying and resolving code smells enhances software project quality. This paper presents a novel solution, utilizing automated machine learning (AutoML) techniques, to detect code smells and apply move method refactoring. By evaluating code metrics before and after refactoring, we assessed its impact on coupling, complexity, and cohesion. Key contributions of this research include a unique dataset for code smell classification and the development of models using AutoGluon for optimal performance. Furthermore, the study identifies the top 20 influential features in classifying feature envy, a well-known code smell, stemming from excessive reliance on external classes. We also explored how move method refactoring addresses feature envy, revealing reduced coupling and complexity, and improved cohesion, ultimately enhancing code quality. In summary, this research offers an empirical, data-driven approach, integrating AutoML and move method refactoring to optimize software project quality. Insights gained shed light on the benefits of refactoring on code quality and the significance of specific features in detecting feature envy. Future research can expand to explore additional refactoring techniques and a broader range of code metrics, advancing software engineering practices and standards.
Smart monitoring technique for solar cell systems using internet of things ba...IJECEIAES
Rapidly and remotely monitoring and receiving the solar cell systems status parameters, solar irradiance, temperature, and humidity, are critical issues in enhancement their efficiency. Hence, in the present article an improved smart prototype of internet of things (IoT) technique based on embedded system through NodeMCU ESP8266 (ESP-12E) was carried out experimentally. Three different regions at Egypt; Luxor, Cairo, and El-Beheira cities were chosen to study their solar irradiance profile, temperature, and humidity by the proposed IoT system. The monitoring data of solar irradiance, temperature, and humidity were live visualized directly by Ubidots through hypertext transfer protocol (HTTP) protocol. The measured solar power radiation in Luxor, Cairo, and El-Beheira ranged between 216-1000, 245-958, and 187-692 W/m 2 respectively during the solar day. The accuracy and rapidity of obtaining monitoring results using the proposed IoT system made it a strong candidate for application in monitoring solar cell systems. On the other hand, the obtained solar power radiation results of the three considered regions strongly candidate Luxor and Cairo as suitable places to build up a solar cells system station rather than El-Beheira.
An efficient security framework for intrusion detection and prevention in int...IJECEIAES
Over the past few years, the internet of things (IoT) has advanced to connect billions of smart devices to improve quality of life. However, anomalies or malicious intrusions pose several security loopholes, leading to performance degradation and threat to data security in IoT operations. Thereby, IoT security systems must keep an eye on and restrict unwanted events from occurring in the IoT network. Recently, various technical solutions based on machine learning (ML) models have been derived towards identifying and restricting unwanted events in IoT. However, most ML-based approaches are prone to miss-classification due to inappropriate feature selection. Additionally, most ML approaches applied to intrusion detection and prevention consider supervised learning, which requires a large amount of labeled data to be trained. Consequently, such complex datasets are impossible to source in a large network like IoT. To address this problem, this proposed study introduces an efficient learning mechanism to strengthen the IoT security aspects. The proposed algorithm incorporates supervised and unsupervised approaches to improve the learning models for intrusion detection and mitigation. Compared with the related works, the experimental outcome shows that the model performs well in a benchmark dataset. It accomplishes an improved detection accuracy of approximately 99.21%.
Developing a smart system for infant incubators using the internet of things ...IJECEIAES
This research is developing an incubator system that integrates the internet of things and artificial intelligence to improve care for premature babies. The system workflow starts with sensors that collect data from the incubator. Then, the data is sent in real-time to the internet of things (IoT) broker eclipse mosquito using the message queue telemetry transport (MQTT) protocol version 5.0. After that, the data is stored in a database for analysis using the long short-term memory network (LSTM) method and displayed in a web application using an application programming interface (API) service. Furthermore, the experimental results produce as many as 2,880 rows of data stored in the database. The correlation coefficient between the target attribute and other attributes ranges from 0.23 to 0.48. Next, several experiments were conducted to evaluate the model-predicted value on the test data. The best results are obtained using a two-layer LSTM configuration model, each with 60 neurons and a lookback setting 6. This model produces an R 2 value of 0.934, with a root mean square error (RMSE) value of 0.015 and a mean absolute error (MAE) of 0.008. In addition, the R 2 value was also evaluated for each attribute used as input, with a result of values between 0.590 and 0.845.
A review on internet of things-based stingless bee's honey production with im...IJECEIAES
Honey is produced exclusively by honeybees and stingless bees which both are well adapted to tropical and subtropical regions such as Malaysia. Stingless bees are known for producing small amounts of honey and are known for having a unique flavor profile. Problem identified that many stingless bees collapsed due to weather, temperature and environment. It is critical to understand the relationship between the production of stingless bee honey and environmental conditions to improve honey production. Thus, this paper presents a review on stingless bee's honey production and prediction modeling. About 54 previous research has been analyzed and compared in identifying the research gaps. A framework on modeling the prediction of stingless bee honey is derived. The result presents the comparison and analysis on the internet of things (IoT) monitoring systems, honey production estimation, convolution neural networks (CNNs), and automatic identification methods on bee species. It is identified based on image detection method the top best three efficiency presents CNN is at 98.67%, densely connected convolutional networks with YOLO v3 is 97.7%, and DenseNet201 convolutional networks 99.81%. This study is significant to assist the researcher in developing a model for predicting stingless honey produced by bee's output, which is important for a stable economy and food security.
A trust based secure access control using authentication mechanism for intero...IJECEIAES
The internet of things (IoT) is a revolutionary innovation in many aspects of our society including interactions, financial activity, and global security such as the military and battlefield internet. Due to the limited energy and processing capacity of network devices, security, energy consumption, compatibility, and device heterogeneity are the long-term IoT problems. As a result, energy and security are critical for data transmission across edge and IoT networks. Existing IoT interoperability techniques need more computation time, have unreliable authentication mechanisms that break easily, lose data easily, and have low confidentiality. In this paper, a key agreement protocol-based authentication mechanism for IoT devices is offered as a solution to this issue. This system makes use of information exchange, which must be secured to prevent access by unauthorized users. Using a compact contiki/cooja simulator, the performance and design of the suggested framework are validated. The simulation findings are evaluated based on detection of malicious nodes after 60 minutes of simulation. The suggested trust method, which is based on privacy access control, reduced packet loss ratio to 0.32%, consumed 0.39% power, and had the greatest average residual energy of 0.99 mJoules at 10 nodes.
Fuzzy linear programming with the intuitionistic polygonal fuzzy numbersIJECEIAES
In real world applications, data are subject to ambiguity due to several factors; fuzzy sets and fuzzy numbers propose a great tool to model such ambiguity. In case of hesitation, the complement of a membership value in fuzzy numbers can be different from the non-membership value, in which case we can model using intuitionistic fuzzy numbers as they provide flexibility by defining both a membership and a non-membership functions. In this article, we consider the intuitionistic fuzzy linear programming problem with intuitionistic polygonal fuzzy numbers, which is a generalization of the previous polygonal fuzzy numbers found in the literature. We present a modification of the simplex method that can be used to solve any general intuitionistic fuzzy linear programming problem after approximating the problem by an intuitionistic polygonal fuzzy number with n edges. This method is given in a simple tableau formulation, and then applied on numerical examples for clarity.
The performance of artificial intelligence in prostate magnetic resonance im...IJECEIAES
Prostate cancer is the predominant form of cancer observed in men worldwide. The application of magnetic resonance imaging (MRI) as a guidance tool for conducting biopsies has been established as a reliable and well-established approach in the diagnosis of prostate cancer. The diagnostic performance of MRI-guided prostate cancer diagnosis exhibits significant heterogeneity due to the intricate and multi-step nature of the diagnostic pathway. The development of artificial intelligence (AI) models, specifically through the utilization of machine learning techniques such as deep learning, is assuming an increasingly significant role in the field of radiology. In the realm of prostate MRI, a considerable body of literature has been dedicated to the development of various AI algorithms. These algorithms have been specifically designed for tasks such as prostate segmentation, lesion identification, and classification. The overarching objective of these endeavors is to enhance diagnostic performance and foster greater agreement among different observers within MRI scans for the prostate. This review article aims to provide a concise overview of the application of AI in the field of radiology, with a specific focus on its utilization in prostate MRI.
Seizure stage detection of epileptic seizure using convolutional neural networksIJECEIAES
According to the World Health Organization (WHO), seventy million individuals worldwide suffer from epilepsy, a neurological disorder. While electroencephalography (EEG) is crucial for diagnosing epilepsy and monitoring the brain activity of epilepsy patients, it requires a specialist to examine all EEG recordings to find epileptic behavior. This procedure needs an experienced doctor, and a precise epilepsy diagnosis is crucial for appropriate treatment. To identify epileptic seizures, this study employed a convolutional neural network (CNN) based on raw scalp EEG signals to discriminate between preictal, ictal, postictal, and interictal segments. The possibility of these characteristics is explored by examining how well timedomain signals work in the detection of epileptic signals using intracranial Freiburg Hospital (FH), scalp Children's Hospital Boston-Massachusetts Institute of Technology (CHB-MIT) databases, and Temple University Hospital (TUH) EEG. To test the viability of this approach, two types of experiments were carried out. Firstly, binary class classification (preictal, ictal, postictal each versus interictal) and four-class classification (interictal versus preictal versus ictal versus postictal). The average accuracy for stage detection using CHB-MIT database was 84.4%, while the Freiburg database's time-domain signals had an accuracy of 79.7% and the highest accuracy of 94.02% for classification in the TUH EEG database when comparing interictal stage to preictal stage.
Analysis of driving style using self-organizing maps to analyze driver behaviorIJECEIAES
Modern life is strongly associated with the use of cars, but the increase in acceleration speeds and their maneuverability leads to a dangerous driving style for some drivers. In these conditions, the development of a method that allows you to track the behavior of the driver is relevant. The article provides an overview of existing methods and models for assessing the functioning of motor vehicles and driver behavior. Based on this, a combined algorithm for recognizing driving style is proposed. To do this, a set of input data was formed, including 20 descriptive features: About the environment, the driver's behavior and the characteristics of the functioning of the car, collected using OBD II. The generated data set is sent to the Kohonen network, where clustering is performed according to driving style and degree of danger. Getting the driving characteristics into a particular cluster allows you to switch to the private indicators of an individual driver and considering individual driving characteristics. The application of the method allows you to identify potentially dangerous driving styles that can prevent accidents.
Hyperspectral object classification using hybrid spectral-spatial fusion and ...IJECEIAES
Because of its spectral-spatial and temporal resolution of greater areas, hyperspectral imaging (HSI) has found widespread application in the field of object classification. The HSI is typically used to accurately determine an object's physical characteristics as well as to locate related objects with appropriate spectral fingerprints. As a result, the HSI has been extensively applied to object identification in several fields, including surveillance, agricultural monitoring, environmental research, and precision agriculture. However, because of their enormous size, objects require a lot of time to classify; for this reason, both spectral and spatial feature fusion have been completed. The existing classification strategy leads to increased misclassification, and the feature fusion method is unable to preserve semantic object inherent features; This study addresses the research difficulties by introducing a hybrid spectral-spatial fusion (HSSF) technique to minimize feature size while maintaining object intrinsic qualities; Lastly, a soft-margins kernel is proposed for multi-layer deep support vector machine (MLDSVM) to reduce misclassification. The standard Indian pines dataset is used for the experiment, and the outcome demonstrates that the HSSF-MLDSVM model performs substantially better in terms of accuracy and Kappa coefficient.
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Cosmetic shop management system project report.pdfKamal Acharya
Buying new cosmetic products is difficult. It can even be scary for those who have sensitive skin and are prone to skin trouble. The information needed to alleviate this problem is on the back of each product, but it's thought to interpret those ingredient lists unless you have a background in chemistry.
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The automated cosmetic shop management system should deal with the automation of general workflow and administration process of the shop. The main processes of the system focus on customer's request where the system is able to search the most appropriate products and deliver it to the customers. It should help the employees to quickly identify the list of cosmetic product that have reached the minimum quantity and also keep a track of expired date for each cosmetic product. It should help the employees to find the rack number in which the product is placed.It is also Faster and more efficient way.
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For control design, the existing literature specifically on the previous work consider utilization of
evolutionary algorithms. Scholars argue that the techniques do not require exact gradient information to for
optimization to be obtained. In control engineering, to obtain the evolutionary algorithm overview, see [3],
[4]. Particularly, pole placement in [11]-[13] came into being a problem of multi-objective optimization.
However, the problem is solved by genetic algorithms (GAs).
This work can be compared more with [6] and [15], where GAs was utilized in MIMO systems that
are nonlinear and for robust pole placement. Scientists recently utilized Particles Swarm Optimization (PSO)
in tuning PID and PI controllers [15]-[17]. The work clearly demonstrated that the PSO is both a reliable and
faster tool when it comes to control optimization. Therefore, it has better performance and provides better
results compared to GA evolutionary algorithm.
The PID controller goal is determination of the parameters needed to meet the closed loop system
specifications of performance as well as improving the robust performance of the control loop over various
conditions of operation. In practical perspective, it is very hard to achieve simultaneously all the qualities
desired. For instance, if adjustment is done to the PID controller with the goal of providing transient response
to set point change, the resultant of this is sluggish response especially when put under conditions with
disturbance. On the other hand, it the system is adjusted and made robust to disturbance which is done by
choosing the PID controller’s conservative values and may result to slow response of closed loop to a set
change point. Thus, different methods of PID controllers tuning have been proposed. Conventional tuning
method of PID control proposed in [12] is one of the well-known technique.
In practice, the method has effectively performed well. However, it has sometimes provided
inadequate tuning in addition to its tendency to producing bigger overshoots. Thus, for effective application
of this method, retuning is needed and should be applied prior to control industrial process. Additionally, in
order to ensure that the method is enhanced especially enhancing the parameter tuning methods of traditional
PID, several suggestions have been made in the approaches that can appropriately be employed to improve
the tuning of PID. They include Generic algorithm, [18] and particle swarm optimization [19]. In the recent
times, however, the advancement of computational methods has led to the proposal of optimization algorithm
in order to tune the parameters of control in identifying the optimal Performa. Aside these efforts, literature
exists on PID controllers, their enhancement and revolution of the PID controllers. The existence of this
literature has been attributed to the fact that today, more than 50% of the industrial controllers are utilizing
modified PID control or the PID control Schemes [20]. The widespread use and acceptance of the PDI
controllers has mainly been as a result of robust performance and their simplicity in wide range of conditions
of operations.
Thus, in enhancing the robustness of PID controllers, several literature exists. These previous work
specifically uses the evolutionary algorithm which falls under the control design field. In control engineering
[21]-[25] provided evolutionary algorithm overview. Furthermore, [26]-[28] used generic algorithm in the
optimization of tanker autopilot control systems. Again, [19] utilized PSO in tuning of the linier giants of
PID controller for Automatic Voltage Regulator (AVR) systems.
In another study, [29] utilized PSO to tune the parameters of proportional integral (PI) controller for
double fed induction generators which is mainly drove by wind turbines. In addition, to swing up an acrobat
with the assumption that there is limited torque, [30] came up with the GA-based method of control which
proved to be an effective control method. In a more recent study conducted by [31], the evolutionary tuning
techniques were employed specifically for a type 2-fuzzy logic controller. After this study, [32] conducted a
study where a hybrid optimization algorithm was used, this involved a combination of pattern search based
and PSO methods which were used in tuning of PI controller.
Further, classic example of inherent unstable system is inverted pendulum, and is an excellent test
for testing and learning a number of control techniques. For instance, in stabilization of inverted pendulum
system, [33] used sliding mode control using GA. The inverted pendulum linear state feedback controllers
are mainly designed using the multi-objective uniform diversity GA and periodic multi-object PSO. In this
case, an inverted pendulum system control mechanism is face-forward neural network novel fused controller
and encoding of its parameters are done into real chromosomes values for GA [34].
In the light of the previous literature, the primary role of this paper is to optimize pole locations
using Firefly algorithm in satisfying steady-state and transient performance. As Xin-She Yang proposed,
when doing optimization using mathematics, optimization of firefly can be met holistically, and flashing
behaviors of fireflies inspires it. When compared to other techniques of computerization intelligence such as
genetic algorithm, neural networks as well as PSO, there is exceptional performance of firefly algorithm in
optimization problem of high dimension.
The following paper section has been structured as follows. In Section 2, brief overview is given
relating to time-dimension control design. It also discusses ways in which pole location hand tuning works to
attain the transient and steady state performance. In Section 3, firefly algorithm is presented. The problem of
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pole placement is also formulated in this section using Firefly framework and offers details on design issues.
Firefly optimized states feedback control is presented for helicopter stabilization case under the RHM in
Section 4 and Section 5, respectively. The paper ends with a conclusion in Section 6.
2. SYSTEM MODEL OF THE STATE FEEDBACK CONTROL
The simple linear time-invariant (LTI) model is expressed as:
̂( ) ( ) ( ) (1)
where state vector is represented by ( ) and input vector is denoted by ( ). Then, the output vector ( ) is
given by
( ) ( ) ( ) (2)
If the system is controllable, then the law of full state feedback that represents stable system of
closed loop is given by
( ) ( ) (3)
To that end, the controllability matrix of the linear system , can be expressed as
[ ] (4)
where is assumed to be full rank so that the system is controllable.
However, one can indirectly access the internal state ( ) of the system by using the separation
principle techniques to design an observer to obtain from the output vector ( ) the input state vector ( ).
Using the Luenberger observer, the output feedback model is given by:
̿( ) ̅( ) ( ) (̅( ) ( )) (5)
̅( ) ̅( ) (6)
where it is assumed that there is observable system, that is observability matrix
[ ] contains a rank that is full. The output feedback techniques have been proved to
work well in linear systems theory in the literature [12-25]. For more detailed derivation and designs refer
to [2]. Also, the state feedback method has been used and exploited to solve the regulation problem and to
track the reference output as in [20].
The challenge in system of state feedback control is to choose appropriate parameters for the
feedback gains and . These parameters rely on the closed loop poles. The advantage of using the state
feedback method over the frequency-domain method is the pole placement process. In the state feedback
method, the closed-loop system will give an error of zero-steady state when the poles are located in the
s-plane left side. However, the lack of graphical tools will make it difficult to tune the rise time, settling time,
and overshoot in the state feedback controller for a desired performance. To tackle this problem in [11-14],
authors employ the linear quadratic regulator LQR to rely on optimal control. However, this method is still
requiring manual tuning before a desirable response can be achieved.
3. THE FIREFLY ALGORITHM
In [22], the clarification on how the Firefly algorithm following the behavior of firefly is given.
Firefly is an insect that for the most part delivers cadenced as well as short flashes that created by a
bioluminescence procedure. The glimmering light capacity is pulling accomplices (correspondence) or
drawing in potential prey and as a defensive cautioning toward the predator. Along these lines, this light
power is the other fireflies’ factor in advancing close to the other firefly.
At the separation, the light power is changed from the eyes of onlooker. It is protected to state that
the light power is diminished as the distance increment. The light power likewise the impact of the air retains
by the environment, in this way the force turns out to be less engaging as the separation increment. Firefly
algorithm originally presented based on three idealize rules, 1) there is an attraction of fireflies towards one
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another without considering the gender. 2) There is correlative engaging quality of the fireflies with fireflies’
splendor. Consequently, firefly that is less appealing tends to push ahead towards the firefly that is more
alluring. 3) Fireflies shine relies upon the cost function [22].
3.1. Firefly algorithm structure
In firefly algorithm, there exist two essential factors, these are the light intensity appeal and force.
Firefly is pulled in toward the other firefly containing blaze that is brighter than its braze. The engaging
quality is depending on the light power.
The light intensity accordingly attractiveness is inversely relative with the particular distance from
the light source. In this manner, the light and engaging quality is diminishing as the distance increment. One
can express it as follows:
( ) (7)
where,
I = Stands for light intensity,
= Stands for light intensity, at original or initial
light intensity
= Stands for the coefficient of the light
absorption
r = Represents the distance between i and j firefly
Considering that attractiveness is proportional to the seen by another fireflies’ light intensity, then
the attractiveness ( ) is given as
(8)
where represents the attractiveness at zero distance ( ). The distance between two fireflies can be
defined based on the Cartesian distance as follows:
| | √∑ ( ) (9)
Firefly i is attracted toward the more attractive firefly j, the updated movement is expressed as follows:
( ) (10)
Where attraction is done by , limitation is when there is tendency of too large value or tends to be zero.
There is constant brightness and attractiveness if zero is being approached(γ→0), by . This means in
short that it is possible to see in any position the firefly, easy in completing the global search. If the is very
large or is nearing infinity ( ), then the brightness and attractiveness on the other hand decreases.
There is thus a random movement of firefly. The two asymptotic behavior as used to conduct the firefly
algorithm implementation. As for randomized parameter is , the second the term is used for randomization.
It is possible to replace the by ran -1/2 ran as random number and is generated from 1 to 0. Please refer to
Algorithm 1.
Algorithm 1: Firefly algorithm
Input: Cost Function ( ), Initial population of Fireflies , Define the
light absorption coefficient , Max number of Iteration , initialize the
Light Intensity at by ( )
While Loop: till
For loop: for each all fireflies
Inner loop: for each all fireflies
If ( ), move firefly towards ; end if.
Varying attractiveness with distance due to
Evaluate new solutions and update the light intensity
End For
End For
Rank the fireflies and find the current global best values
End While
Output: the best fireflies solutions
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4. OBJECTIVE FUNCTION
In order to address the problem of optimal pole placement based on Firefly algorithm, we place the
pole locations as firefly’s positions. However, one can represent the dimensions of the firefly’s search space
by assuming the poles to be complex conjugates as follows [15]:
(11)
where each pair of poles can be represented by a set values of a and b from (11).
In the Firefly algorithm, the objective function is optimized without using any gradient
methods.However, we use the objective function that evaluates the pole locations in terms of steady state
error, settling time, Overshoot rise time and maximum input limit. So, the desired objective function is
expressed as the sum of all individual values including steady state error, settling time, Overshoot rise time
and maximum input limit.
5. SIMULATION RESULTS AND ANALYSIS
In this section, The proposed control strategy is validated by simulation. Simulation is executed in
the Matlab/Simulink environment. In this paper, we chose a helicopter stabilization design as a proof of
concept problem in demonstrating the Firefly-based state feedback design. The Rationalized Helicopter
Model (RHM) [17], [26]-[28] is a well-studied nonlinear dynamical model of single rotor helicopters.
Modeled after the Westland Lynx helicopters, the RHM accounts for a four-blade semi-rigid main rotor and
rigid body. The equations governing the helicopter motions are complex. Additionally, the open loop
dynamics are unstable throughout the flight envelope, exhibiting a highly cross-coupled and nonlinear
response. The state vector ( ) of the dynamical model contains eight states [19], i.e. pitch attitude ( ), roll
attitude ( ), roll rate ( ), pitch rate ( ), yaw rate ( ), forward velocity ( ), lateral velocity ( ) and vertical
velocity ( ). Moreover, the output state vector ( ) contains four controlled signals, i.e. heave velocity ( ),
pitch attitude ( ), roll attitude ( ), and heading rate ( ) and two additional body-axis measurements (roll
rate ( ), pitch rate ( )). Also, there are four blade angles serve as the inputs to the helicopter as follows:
a. - main rotor collective
b. - longitudinal cyclic
c. - lateral cyclic
d. - tail rotor collective
The MATLAB script of the matrices of the RHM model can be obtained in [19].
In summary, the main rotor collective input controls the lift by rotating the rotor blades. The longitudinal and
lateral cyclic inputs control the longitudinal and lateral motions by varying the blade angles. The tail rotor
balances the torque generated by the primary rotor to prevent the aircraft from spinning and give it a desired
lateral motion. This model assumes that the dynamics get decoupled. However, in reality, they have an
extreme coupling, resulting in non-minimum phase features in particular operation points. More discussion
on dynamics is available in [17], [19].
In this paper, we employed the Firefly algorithm to perform robust control design to reduce the
effects of atmospheric turbulence in the RHM model. The paper will focus on the task of optimization for
transient state performance. Moreover, it will then underline the impressive dimensional search capabilities
of the algorithm for the eight-state RHM model. It will also discuss the Firefly algorithm searches for optimal
output feedback-controller design in R16.
Consider the scenario of a helicopter in motion in some non-zero initial state. The objective of
control is to ensure system stabilization as if in the original state. In other words, it aims to reach a state of
equilibrium where the vector sum of all forces and all moments is equal to zero. Since the objective of
control is not tracking step reference, the paper has not included other transient performance metrics such as
overshoot and rise time.
After the construction of the controllability and observation matrices, it is procedural to ensure that
the plant is both controllable and observable. A series of hand-tuned simulations are conducted first within a
5-second duration and a time step of 0.01. Alternatively, the simulation identifies pole locations to satisfy a
steady state error requirement, then the settling time, and lastly maximum input. After ten iterations in
approximately five minutes, the response in Figure 1 results. When the maximum input still does not fall
under the desired level, the reaction in Figure 2 ensues. Further simulations either increase ( ) or violate the
first two constraints.
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Figure 1. Hand-tuned pole placement simulation showing the six outputs stabilizing to zero in 2 seconds
Figure 2. Hand-tuned control inputs corresponding to Figure 1 with a maximum value of 120.5 (u2)
The Fireflies positions exist in a 2 × 6 × 8 matrices, which accounts for two axes (imaginary and
real). It also comprises of eight fireflies and six complex-conjugate poles (3 for the plant, 3 for the observer).
Every parameter available in the multiple inputs and outputs faces an equal penalty when calculating the
objective function. Illustrations on the plots corresponding to the Firefly-tuned simulations are available in
Figure 3 and Figure 4.
Auto-tuned design based on Firefly has been simulated using Matlab software on Intel Core i5 2.4
GHz computer with a memory of 4 GB. The stimulation takes approximately 9 seconds (or less time than a
single hand-tuned iteration) to complete.
Various other combinations of Firefly parameters are simulated to improve system response even
further. We increased the number of Fireflies and the maximum number of iterations as shown in Figure 5
and Figure 6. It obviously yields slight variations in the output performance. Extending the variation in
Firefly parameters shows tradeoffs between the settling time and the maximum input. Nonetheless, the
parameters used in the initial set seem to give a desirable performance within the shortest computation time.
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
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-5
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5
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y(t)
Ht
t
p
q
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-1400
-1200
-1000
-800
-600
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-200
0
200
t
u(t)
u1
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u4
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Figure 3. FireFly-based method simulation showing that the six outputs stabilize to zero in 1.3 seconds
Figure 4. FireFly-based control inputs corresponding to Figure 3
Figure 5. FireFly-based method (12 Fireflies) simulation showing that the six outputs stabilize to zero in 2.5
seconds
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
-6
-4
-2
0
2
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6
8
t
y(t)
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Figure 6. FireFly-based control inputs corresponding to Figure 5
6. CONCLUSION
This paper employs the Firefly method to obtain the optimal pole locations in state feedback control.
It also aimed to satisfy transient and steady-state performance requirements such as rise time, overshoot,
settling time, and steady-state error. It presented proof of a concept problem involving the stabilization of a
helicopter. It also delivered results of Firefly algorithm auto-tuning and supported them with computer
simulations.
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Journal, Volume 14, Issue 1, ISSN 1687-4811, August 2014
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pendulum using approximate feedback linearization and sliding mode control,” Transactions of the Institute of
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BIOGRAPHIES OF AUTHORS
Moath Sababha was born in Irbid, Jordan in 1987. He received his B. Sc. degree in Electrical
Engineering from Jordan University of Sc. and Tech. JUST, Irbid, Jordan in 2010. He received his
M. Sc. degree in Electrical Engineering from Oakland University, Rochester, Michigan, U.S.A in
2013. He is currently a Ph. D. candidate in Electrical and Computer Engineering at Oakland
University, Rochester, Michigan, U.S.A. His research interests are in the areas of digital signal
processing, nonlinear estimation and prediction, fuzzy logic and decision making.
Mohamed A. Zohdy was born in Caro, Egypt. He received B.Sc. degree in Electrical Engineering,
Cairo University, Egypt in 1968 and he received his M. Sc. and Ph. D. degrees in Electrical
Engineering from University of Waterloo, Canada in 1974, and 1977 respectively. He worked in
various industries: dowty, iron and steel, and spar. He is currently a Professor at Oakland
University, Rochester Hills, Michigan, U.S.A. His research interests are in areas of control,
estimation, communication, neural networks, fuzzy logic and hybrid systems.