This paper presents aspects concerning the implementation of an adaptive Gravitational Search Algorithm (GSA) in the optimal tuning of fuzzy controllers. Takagi-Sugeno-Kang proportionalintegral fuzzy controllers (TSK PI-FCs) are designed and tuned for a class of nonlinear servo systems. The adaptive GSA is based on five stages to solve the optimization problems with objective functions which de...

Pneumatic control valves are still the most used in process industries due to their low cost and simplicity. This paper presents a design procedure of a PID controller for a pneumatic control valve. For comparison, P and PI controllers are also utilized for the control valve. The bond graph method is used to model the control valve, in order to compare the response characteristics of the valve....

This paper addresses the control of a planar, biped robot with one degree of underactuation. Previous work has designed controllers that induce provably, exponentially stable, periodic walking motions at fixed, pre-determined walking rates. These controllers operate in continuous-time during the single support phase of the robot. The present paper shows how to design an event-based PI controlle...

The aim of the paper is to present tuning equations for one-degree-of-freedom (1DoF) proportional integral (PI) and proportional integral derivative (PID) controllers. These are based on a performance/robustness trade-off analysis with firstand second-order plus deadtime models. On the basis of this analysis a tuning method is developed for 1DoF PI and PID controllers for servo and regulatory c...

The paper presents an experimental verification of conventional PI and PID controller design methods. Nine different synthesis techniques were used to control of airflow speed in laboratory model of hotair tunnel, most of them for both PI and PID version. In the first instance the controlled plant was identified in order to obtain a linear mathematical model and then the controllers were design...

The plant considered in this paper is an unwinding winding system with pendulum dancer mechanism for elastic webs. First, a non linear mathematical model of the web process line is presented. A state space model is deduced which helps in the synthesis of the H∞ controllers around the set points given by the reference signals. Industrials systems typically use decentralized PI controllers. In th...

The popular linear PID controller is mostly e3ective for linear or nearly linear control problems. Nonlinear PID controllers, however, are needed in order to satisfactorily control (highly) nonlinear plants, time-varying plants, or plants with signi5cant time delay. This paper extends our previous papers in which we show rigorously that some fuzzy controllers are actually nonlinear PI, PD, and ...

Within power systems, high-power pulsewidth-modulated ac–dc converters are used in flexible ac transmission systems controllers and for interfacing renewable energy sources to the grid. These converters traditionally employed PI controllers designed in the synchronous -frame with decoupling of and axes. Recently, stationary -frame proportional-resonant (PR) controllers have been proposed. Thoug...

The paper performs the sensitivity analysis with respect to the parametric variations of the controlled plant in the case of low cost fuzzy control systems dedicated to servo systems, with focus on solving the tracking control problem for a class of wheeled mobile robots with two degrees of freedom used in mining technologies. A new development method for Takagi-Sugeno PI-fuzzy controllers is p...