In this paper, a new approach to determine the entire set of stabilisng PI/PID parameters for time delay process with bounded uncertainties has been developed. Our method exploited a combination of the generalised Kharitonov theorem and the Hermit Biehler theorem extended for quasipolynomials to synthesise a robustly stabilising controller. By using a constructive procedure, we obtain all PI an...

In this paper a new PID controller is presented. Its peculiarity consists in the non integer order of the derivative and integral, being this order variable in the range [0,1], and providing two further parameters to the controller. The key element is a Multi-layer Perceptron that evaluate a non integer order integration. The neural network approach allows to overcome some problems related to p...

Fuzzy technology is adaptive and easily applicable in different areas.Fuzzy logic provides powerful tools to capture the perception of natural phenomena. The paper deals with tuning of neuro-fuzzy controllers for integrating plant and for integrating plants with time delay. The designed approach is verified on three examples by simulations and compared plants with classical PID control. Designe...

Product-sum-type fuzzy controllers are known to have similar characteristics to PD-type controllers. In the case of type-0 control systems, PID-type fuzzy controllers have been proposed in the literature in order to eliminate the steady-state error. However, these control methods, essentially based on conventional PID theory, have no predictive capabilities. The concept of grey system theory, w...

In this paper, performance comparison of evolutionary algorithms (EAs) such as real coded genetic algorithm (RGA), modified particle swarm optimization (MPSO), covariance matrix adaptation evolution strategy (CMAES) and differential evolution (DE) on optimal design of multivariable PID controller design is considered. Decoupled multivariable PI and PID controller structure for Binary distillati...

In this paper, a chattering free sliding mode control (SMC) for a robot manipulator including PID part with a fuzzy tunable gain is designed. The main idea is that the robustness property of SMC and good response characteristics of PID are combined with fuzzy tuning gain approach to achieve more acceptable performance. For this purpose, in the first stage, a PID sliding surface is considered su...

This paper’s aim is to present a tuning approach for full Two-Degree-of-Freedom (2-DoF) PI and PID controllers for First-Order-Plus-Dead-Time (FOPDT) and Second-OrderPlus-Dead-Time (SOPDT) controlled processes. The tuning relations provide the value of the typical parameters for a PID controller plus the set-point weighting factor, being these relations driven by just one single design paramete...

In recent years, relay feedback method has found a new lease of life in the automatic tuning of PID controllers and in the initialization of other sophisticated adaptive controllers. This tuner is based on the approximate estimation of the critical point on the process frequency response from relay oscillations. A continuous cycling of the controlled variable is generated from a relay feedback ...

A framework for synthesis of stabilizing PID controllers for linear timeinvariant systems using Hermite-Biehler Theorem is presented. The approach is based on the analytical characterization of the roots of the characteristic polynomial. Generalized Hermite-Biehler Theorem from functional analysis is used to derive stability results, leading to necessary and sufficient conditions for the existe...

As the demand of robotic manipulator with an adequate performance under the effect parametric uncertainties is increased, the fixed PID controller requires an new approach to handle with such uncertainties. In this paper the formal formulation of a robust fixed PID control design is proposed as a constrained dynamic optimization problem. Hybrid algorithm is used to solve the problem. The empiri...