This paper presents the modelling and simulation for optimal control design of nonlinear inverted pendulum-cart dynamic system using Proportional-Integral-Derivative (PID) controller and Linear Quadratic Regulator (LQR). LQR, an optimal control technique, and PID control method, both of which are generally used for control of the linear dynamical systems have been used in this paper to control ...

This paper presents a new optimization algorithm to design an optimal proportional, integral, derivative (PID) controller in hydro-turbine generator governor for damping output frequency oscillations. In this research, we utilize a stochastic and optimal based PID controller to control frequency-response of the hydro turbine. The proposed algorithm is employed to design an optimal PID controlle...

This paper investigates the application of the product-sum crisp type fuzzy model linearization technique and the multistep predictive control strategy for the construction of a model-based predictive fuzzy controller. A model-based predictive controller is based on a local linear approximate model generated by using the proposed linearization technique that linearizes the product-sum crisp typ...

This report is a reference manual to the on-line simulation package based on the Open-Loop Intermittent Feedback Optimal (OLIFO) controller available at http://merlot.ee.usyd.edu.au/OLIFO. The OLIFO controller is a practical continuous time nonlinear Model based Pre-dictive Controller (MPC). On-line integration of the model equation is used for the prediction. Only two parameters of a bounded a...

A computational approach is developed for designing a globally optimal controller which is robust to time-varying nonlinear perturbations in the plant. This controller design problem is formulated as an optimization with bilinear matrix inequality (BMI) constraints, and is solved to optimality by a branch and bound algorithm. The algorithm is applied to a reactive ion etcher, and provides super...

In this paper the optimal nonlinear predictive cascaded control structure is presented with application to induction motors, which provides global asymptotic tracking of smooth speed and flux trajectories. The controller is based on a finite horizon continuous time minimization of nonlinear predicted tracking errors. With full state measurement assumption, the robustness properties with respect...

In this paper the optimal nonlinear receding-horizon control structure is presented with application to induction motors in cascade structure, which provides global asymptotic tracking of smooth speed and flux trajectories. The controller is based on a finite horizon continuous time minimization of nonlinear tracking errors. Both the rotor flux and load torque are estimated by Kalman filter. Th...

This paper presents a computational approach for solving optimal control problem for a class of nonlinear discretetime systems. We focus on problem in which a pre-specified N local subsystems are given to describe the studied systems. For such problem, we derive an output feedback controller and a cost function such that the resulting closed-loop system is asymptotically stable and the closed l...

ph control is a challenging problem due to its highly nonlinear nature. in this paper the performances of two different adaptive global linearizing controllers (glc) are compared. least squares technique has been used for identifying the titration curve. the first controller is a standard glc based on material balances of each species. for implementation of this controller a nonlinear state est...

one of the most important challenges in nonlinear, multi-input multi-output (mimo) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. this paper focused on design a new artificial non linear controller with on line tunable gain applied in the robot manipulator. the sliding mode fuzzy controller (smfc) was designed as 7 rules mamdani’s infer...