In this paper a new approach is proposed to design locally optimal robust output-feedback controllers. It is iterative by nature, and starting from any initial feasible controller it performs local optimization over a suitably defined non-convex function at each iteration. The approach features the properties of computational efficiency, guaranteed convergence to a local optimum, and applicabil...

This paper compares the control performance of a distributed control system with variable sampling to actuation delay when using two different control solutions. The first one is a pole-placement controller with a fuzzy delay compensator and the second one an adaptive pole-placement with fractional dead-time modelling. The delay compensator is added to an existing controller that does not take ...

Genetic algorithms are one of the most well-known evolutionary computing methods using heuristic searches that mimic the process of natural evolution. These methods provide very useful results to optimization and search problems. There are several factors which have particular impact on algorithm to be successful. That means correct population initialization, sufficient simulation time and opti...

The work proposed in this paper aim to design tow controllers for attitude stabilization of a Quadrotor UAV. The first is a classical PID controller; the second is a nonlinear state feedback controller which designed using multiple model approach. We start with the design of a Takagi-Sugeno (T-S) model for Quadrotor modelling, and then we use Linear Matrix Inequality (LMI), and PDC (Parallel Di...

The paper deals with simulation experiments on the nonlinear system represented by the isothermal continuous stirred tank reactor. At first, the mathematical model derived from the material balances inside the reactor will be introduced and then the steady-state and the dynamic analyses were performed on this model. As a result of these studies, the optimal working point and the choice of the e...

this paper presented comparison of the time specification performance between two type of controller for a Double Inverted Pendulum system. Double Inverted Pendulum is a non-linear ,unstable and fast reaction system. DIP is stable when its two pendulums allocated in vertically position and have no oscillation and movement and also inserting force should be zero. The objective is to determine th...

A new adaptive multiple-controller is proposed incorporating a neural network based Generalized Learning Model (GLM). The GLM assumes that the unknown complex plant is represented by an equivalent stochastic model consisting of a linear time-varying sub-model plus a Radial Basis Function (RBF) neural-network based learning sub-model . The proposed non-linear multiple-controller methodology prov...

This paper present the results of attitude, velocity, heave and yaw controller design for UTM autonomous model scaled helicopter using identified model of vehicle dynamic from parameterized state-space model proposed by Mettler (2000) with quasisteady attitude dynamic approximation (6 DOF model). Multivariable state-space control methodology such as pole placement was used to design the linear ...

The paper presents the derivation of a new robust multivariable adaptive controller, which minimises a cost function, incorporating system input, system output and set point. It provides an adaptive mechanism which ensures that both the closed-loop poles and zeros are placed at their pre-specified positions. The proposed design overcomes the shortcomings of other pole placement designs by combi...

Paper deals with implementation of self-tuning digital PID controller on general-purpose 8-bit Freescale 68HC908GB60 microcontroller which is a part of development board M68EVB908GB60 by Axiom Manufacturing. The process is identified using modified recursive least squares method with adaptive directional forgetting resulting in δ-model representation of controlled plant. This representation was...