The rst part of this thesis includes a brief comparison between electricmotors and hydraulic actuators for high performance robotics applications. Hydraulic actuators with fast valves are shown to be superior because of their large torque to mass ratios and their extended bandwidth. One such hydraulic actuator is characterized and its highly nonlinear dynamics are modeled and identi ed. A simul...

Up to the present time, PID Controller has been widely used to control industrial process loops because of its implementational advantages. However, it is very difficult to achieve an optimal PID gain with no experience, since the parameters of the PID controller has to be manually tuned by trial and error. This paper focuses on tuning of the PID controller using gain/phase margin and immune al...

This paper presents the development and implementation of a hybrid controller to automatically levitate and precisely regulate the position of a suspended rotor in Active Magnetic Bearing system. The inherent nonlinearity and open-loop instability of AMBs present challenges for design a controller and the problem can be formulated as a dynamic, multivariable optimization problem. A single neuro...

An observer based adaptive PID controller with micro genetic algorithm (MGA) tuning its parameters is proposed in this paper. The task of the controller is to track the desired trajectory of a nonlinear system as best as it could. The proposed adaptive PID controller consists of 3 components including the PID controller, the control compensating for the external disturbance and the modeling err...

A PID-deadtime controller is realized by inserting a time delay into the integral feedback circuit. Such a controller possesses a transfer function similar to a Smith predictor or an internal-model controller. Effective tuning of PID deadtime controllers remains unsolved even though they give better regulatory performance than a conventional PID control algorithm for processes with a long pure ...

In this paper, a novel design method for self-tuning PID controller of in mechanisms system using the particle swarm optimization (PSO) algorithm is presented. This paper demonstrated in detail how to employ the PSO to search efficiently the optimal PID controller parameters of in mechanisms system. The proposed approach had superior features, including easy implementation, stable convergence c...

The Line-of-Sight stabilization and tracking control based on gyro stabilized platform is required to isolate Line of sight from the movement and vibration of carrier and ensure pointing and tracking for target in electro-optical tracking system. This work describes the design of a high performance controller for an electromechanical target tracking system with an optical sensor for sighting. T...

This paper present a new method to determine the optimal tuning of the PID controller parameter of an AVR system using Modified particle swarm optimization (MPSO) algorithm. the AVR is not robust to variations of the power system parameters therefore, it is necessary to use PID controller To increase the stability and performance of the AVR system. Fast tuning of optimum PID controller paramete...

this paper presents a new strategy based on multi-stage fuzzy (msf) pid controller based on artificial bee colony (abc) for damping power system stabilizer (pss) in multi-machine environment. the recent studies in artificial intelligence demonstrated that the abc optimization is strong intelligent method in complicated stability problems. also, finding the parameters of pid controller in power ...

In this paper, a high-performance optimal fractional emotional intelligent controller for an Automatic Voltage Regulator (AVR) in power system using Cuckoo optimization algorithm (COA) is proposed. AVR is the main controller within the excitation system that preserves the terminal voltage of a synchronous generator at a specified level. The proposed control strategy is based on brain emotional ...