A self-tuning controller is proposed for an articulated robot using the Plestan’s method. To this end, we reconstruct dynamics exploiting time-delay estimation (TDE) technique. The closed-loop error described with sliding variables and TDE error; then, mode based gain-adaptation law incorporated stability of overall proven in sense Lyapunov. As a result, gain realized through variable. When inc...

This paper presents an online tuning strategy for model predictive control. Specifically, the tuning strategy adjusts automatically the prediction horizon, P, the diagonal elements of the input weight matrix, Λ, and the diagonal elements of the output weight matrix, Γ. The control horizon is left constant because its relative value with respect to P is more important. The MPC parameters are adj...

Multivariable liquid level control is essential in process industries to ensure quality of the product and safety of the equipment. However, the significant problems of the control system include excessive time consumption and percentage overshoot, which result from ineffective performance of the tuning methods of the PID controllers used for the system. In this paper, fuzzy logic was used to t...

This paper presents a new practical tuning method for fractional order proportional and integral controller (FO-PI). The plant to be controlled is mainly FOPDT (first order plus delay time). The tuning is optimum in the sense that the load disturbance rejection is optimized yet with a constraint on the maximum or peak sensitivity. We generalized MIGO (Ms constrained integral gain optimization) ...