electric wheelchairs (ew) experience various terrains surfaces and slopesas well asoccupants with diverse weights. this, in turn, imparts a substantial amount of perturbation to the ewdynamics. in this paper we make use of a two-degree-of-freedom control architecture called disturbance observer (dob) which reduces sensitivity to model uncertainties while enhancing rejection of disturbances caus...

The closed-loop stability issue of finite-precision realizations is investigated for digital controllers implemented in floating-point arithmetic. Unlike the existing methods which only address the effect of the mantissa bits in floating-point implementation to the sensitivity of closed-loop stability, the sensitivity of closed-loop stability is analyzed with respect to both the mantissa and ex...

This paper proposes a new PI/PID controller tuning method within filtered Smith predictor (FSP) configuration in order to deal with various types of time delay processes including stable, unstable and integrating delay dominant and slow dynamic processes. The proposed PI/PID controller is designed based on the IMC principle and is tuned using a new constraint and without requiring any approxima...

This paper proposes a simple approach to design a PID controller for an uncertain SISO system that will guarantee closed loop stability when the input is varied between 0 and 60 % of its working range. The Robust Controller design method used here is based on Small Gain theorem. A family of transfer functions corresponding to different working ranges is used to describe the uncertain plant for ...

A new method for PID controller tuning based on process models for cascaded control systems is proposed in this paper. The method consists of first finding the ideal controller that gives the desired closed loop response and then finding the PID approximation of the ideal controller by Maclaurin series. This method can be applied to any open loop stable processes. Furthermore, it enables us to ...

In this study, a double-loop control strategy is proposed for power grid frequency and voltage regulation using plug-in electric vehicles (PEVs) connected to the through three-level capacitor clamped inverter. The problem first formulated vector space analysis phasor diagrams find boundaries constraints in terms of system parameters. derived formulas are then utilized design controller an exclu...

Nowadays, technology is in continuous evolution, movement and balance control are full expansion (humanoid robots, drones parallel robots). The difficulty that robotics software developers often facing maintaining stability balance, a robot loses its an instant threat to environment, therefore, the ball on plate system best method test performance of controller ensure given system. This platfor...

The paper describes the Fuzzy–PID cascade controller to control the level of horizontal tank that has diameter 300 mm and 480 mm long. Interface card module PCI-6024E in computer and Lab View software program is used for built the cascade controller. Structure of its where the inner loop is a PID controller for regulating flow rate of system and outer loop is a Fuzzy logic controller for contro...

The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...