This article presents the experimental results when comparing the Controllers PID Classic, Nonlinear PID and Fuzzy Gain Scheduling PID used in position controllers, for the tuning of the Classical PID was used the second method

This paper introduces a new class of simple nonlinear PID controllers and provides a formal treatment of their stability analysis. These controllers are comprised of a sector-bounded nonlinear gain in cascade with a linear fixed-gain P, PD, PI, or PID controller. Three simple nonlinear gains are proposed: the sigmoidal function, the hyperbolic function, and the piecewise]linear function. The sy...

An unsolved ancient problem in position control of robot manipulators is to find a stability analysis that proves global asymptotic stability of the classical PID control in closed loop with robot manipulators. The practical evidence suggests that in fact the classical PID in industrial robots is a global regulator. The main goal of the present paper is theoreticall...

It is well-known that Bode’s gain/phase relation imposes limitations on the performance of a linear system. To circumvent these limitations, two examples from literature on nonlinear controllers, more precisely, a PID with nonlinear gain and a SPAN (split-path nonlinear) filter, are implemented on a motion system in order to improve the step response in comparison with a conventional linear PID...

The design of controllers for nonlinear systems in industry is a complex and difficult task. One approach which has shown promise for solving nonlinear control problems is the use of fuzzy logic control. This paper proposes a new method utilizing proportional–integral-derivative (PID) control as a hybrid fuzzy PID controller for nonlinear system. The salient feature of the proposed approach is ...

Because simulation turntable servo system is highly nonlinear and uncertainty plants, a fuzzy neural network PID controller is proposed based on the Radial Basis Function (RBF). Up to now, various kinds of nonlinear PID controllers have been designed in order to satisfactorily control this system and some of them applied in actual systems with different degrees. Given this background, the step ...

The research on two-wheels balancing robot has gained momentum due to their functionality and reliability when completing certain tasks. This paper presents investigations into the performance comparison of Linear Quadratic Regulator (LQR) and PID-PID controllers for a highly nonlinear 2–wheels balancing robot. The mathematical model of 2-wheels balancing robot that is highly nonlinear is deriv...

This chapter presents the design, development and implementation of a novel proposed online-tuning Gain Scheduling Dynamic Neural PID (DNN-PID) Controller using neural network suitable for real-time manipulator control applications. The unique feature of the novel DNN-PID controller is that it has highly simple and dynamic self-organizing structure, fast online-tuning speed, good generalization...

In process industries, PID control schemes have been widely used due to their simple structures and easiness of comprehending the physical meanings of control parameters. However, the good control performance cannot be obtained by simply using PID controlschemes, since most processes are considered as nonlinear multivariable systems with mutual interactions. In this paper, a design method of mu...

In this paper, a thorough mathematical analysis is proposed for designing and tuning fuzzy proportional ± integral± derivative (FZ-PID) control in order to achieve a better performance and simpler design. The quantitative model of FZ-PID, derived for the mathematical analysis and gain design, consists of a nonlinear relay and a nonlinear proportional ± integral ± derivative (PID) controller. Th...