The work presented here addresses the issue of tuning PD controllers for controlling integrating plus deadtime (IPDT) processes using settling time and gain and phase margin specifications. Tuning formulae are derived for PD controller being used for controlling IPDT processes. Simulations have been carried out to determine the effectiveness of the tuning formulae. Also, comparison between prop...

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the ...

The proportional-integral-derivative (PID) controller is tuned to find its parameters values. Generally most of the tuning methods depend mainly on the experimental approach of open-loop unit step response. The controller parameters can be found if the system truly can be approximated by First Order Plus-Dead Time (FOPDT). The performance of most of them deteriorates as the ratio of approximate...

Fuzzy control techniques are of interest for practical applications. Hence, it is important to understand their features. In this paper some results of computer-experimental analysis of behavior of a fuzzy controller for the cart-ball variant of inverted pendulum system are given. The impacts of changes in uncertainty in the controller are analyzed experimentally: it has been found that the per...

A new robust nonlinear controller is presented and applied to a planar 2-DOF parallel manipulator with redundant actuation. The robust nonlinear controller is designed by combining the nonlinear PD (NPD) control with the robust dynamics compensation. The NPD control is used to eliminate the trajectory disturbances, unmodeled dynamics and nonlinear friction, and the robust control is used to res...

–A permanent magnet two phase AC servo motor is widely used for high performance position control applications. Nevertheless with the presence of nonlinearities, and the input is periodic, conventional type controller is not sufficient to provide satisfactory time-varying trajectory position control. In order to improve the tracking performance for periodic reference trajectory, this article pr...

In this paper, we propose a novel proportional-differential-type feedback controller called Novel-PD as new active queue management (AQM) to regulate the queue length with small oscillation. It measures the current queue length and uses the current queue length and differential error signals to adjust packet drop probability dynamically. We provide control theoretic analysis of system stability...

This paper proposes a reinforcement learning based SVC controller to improve the damping of power systems in the presence of load model parameters uncertainty. The proposed method is trained over a wide range of typical load parameters in order to adapt the gains of the SVC stabilizer. The simulation results show that the tuned gains of the SVC stabilizer using Reinforcement Learning can provid...

This study proposes an adaptive control method of a weigh feeder. A weigh feeder dispenses material into a process at a precise rate, and it has been employed in industries, e.g., process control, cement manufacturing plants, food industry equipment, and so on. To introduce advanced control into industries, self-tuning controllers are designed for controlling a weigh feeder. Three difference co...