continuous stirred tank reactor (cstr) has particular importance in chemical industry. cstr has usually a nonlinear behavior which makes it difficult to control. the reactor has two parameters: the concentration and temperature of mixture both of which are uncertain. this case of cstr has large disturbance in domain. in order for disturbance rejection, a controller has to be designed. in this p...

In this paper, analytical structures of TITO (two-input two-output) Mamdani fuzzy PI/PD controllers are investigated with respect to conventional PI/PD control and variable gain control. Components of the fuzzy controllers include two input fuzzy sets for each input variable, five singleton output fuzzy sets for each output variable, 16 fuzzy rules, product AND fuzzy logic operator, the Mamdani...

This paper presents a robust control algorithm for plants involving both internal (i.e., in the state) and external (i.e., in the output or input) known point delays. Several stabilizing controller structures are given and analyzed for the case of perfectly modelled plants with known parameters. The plant is assumed to be of known order and relative order. The parametrized parts of two of the c...

There are two significant goals in teleoperation systems: Stability and performance. This paper introduces an LMI-based robust control method for bilateral transparent teleoperation systems in presence of model mismatch. The uncertainties in time delay in communication channel, task environment and model parameters of master-slave systems is called model mismatch. The time delay in communicatio...

A GA-based fuzzy controller design method is proposed for a two-wheeled mobile robot to independently control two velocities of its left-wheeled motor and right-wheeled motor so that the controlled robot can move fast and efficiently to the desired position. First, the kinematics model of the considered two-wheeled robot is described and a 4-input-and-2-output motion fuzzy control structure wit...

this paper evaluates a new and simple controller design method based on qft (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. a piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. this system is modeled as a nonlinear multi-input multi-output (mimo) control systems whose inputs are two...

Analytical structure for a fuzzy PID controller is introduced by employing two fuzzy sets for each of the three input variables and four fuzzy sets for the output variable. This structure is derived via left and right trapezoidal membership functions for inputs, trapezoidal membership functions for output, algebraic product triangular norm, bounded sum triangular co-norm, Mamdani minimum infere...

this paper presents a detailed small-signal and transient analysis of a full bridge pwm dc-dc converter designed for high voltage, high power applications using an average model. the derived model is implemented in a typical system and used to produce the small-signal and transient characteristics of the converter. results obtained in the analysis of the high voltage and high power design examp...