In this paper, a new control scheme, the gain scheduled Particle Swarm Optimization (PSO) based PID is proposed for continuous stirred tank reactor(CSTR). CSTR is a highly nonlinear process that exhibits stability in certain region and instability in some regions. Generally, PID controllers are used in these processes. Tuning of PID controller is required for guaranteeing the best performance o...

This paper presents the comparison of tracking control performance of fuzzy PI Controller with fuzzy PID and conventional PID controllers. Fuzzy PI controller and Fuzzy PID controller composes of Mamdani type fuzzy controllers and parameters are adjusted to meet the desired control system performances both in transient state and steady state. Computer simulations are done for controlling the ti...

This paper presents the comparison of tracking control performance of fuzzy PI Controller with fuzzy PID and conventional PID controllers. Fuzzy PI controller and Fuzzy PID controller composes of Mamdani type fuzzy controllers and parameters are adjusted to meet the desired control system performances both in transient state and steady state. Computer simulations are done for controlling the ti...

The 3 degree of freedom (3-DOF) helicopter system is a typical higher-order times, instability, multi-variable, nonlinear and strong coupling control system. This paper presents the analysis of the mathematical model and the basic principle of PID control and fuzzy PID control, which are based on 3-DOF helicopter systems. In allusion to balance control of 3-DOF helicopter system, PID controller...

This paper describes a parallel controller that was developed at the Center for Intelligent Systems at Vanderbilt University to control a manipulator with exible joints. The joints are actuated with muscle-like actuators called rubbertuators which exhibit nonlinear behavior. The paper presents the diierent control techniques that were used to control the manipulator. These techniques are PID, f...

41 ABSTRACT This paper presents the comparison of tracking control performance of fuzzy PI Controller with fuzzy PID and conventional PID controllers. Fuzzy PI controller and Fuzzy PID controller composes of Mamdani type fuzzy controllers and parameters are adjusted to meet the desired control system performances both in transient state and steady state. Computer simulations are done for contro...

In this paper, for nonlinear, time-varying and delayed system, PID parameters self-tuning fuzzy control was applied to a level process. The method of using VC++ programming to realize fuzzy control algorithm and obtain the discrete fuzzy control table is proposed, which simplified the computing process greatly. Furthermore, combing the inquiry of fuzzy control table and PID function module in P...

The severe low-speed creep phenomenon occurs in the telescopic boom system of a heavy-load transfer robot with a long telescopic boom as a result of nonlinear friction. In order to improve control precision and operation performance at low speeds, we built a three-loop control nonlinear model of an AC servo motor with Stribeck friction disturbance. Traditional proportional-integralderivative co...

Despite the popularity of PID (Proportional-Integral-Derivative) controllers, their tuning aspect continues to present challenges for researches and plant operators. Various control design methodologies have been proposed in the literature, such as auto-tuning, self-tuning, and pattern recognition. The main drawback of these methodologies in the industrial environment is the number of tuning pa...

Functional electrical stimulation (FES) is the most commonly used system for restoring function after spinal cord injury (SCI). In this study, we used a model consists of a joint, two links with one degree of freedom, and two muscles as flexor and extensor of the joint, which simulated in MATLAB using SimMechanics and Simulink Toolboxes. The muscle model is based on Zajac musculotendon actuator...