The performance of two Fuzzy Logic Controllers (FLCs), Proportional-Derivative Controller (PD-FLC) and Proportional-Integral-Derivative controller (PID-FLC) for the pH control was studied in a neutralization process. The process used to test the controller performance is the continuous neutralization of acetic and propionic acids in a water stream with an aqueous solution of sodium hydroxide. T...

In [8] we obtained stabilizing PID controllers for a class of MIMO unstable plants with time delays in the input and output channels (I/O delays). Using this approach, for plants with one unstable pole, we investigate resilient PI and PD controllers. Specifically, for PD controllers, optimal derivative action gain is determined to maximize the allowable controller gain interval. For PI controll...

In this paper, we incorporate fuzzy reasoning in fractional-order PD controllers. The resulting fuzzy fractional PD controller is investigated in terms of its digital implementation and robustness. The combined features of both algorithms will result in a better control system performance. Also, the effectiveness and robustness of the new methodology is illustrated through an application exampl...

It is shown how to obtain asymptotic stability in second-order undamped systems using time-delay action in the feedback of position. The effect of the delay is similar to derivative feedback in modifying the behavior of the system. Results are given on the selection of the controller parameters both in the absence and the presence of additional delay in the feedback path. The time-lag position ...

In this paper, a PD controller design for haptic systems under delayed feedback is considered. More precisely, a complete stability analysis of a haptic system where local dynamics are described by some second-order mechanical dynamics is presented. Next, using two optimization techniques (H1 and stability, margin optimization) an optimal choice for the controller gains is proposed. The derived...

This paper deals with the L2 stability of a shape memory alloy actuated position control system, based on a single wire under constant axial load. Presuming a controller has certain speci c dissipativity characteristics, it is shown that system stability can be guaranteed for a large class of controllers. In particular, the results can be used to show stability under approximated PID, PI and PD...

Continuum manipulators are robotic manipulators built wing one continuous, elastic, and highly deformable %ackbone” instead of multiple rigid links connected by joints. This paper eztends a previous control result for planar continuum robots b y proposing a new asymptotic wnvergence argument for a PD-plw-feedforward controller. The benefit of the asymptotic a w m e n t s is that the backbone be...

Continuum manipulators are robotic manipulators built using one continuous, elastic, and highly deformable “backbone” instead of multiple rigid links and joints. I n previous work, we illuminated various kinematic and dynamic properties of continuum robots, but the question of controller design remained open. This paper presents a basic result for continuum robots that has long been knoum for r...

This paper presents the development of a nonlinear quadrotor simulation framework together with a nonlinear controller. The quadrotor stabilization and navigation problems are tackled using a nested loops control architecture. A nonlinear Backstepping controller is implemented for the inner stabilization loop. It asymptotically tracks reference attitude, altitude and heading trajectories. The o...

In this paper the design of a nonlinear feedback controller is analyzed for concentration control of continuous stirred tank reactors (CSTR) which have strong nonlinearities. Continuous Stirred Tank Reactor (CSTR) is one of the common reactors in chemical process and all industrial process requires a solution of specific chemical strength of chemicals considered for analysis. Here Particle Swar...