Performance improvement is the main goal of the study of PID control and much research has been conducted for this purpose. The PID filter is implemented in almost all industrial processes because of its wellknown beneficial features. In general, the whole system's performance strongly depends on the controller's efficiency and hence the tuning process plays a key role in the system's behaviour. In this work, the servo systems will be analysed, specifically the positioning control systems. Among the existent tuning methods, the GainPhase Margin method based on Frequency Response analysis is the most adequate for controller tuning in positioning control systems. Nevertheless, this method can be improved by integrating an optimization technique. The novelty of this work is the development of a new methodology for PID control tuning by coupling the Gain-Phase Margin method with the Genetic Algorithms in which the micro-population concept and adaptive mutation probability are applied. Simulations using a positioning system model in MATLAB and experimental tests in two CNC machines and an industrial robot are carried out in order to show the effectiveness of the proposal. The obtained results are compared with both the classical Gain-Phase Margin tuning and with a recent PID controller optimization using Genetic Algorithms based on real codification. The three methodologies are implemented using software.

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Intelligent robotics demands the integration of smart sensors that allow the controller to efficiently measure physical quantities. Industrial manipulator robots require a constant monitoring of several parameters such as motion dynamics, inclination, and vibration. This work presents a novel smart sensor to estimate motion dynamics, inclination, and vibration parameters on industrial manipulator robot links based on two primary sensors: an encoder and a triaxial accelerometer. The proposed smart sensor implements a new methodology based on an oversampling technique, averaging decimation filters, FIR filters, finite differences and linear interpolation to estimate the interest parameters, which are computed online utilizing digital hardware signal processing based on field programmable gate arrays (FPGA).

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This paper presents a methodology for power consumption estimation considering harmonic and interharmonic content and then it is compared to the power consumption estimation commonly done by commercial equipment based on the fundamental frequency, and how they can underestimate the power consumption considering power quality disturbances (PQD). For this purpose, data of electrical activity at the electrical distribution boards in a healthcare facility is acquired for a long time period with proprietary equipment. An analysis in the acquired current and voltage signals is done, in order to compare the power consumption centered in the fundamental frequency with the generalized definition of power consumption. The results obtained from the comparison in the power consumption estimation show differences between 4% and 10% of underestimated power consumption. Thus, it is demonstrated that the presence of harmonic and interharmonic content provokes a significant underestimation of power consumption using only the power consumption centered at the fundamental frequency.

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