PID control in terms of robustness/performance and servo/regulator trade-offs: A unifying approach to balanced autotuning

Alcántara, S.; Vilanova, Ramón; Pedret, Carles

doi:10.1016/j.jprocont.2013.01.003

Cited by 88 publications

(55 citation statements)

References 20 publications

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“…The internal structure of the IT2-FLC is similar to its type-1 counterpart. However, the major differences are that IT2-FLCs employ Interval Type-2 Fuzzy Sets (IT2-FSs) (rather than type-1 fuzzy sets) and the IT2-FLCs process IT2-FSs and thus the IT2-FLC has an extra type-reduction process [7][8][9]. Nevertheless, the systematic design of IT2-FLCs is still a challenging problem due to the main difficulty in determining the parameters of the Fuzzy Sets (FSs) and the rulebase [10].…”

Section: Introductionmentioning

confidence: 99%

A Self-Tuning zSlices-Based General Type-2 Fuzzy PI Controller

Kumbasar

Hagras

2015

IEEE Trans. Fuzzy Syst.

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Abstract-The Interval Type-2 Fuzzy PI controller (IT2-FPI) might be able to handle high levels of uncertainties to produce a satisfactory control performance which could be potentially due to the robust performance as a result of the smoother control surface around the steady state [1]. However, the transient state and disturbance rejection performance of the IT2-FPI may degrade in comparison to the Type-1 Fuzzy PI (T1-FPI) counterpart [1]. This drawback can be resolved via general type-2 fuzzy PI controllers which can provide a trade-off between the robust control performance of the IT2-FPI and the acceptable transient and disturbance rejection performance of the type-1 PI controllers. In this paper, we will present a zSlices based general Type-2 Fuzzy PI controller (zT2-FPI) where the Secondary Membership Functions (SMFs) of the antecedent general type-2 fuzzy sets are adjusted in an on-line manner. We will examine the effect of the SMF on the closed system control performance to investigate their induced performance improvements. The paper will focus on the case followed in conventional or self-tuning fuzzy controller design strategies where the aim is to decrease the integral action sufficiently around the steady state to have robust system performance against noises and parameter variations. The zSlices approach will give the opportunity to construct the zT2-FPI controller as a collection of IT2-FPI and T1-FPI controllers. We will present a new way to design a zT2-FPI controller based on a single tuning parameter where the features of T1-FPI (speed) and IT2-FPI (robustness) are combined without increasing the computational complexity much when compared to the IT2-FPI structure. This will allow the proposed zT2-FPI controller to achieve the desired transient state response and provide an efficient disturbance rejection and robust control performance. We will present several simulation studies on benchmark systems in addition to real-world experiments which were performed using the PIONEER 3-DX mobile robot that will act as a platform to evaluate the proposed systems. The results will show that the control performance of the self-tuning zT2-FPI control structure enhances both the transient state and disturbance rejection performances when compared to the type-1 and IT2-FPI counterparts. In addition, the self-tuning zT2-FPI is more robust to disturbances, noise and uncertainties when compared to the type-1 and interval type-2 fuzzy counterparts.

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Section: Introductionmentioning

confidence: 99%

A Self-Tuning zSlices-Based General Type-2 Fuzzy PI Controller

Kumbasar

Hagras

2015

IEEE Trans. Fuzzy Syst.

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“…For servo control object, sliding mode control and classical PID control were simulated respectively [11]. Changing the parameters of the control object and adding a successive interference or a sudden load torque to the object, response curves of the two algorithms were compared.…”

Section: Simulation Results Analysismentioning

confidence: 99%

An Investigation of the Discrete Sliding Mode Algorithm for On-Board Satellite Antenna Servo System

Jie-rong¹,

Linshu²,

Li³

2017

IJCA

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“…Bölüm 3' te anlatıldığı gibi iki serbestlik dereceli PID kontrolcüsü parametreleri hesaplanıp tasarlanarak Şekil 6' da zaman domeni simülasyon diyagramı oluşturulmuştur [16]. Daha sonra performans karşılaştırması yapılabilmesi için bir serbestlik dereceli PID kontrolcüsüyle de aynı parametreler kullanılmak suretiyle Şekil 3'teki yapı oluşturulmuştur.…”

Section: Benzeti̇m çAlişmasi (Simulation Study)unclassified

Manyetik Top Askılama Sistemi İçin 2 Serbestlik Dereceli PID Tasarım

Maden¹,

Yazıcı²

2018

SAÜ Fen Bilimleri Enstitüsü Dergisi

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ÖZBu çalışmada, açık çevrim, kararsız ve lineer olmayan ikinci dereceden bir yapıda olduğu için bir birçok kontrol problemine konu olan manyetik top askılama sistemine uygun 2 Serbestlik Dereceli PID kontrolcüsü tasarlanmış ve geleneksel PID kontrolcüsüyle kıyaslanmıştır. Sistem fiziksel parametreler baz alınarak modellenmiş ve uygun birer denge noktası civarında Tylor serisine açılarak lineerleştirilmiştir. PID kontrol parametreleri, ikinci dereceden sistemler için uygun bir yöntem olan kök yerleştirme metoduyla belirlenmiş ve aynı parametreler 2 serbestlik dereceli PID için de kullanılmıştır. Önerilen bu kontrol algoritması ileri yol kazanç parametrelerine sahip olduğu için geleneksel PID kontrolcüsüne göre geçici hal performansının daha da iyileştirilmesi mümkün olmaktadır. Geleneksel kontrolcüden kaynaklanan sisteme ait transfer fonksiyonundaki sıfırların sebep olduğu aşımların önüne geçilmiştir.Anahtar Kelimeler: Manyetik Askılama Sistemi, Bir Serbestlik Dereceli PID Kontrol, İki Serbestlik Dereceli PID Kontrol, Gürbüzlük Designing of 2-DOF PID control algorithm for magnetic levitation systems ABSTRACTIn this study, two degree of freedom (2-DOF) PID controllers are designed and compared to the conventional PID controller, which is compatible with the magnetic ball levitation system. This system is a subject of many control problems, because it has a open loop unstable and nonlinear second order structure. The system is modeled based on physical parameters and its linearized around the appropriate equilibrium point via Tylor series expansion. The PID control parameters are determined by the root placement method which is a suitable method for the second order systems and the same parameters are used for the 2-DOF PID. Since this proposed control algorithm has feedforward gain parameters, it is possible to improve the transient state performance according to the traditional PID controller. Due to the use of the conventional PID controller, there are some zeros in the transfer function of the system. It can be seen that proposed technique could prevent the overshoots caused by these zeros.

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PID control in terms of robustness/performance and servo/regulator trade-offs: A unifying approach to balanced autotuning

Cited by 88 publications

References 20 publications

A Self-Tuning zSlices-Based General Type-2 Fuzzy PI Controller

A Self-Tuning zSlices-Based General Type-2 Fuzzy PI Controller

An Investigation of the Discrete Sliding Mode Algorithm for On-Board Satellite Antenna Servo System

Manyetik Top Askılama Sistemi İçin 2 Serbestlik Dereceli PID Tasarım

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