PID control system analysis and design

doi:10.1109/mcs.2006.1580152

Cited by 399 publications

(34 citation statements)

References 11 publications

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“…For this purpose, the inverted pendulum was initially inclined at 14 deg, which required bringing it back to the reference position. The tuning procedures were based on a previous study (Li et al, 2006) and our preliminary research. In these short trials, a few variations of PID controller gains were applied in the case of the PID controller performed inadequately (due to potential differences between the modeled and actual closed-loop system).…”

Section: Methodsmentioning

confidence: 99%

PID Controller Design for FES Applied to Ankle Muscles in Neuroprosthesis for Standing Balance

et al. 2017

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Closed-loop controlled functional electrical stimulation (FES) applied to the lower limb muscles can be used as a neuroprosthesis for standing balance in neurologically impaired individuals. The objective of this study was to propose a methodology for designing a proportional-integral-derivative (PID) controller for FES applied to the ankle muscles toward maintaining standing balance for several minutes and in the presence of perturbations. First, a model of the physiological control strategy for standing balance was developed. Second, the parameters of a PID controller that mimicked the physiological balance control strategy were determined to stabilize the human body when modeled as an inverted pendulum. Third, this PID controller was implemented using a custom-made Inverted Pendulum Standing Apparatus that eliminated the effect of visual and vestibular sensory information on voluntary balance control. Using this setup, the individual-specific FES controllers were tested in able-bodied individuals and compared with disrupted voluntary control conditions in four experimental paradigms: (i) quiet-standing; (ii) sudden change of targeted pendulum angle (step response); (iii) balance perturbations that simulate arm movements; and (iv) sudden change of targeted angle of a pendulum with individual-specific body-weight (step response). In paradigms (i) to (iii), a standard 39.5-kg pendulum was used, and 12 subjects were involved. In paradigm (iv) 9 subjects were involved. Across the different experimental paradigms and subjects, the FES-controlled and disrupted voluntarily-controlled pendulum angle showed root mean square errors of <1.2 and 2.3 deg, respectively. The root mean square error (all paradigms), rise time, settle time, and overshoot [paradigms (ii) and (iv)] in FES-controlled balance were significantly smaller or tended to be smaller than those observed with voluntarily-controlled balance, implying improved steady-state and transient responses of FES-controlled balance. At the same time, the FES-controlled balance required similar torque levels (no significant difference) as voluntarily-controlled balance. The implemented PID parameters were to some extent consistent among subjects for standard weight conditions and did not require prolonged individual-specific tuning. The proposed methodology can be used to design FES controllers for closed-loop controlled neuroprostheses for standing balance. Further investigation of the clinical implementation of this approach for neurologically impaired individuals is needed.

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Section: Methodsmentioning

confidence: 99%

PID Controller Design for FES Applied to Ankle Muscles in Neuroprosthesis for Standing Balance

et al. 2017

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“…ventilation and HVAC systems) and disturbances from the environment. Otherwise, they have been shown, like in the case of work presented by Li et al [53], to perform relatively poorly due to problems stemming from their inability to perform in noisy and non-linear systems that are characteristic for certain aspects of building automation (e.g. daylighting).…”

Section: Conventional Approachesmentioning

confidence: 99%

Adaptive Building Envelope: An Integral Approach to Indoor Environment Control in Buildings

Košir¹

2016

Automation and Control Trends

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The problem of energy consumption of buildings is complex and multidimensional, as it is a cross section of building envelope performance, indoor environmental conditions and user demands and preferences. In order to fulfil the EU goal stated in the 2020 climate and energy package and beyond, the implementation of high-performance buildings is crucial. Part of the solution is properly designed, flexible and adequately controlled building envelope that can contribute to reduced energy consumption and to increased occupancy comfort. In the presented chapter first, a structured treatment of the indoor environment formation is proposed that can be used in order to define appropriate fields of interventions when designing building automation systems. Furthermore, interaction between adaptive building envelope elements, indoor and exterior environment is discussed and elaborated. Second, the conventional and artificial intelligence control approaches used in building automation are discussed and commented, whereas advantages and disadvantages of each group are discussed. At the end, an example of building automation system designed on the principles of a holistic treatment of indoor environment in buildings is presented. The discussed system was designed at the Faculty of Civil and Geodetic Engineering using a combination of conventional and artificial intelligence control methods.

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“…4c shows that the amplification has a sharp rise across a certain frequency, which is the so-called resonance. The method used for controlling the macroposition stage is increasing PID, of which the parameters of proportional plus integral plus derivative are tuned by experience (Li et al, 2006). The cost function for LQ design in the LQG filter is…”

Section: Simulation Of the Macro-position Stagementioning

confidence: 99%

Track-position and vibration control simulation for strut of the Stewart platform

Chenhui

2013

J. Zhejiang Univ. Sci. A

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Abstract:Vibrations inherently generated by on-board disturbance sources degrade the performance of the instruments in an on-orbit spacecraft, which have stringent accuracy requirements. The Stewart platform enables both track-positioning and vibration control. The strut of the Stewart platform is designed as a piezoelectric (PZT) element in series with a voice coil motor (VCM) element and a viscoelastic element. The track-positioning system uses a VCM as the main positioning control driver and a PZT as the positioning compensator. The vibration control system uses the characteristics of struts including active and passive control elements to attenuate the vibration. Simulation results indicate that the Stewart platform with the designed struts has good performance in tracking and vibration attenuation with different interference waves.

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PID control system analysis and design

Cited by 399 publications

References 11 publications

PID Controller Design for FES Applied to Ankle Muscles in Neuroprosthesis for Standing Balance

PID Controller Design for FES Applied to Ankle Muscles in Neuroprosthesis for Standing Balance

Adaptive Building Envelope: An Integral Approach to Indoor Environment Control in Buildings

Track-position and vibration control simulation for strut of the Stewart platform

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