Structure and Synthesis of PID Controllers

Datta, Aniruddha; Ho, Ming-Tzu; Bhattacharyya, S.P.

doi:10.1007/978-1-4471-3651-4

Cited by 282 publications

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“…The 1-bit feature enables the possibility of implementing fast QP solvers, thus achieving an OBMPC system operating under a small time interval. Moreover, according to proposition 2.2 in (Delchamps, 1990;Datta, et al, 2000), each single quantity of the oversampled measurements contains as much useful sensing information as the entire measurement history. Therefore, even if the sensor accuracies are severely limited, causing the measurements to become very rough, a long record of such measurements can result in a better estimation than the otherwise single multi-bit measurement.…”

Section: δ∑ Modulator Based Mems Gyroscope 51mentioning

confidence: 99%

“…(Miller and Petrie, 2003) for different Δ∑ modulator based MEMS gyroscope structures). This methodology is analogous to a PID (Proportional-Integral-Derivative) control system, in which the performance of the designed system depends on the experience of the designer (Datta, et al, 2000). The implementation structure can be referred to the ∆∑ modulator structures as discussed before.…”

Section: δ∑ Modulator Based Mems Gyroscope 51mentioning

confidence: 99%

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1-Bit processing based model predictive control for fractionated satellite missions

Bai

2014

Acta Astronautica

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In this thesis, a 1-bit processing based Model Predictive Control (OBMPC) structure is proposed for a fractionated satellite attitude control mission. Despite the appealing advantages of the MPC algorithm towards constrained MIMO control applications, implementing the MPC algorithm onboard a small satellite is certainly challenging due to the limited onboard resources. The proposed design is based on the 1-bit processing concept, which takes advantage of the affine relation between the 1-bit state feedback and multi-bit parameters to implement a multiplier free MPC controller.As multipliers are the major power consumer in online optimization, the OBMPC structure is proven to be more efficient in comparison to the conventional MPC implementation in term of power and circuit complexity. The system is in digital control nature, affected by quantization noise introduced by Δ∑ modulators. The stability issues and practical design criteria are also discussed in this work.Some other aspects are considered in this work to complete the control system. Firstly, the implementation of the OBMPC system relies on the 1-bit state feedbacks. Hence, 1-bit sensing components are needed to implement the OBMPC system. While the ∆∑ modulator based Microelectromechanical systems (MEMS) gyroscope is considered in this work, it is possible to implement this concept into other sensing components.Secondly, as the proposed attitude mission is based on the wireless inter-satellite link (ISL), a state estimator is required. However, conventional state estimators will once again introduce multi-bit signals, and compromise the simple, direct implementation of the OBMPC controller. Therefore, the 1-bit state estimator is also designed in this work to satisfy the requirements of the proposed fractionated attitude control mission.The simulation for the OBMPC is based on a 2U CubeSat model in a fractionated satellite structure, in which the payload and actuators are separated from the controller and controlled via the ISL. Matlab simulations and FPGA implementation based performance analysis shows that the OBMPC is feasible for fractionated satellite missions and is advantageous over the conventional MPC controllers. V VI

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Section: δ∑ Modulator Based Mems Gyroscope 51mentioning

confidence: 99%

Section: δ∑ Modulator Based Mems Gyroscope 51mentioning

confidence: 99%

1-Bit processing based model predictive control for fractionated satellite missions

Bai

2014

Acta Astronautica

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“…Bhattacharyya et al [9,10] and references therein for the entire set of stabilizing PI, PD, PID, and first-order controllers, (b) S.P. Bhattacharyya et al [10] and references therein, and Kim [17] for the complete set of PI, PD, PID, and first-order controllers with guaranteed gain and phase margins, (c) Kim et al [12,13] for a set of PI, PD, PID, and first-order controllers that meets the specified maximum overshoot and settling time.…”

Section: Low-order Controller Design Using the Tpcd Algorithmmentioning

confidence: 99%

“…Autotuners of major vender include identification methods using mainly step, ramp, pseudo-random binary sequence (PRBS), and relay feedback tests [8]. On the other hand, an important breakthrough on PID controllers was reported in [9]. This approach as well as a number of recent results have been described in [10].…”

Section: Introductionmentioning

confidence: 99%

Data Based Lower-Order Controller Design: Moment Matching Approach

Kim¹,

Jin²

2012

The Transactions of The Korean Institute of Electrical Engineer

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-This paper presents a data based low-order controller design algorithm for a linear time-invariant process with a time delay. The algorithm is composed by combining an identification step based on open loop pulse test with a low-order controller design step to obtain the entire set of controllers achieving multiple performance specifications. The initial information necessary for this algorithm are merely the width and amplitude of a rectangular pulse, a controller of four types (PI, PD, PID, first-order), and design objectives. Various parametric approaches that have been developed are merged in the controller design algorithm. The resulting controller set satisfying the design objectives are displayed on the 2D and 3D graphics and thus it is very easy for us to pick a controller inside the admissible set because we can check the corresponding closed-loop performances visually.

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“…Despite apparent simplicity of the PID control, from the beginning we were faced with the well known problem (see e.g. [2]) that already in linear context it is not easy to find good controller settings, especially from the point of view of robust control. The education is difficult especially when dealing with time delay systems, where different interactive tools [3,4] are used to compensate shortage of reliable and easy to use control theory.…”

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confidence: 99%

Developing e-course Robust Constrained PID Control

apák¹,

Huba²

2011

Int. J. Emerg. Technol. Learn.

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Abstract-This paper informs about the latest development of the blended learning course Robust Constrained PID Control and describes in details problems faced in evaluating independent work of students with real time experiments that represent the main element of the applied "learning by doing" and "learning by experimenting" approach. Basic features of the developed system that evaluates consistency of student's results with the measured experimental data and possibilities of further system expansion to automation of offering to student constructive feedback are discussed. Simultaneously, by comparing all data of the Matlab workspace the developed system serves although as an excellent anti-plagiarism tool.Index Terms-anti-plagiarism, real experiments, automated assignment marking, Matlab/Simulink, robust control I. INTRODUCTION For more than two decades, at MSc level, the "Constrained PID Control" course has been developed and piloted [1]. Its aim was to integrate, explain, verify, compare and evaluate different traditional and new PID control structures based on linear models with dominant dynamics up to the 2nd order with possible long dead time. This all was taking into account also constraints given on the manipulated variable, or the state variables. Despite apparent simplicity of the PID control, from the beginning we were faced with the well known problem (see e.g. [2]) that already in linear context it is not easy to find good controller settings, especially from the point of view of robust control. The education is difficult especially when dealing with time delay systems, where different interactive tools [3,4] are used to compensate shortage of reliable and easy to use control theory. In order to enable to students to cope with the peculiar problem of reliable robust controller tuning, a group of teachers from STU (Slovak University of Technology) have brought into the education a high number of low-cost plant models including own microprocessor for the data processing and communication. These are able to be connected to standard computers via the USB port. This solution does not require purchasing special converter cards and simplifies the overall control communication that enables to carry out real time control tasks in any standard computer room, or even by own computers at home.From the huge amount of experiments carried out by our students it was obvious that in order to guarantee required control quality over total operating range of the inherently nonlinear and time variable plants the traditional nominal controller tuning should be replaced by

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Structure and Synthesis of PID Controllers

Cited by 282 publications

References 0 publications

1-Bit processing based model predictive control for fractionated satellite missions

1-Bit processing based model predictive control for fractionated satellite missions

Data Based Lower-Order Controller Design: Moment Matching Approach

Developing e-course Robust Constrained PID Control

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