Self-tuning run-time reconfigurable PID controller

Digital PID control algorithm is one of the most commonly used algorithms in the control systems area. This algorithm is very well known, it is simple, easily implementable in the computer control systems and most of all its operation is very predictable. Thus PID control has got well known impact on the control system behavior. However, in its simple form the controller have no reconfiguration support. In a case of the controlled system substantial changes (or the whole control environment, in the wider aspect, for example if the disturbances characteristics would change) it is not possible to make the PID controller robust enough. In this paper a new structure of digital PID controller is proposed, where the policy-based computing is used to equip the controller with the ability to adjust it's behavior according to the environmental changes. Application to the electro-oil evaporator which is a part of distillation installation is used to show the new controller structure in operation

A digital controller using multirate sampling for gain control

Digital controller using multirate sampling for gain contro

Non-linear swing-up and stabilizing control of an inverted pendulum system

This paper presents the design and implementation of a complete control system for the swing-up and stabilizing control of an inverted pendulum. In particular, this work outlines the effectiveness of a particular swing-up method, based on feedback linearization and energy considerations. The power of modern state-space techniques for the analysis and control of Multiple Input Multiple Output (MIMO) systems is also investigated and a state-feedback controller is employed for stabilizing the pendulum. Cascade control is then utilized to reduce the complexity of the complete controller by splitting it into two separate control loops operating at well distinct bandwidths.Electrotechnical Association of Slovenia,et al.,IEEE Region 8,IEEE Slovenia Section,Ministry of Education, Science and Sport of the Republic of Slovenia,University of Ljubljana.peer-reviewe

A review of convex approaches for control, observation and safety of linear parameter varying and Takagi-Sugeno systems

This paper provides a review about the concept of convex systems based on Takagi-Sugeno, linear parameter varying (LPV) and quasi-LPV modeling. These paradigms are capable of hiding the nonlinearities by means of an equivalent description which uses a set of linear models interpolated by appropriately defined weighing functions. Convex systems have become very popular since they allow applying extended linear techniques based on linear matrix inequalities (LMIs) to complex nonlinear systems. This survey aims at providing the reader with a significant overview of the existing LMI-based techniques for convex systems in the fields of control, observation and safety. Firstly, a detailed review of stability, feedback, tracking and model predictive control (MPC) convex controllers is considered. Secondly, the problem of state estimation is addressed through the design of proportional, proportional-integral, unknown input and descriptor observers. Finally, safety of convex systems is discussed by describing popular techniques for fault diagnosis and fault tolerant control (FTC).Peer ReviewedPostprint (published version

Control of Cart-Inverted Pendulum System Using Pole Placement

The Cart Inverted Pendulum system has many real life applications like missile launching,balancing systems like human walking,aircraft landing pad in sea etc.Moreover this is a highly unstable and non-linear system and so designing a controller to bring the system to a stable condition is a challenging task.This thesis includes system and hardware description of Inverted Pendulum System,dynamics of the system and its state space model.In this thesis,pole placement methods like two-loop PID and PID+PI have been implemented for Inverted Pendulum System and this control strategies gives stable responses.With the recent devel-opment of LMIs tool,regional pole placement can achieve the goal as well.A regional pole placement controller is also synthesized, where desired specifications are transformed into LMI regions.In present case,a conical sector in the left half plane is taken and the method is implemented. Lastly,a reduced order controller is also designed and its bode magnitude plot is compared with that of the full order controller.The reduced order simplification method has an almost identical frequency response,showing that it can be utilized as well for stabilizing the CIPS

Hierarchical Triple-Maglev Dual-Rate Control Over a Profibus-DP Network

© 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksThis paper addresses a networked control system application on an unstable triple-magnetic-levitation setup. A hierarchical dual-rate control using a Profibus-decentralized peripherals network has been used to stabilize a triangular platform composed of three maglevs. The difficulty in control is increased by time-varying network-induced delays. To solve this issue, a local decentralized H∞ control action is complemented by means of a lower rate output feedback controller on the remote side. Experimental results show good stabilization and reference position accuracy under disturbances.Manuscript received October 24, 2011; revised July 30, 2012; accepted September 9, 2012. Manuscript received in final form October 2, 2012. Date of publication November 12, 2012; date of current version December 17, 2013. The work of R. Piza, J. Salt, and A. Cuenca was supported in part by the Spanish Ministerio de Economia under Grant DPI2011-28507-C02-01, Grant DPI2009-14744-C03-03, and Grant ENE2010-21711-C02-01 and the Generalitat Valenciana Grant GV/2010/018. The work of A. Sala was supported in part by the Spanish Ministerio de Economia under Grant DPI2011-27845-C02-01 and the Generalitat Valenciana Grant PROMETEO/2008/088. Recommended by Associate Editor C. De Persis.Pizá, R.; Salt Llobregat, JJ.; Sala, A.; Cuenca Lacruz, ÁM. (2014). Hierarchical Triple-Maglev Dual-Rate Control Over a Profibus-DP Network. IEEE Transactions on Control Systems Technology. 22(1):1-12. https://doi.org/10.1109/TCST.2012.2222883S11222