An improved neuroendocrine–proportional–integral–derivative controller with sigmoid-based secretion rate for nonlinear multi-input–multi-output crane systems

This paper proposes an improved neuroendocrine–proportional–integral–derivative controller for nonlinear multi-input–multi-output crane systems using a sigmoid-based secretion rate of the hormone regulation. The main advantage of the sigmoid-based secretion rate neuroendocrine–proportional–integral–derivative is that the hormone secretion rate of neuroendocrine–proportional–integral–derivative can be varied according to the change of error. As a result, it can provide high accuracy control performance, especially in nonlinear multi-input–multi-output crane systems. In particular, the hormone secretion rate is designed to adapt with the changes of error using a sigmoid function, thus contributing to enhanced control accuracy. The parameters of the sigmoid-based secretion rate neuroendocrine–proportional–integral–derivative controller are tuned using the safe experimentation dynamics algorithm. The performance of the proposed sigmoid-based secretion rate neuroendocrine–proportional–integral–derivative controller-based safe experimentation dynamics algorithm is evaluated by tracking the error and the control input. In addition, the performances of proportional–integral–derivative and neuroendocrine–proportional–integral–derivative controllers are compared with the proposed sigmoid-based secretion rate neuroendocrine–proportional–integral–derivative performance. From the simulation work, it is discovered that the sigmoid-based secretion rate neuroendocrine–proportional–integral–derivative design provides better control performances in terms of the objective function, the total norm of error and the total norm of input compared to proportional–integral–derivative and neuroendocrine–proportional–integral–derivative controllers. In particular, it is shown the proposed sigmoid-based secretion rate neuroendocrine–proportional–integral–derivative controller contributes 5.12% of control accuracy improvement by changing the fixed hormone secretion rate into a variable hormone secretion rate based on the change of error

A DATA-DRIVEN PID CONTROLLER FOR FLEXIBLE JOINT MANIPULATOR USING NORMALIZED SIMULTANEOUS PERTURBATION STOCHASTIC APPROXIMATION

This paper presents a data-driven PID controller based on Normalized Simultaneous Perturbation Stochastic Approximation (SPSA). Initially, an unstable convergence of conventional SPSA is illustrated, which motivate us to introduce its improved version. The unstable convergence always happened in the data-driven controller tuning, when the closed-loop control system became unstable. In the case of flexible joint manipulator, it will exhibit unstable tip angular position with high magnitude of vibration. Here, the conventional SPSA is modified by introducing a normalized gradient approximation to update the design variable. To be more specific, each measurement of the cost function from the perturbations is normalized to the maximum cost function measurement at the current iteration. As a result, this improvement is expected to avoid the updated control parameter from producing an unstable control performance. The effectiveness of the normalized SPSA is tested to the data-driven PID control scheme of a flexible joint plant. The simulation result shows that the data-driven controller tuning using the normalized SPSA is able to provide a stable convergence with 76.68 % improvement in average cost function. Moreover, it also exhibits lower average and best values for both norms of error and input performances as compared to the existing modified SPSA.A DATA-DRIVEN PID CONTROLLER FOR FLEXIBLE JOINT MANIPULATOR USING NORMALIZED SIMULTANEOUS PERTURBATION STOCHASTIC APPROXIMATIO

Measurement of W Polarisation at LEP

The three different helicity states of W bosons produced in the reaction e+ e- -> W+ W- -> l nu q q~ at LEP are studied using leptonic and hadronic W decays. Data at centre-of-mass energies \sqrt s = 183-209 GeV are used to measure the polarisation of W bosons, and its dependence on the W boson production angle. The fraction of longitudinally polarised W bosons is measured to be 0.218 \pm 0.027 \pm 0.016 where the first uncertainty is statistical and the second systematic, in agreement with the Standard Model expectation

Search for Anomalous Couplings in the Higgs Sector at LEP

Anomalous couplings of the Higgs boson are searched for through the processes e^+ e^- -> H gamma, e^+ e^- -> e^+ e^- H and e^+ e^- -> HZ. The mass range 70 GeV < m_H < 190 GeV is explored using 602 pb^-1 of integrated luminosity collected with the L3 detector at LEP at centre-of-mass energies sqrt(s)=189-209 GeV. The Higgs decay channels H -> ffbar, H -> gamma gamma, H -> Z\gamma and H -> WW^(*) are considered and no evidence is found for anomalous Higgs production or decay. Limits on the anomalous couplings d, db, Delta(g1z), Delta(kappa_gamma) and xi^2 are derived as well as limits on the H -> gamma gamma and H -> Z gamma decay rates

Measurement of W Polarisation at LEP

The three different helicity states of W bosons produced in the reaction e+ e- -> W+ W- -> l nu q q~ at LEP are studied using leptonic and hadronic W decays. Data at centre-of-mass energies \sqrt s = 183-209 GeV are used to measure the polarisation of W bosons, and its dependence on the W boson production angle. The fraction of longitudinally polarised W bosons is measured to be 0.218 \pm 0.027 \pm 0.016 where the first uncertainty is statistical and the second systematic, in agreement with the Standard Model expectation

Neutral-Current Four-Fermion Production in e+e- Interactions at LEP

Neutral-current four-fermion production, e+e- -> ffff is studied in 0.7/fb of data collected with the L3 detector at LEP at centre-of-mass energies root(s)=183-209GeV. Four final states are considered: qqvv, qqll, llll and llvv, where l denotes either an electron or a muon. Their cross sections are measured and found to agree with the Standard Model predictions. In addition, the e+e- -> Zgamma* -> ffff process is studied and its total cross section at the average centre-of-mass energy 196.6GeV is found to be 0.29 +/- 0.05 +/- 0.03 pb, where the first uncertainty is statistical and the second systematic, in agreement with the Standard Model prediction of 0.22 pb. Finally, the mass spectra of the qqll final states are analysed to search for the possible production of a new neutral heavy particle, for which no evidence is found

Measurement of Exclusive rho+rho- Production in Mid-Virtuality Two-Photon Interactions and Study of the gamma gamma* -> rho rho Process at LEP

Exclusive rho+rho- production in two-photon collisions between a quasi-real photon, gamma, and a mid-virtuality photon, gamma*, is studied with data collected at LEP at centre-of-mass energies root(s)=183-209GeV with a total integrated luminosity of 684.8pb^-1. The cross section of the gamma gamma* -> rho+ rho- process is determined as a function of the photon virtuality, Q^2, and the two-photon centre-of-mass energy, W_gg, in the kinematic region: 0.2GeV^2 < Q^2 <0.85GeV^2 and 1.1GeV < W_gg < 3GeV. These results, together with previous L3 measurements of rho0 rho0 and rho+ rho- production, allow a study of the gamma gamma* -> rho rho process over the Q^2-region 0.2GeV^2 < Q^2 < 30 GeV^2

Bose-Einstein Correlations of Neutral and Charged Pions in Hadronic Z Decays

Bose-Einstein correlations of both neutral and like-sign charged pion pairs are measured in a sample of 2 million hadronic Z decays collected with the L3 detector at LEP. The analysis is performed in the four-momentum difference range 300 MeV < Q < 2 GeV. The radius of the neutral pion source is found to be smaller than that of charged pions. This result is in qualitative agreement with the string fragmentation model

Z Boson Pair-Production at LEP

Events stemming from the pair-production of Z bosons in e^+e^- collisions are studied using 217.4 pb^-1 of data collected with the L3 detector at centre-of-mass energies from 200 GeV up to 209 GeV. The special case of events with b quarks is also investigated. Combining these events with those collected at lower centre-of-mass energies, the Standard Model predictions for the production mechanism are verified. In addition, limits are set on anomalous couplings of neutral gauge bosons and on effects of extra space dimensions

Measurement of the Running of the Electromagnetic Coupling at Large Momentum-Transfer at LEP

The evolution of the electromagnetic coupling, alpha, in the momentum-transfer range 1800GeV^2 < -Q^2 < 21600GeV^2 is studied with about 40000 Bhabha-scattering events collected with the L3 detector at LEP at centre-of-mass energies 189-209GeV. The running of alpha is parametrised as: alpha(Q^2) = alpha_0/(1-C Delta alpha(Q^2)), where alpha_0=\alpha(Q^2=0) is the fine-structure constant and C=1 corresponds to the evolution expected in QED. A fit to the differential cross section of the e+e- ->e+e- process for scattering angles in the range |cos theta|<0.9 excludes the hypothesis of a constant value of alpha, C=0, and validates the QED prediction with the result: C = 1.05 +/- 0.07 +/- 0.14, where the first uncertainty is statistical and the second systematic