Mixed Sensitivity Design of PID Controller-Applied to a Ball and Beam System

2017 ◽  
Author(s):  
Tooran Emami
Keyword(s):  
Pid Controller ◽  
Time Delays ◽  
Uncertainty Modeling ◽  
Pid Controllers ◽  
Perturbed System ◽  
Beam System ◽  
Communication Time ◽  
Uncertain Time ◽  
System Transfer Function ◽  
Ball And Beam System

This paper presents a set of algorithm for all achievable coefficients of Proportional Integral Derivative (PID) controllers that stabilize the system and satisfy a mixed sensitivity constraint with an uncertain time delay. Additive uncertainty modeling is used to describe the uncertainty of perturbed system. Additive uncertainty modeling performs much faster response with the time running of computer programming in MATLAB. This technique is applied to a ball and beam system transfer function with the assumption of uncertain communication time delays in the system process. The goal of this application is to regulate a ball position on a beam and also satisfy the mixed sensitivity constraint.

scholarly journals Additive Mixed Sensitivity Design of PID Controllers for Continuous-Time System with Uncertain Time-Delay

2021 ◽  
Vol 20 ◽  
pp. 303-311
Author(s):  
Tooran Emami
Keyword(s):  
Time Delay ◽  
Continuous Time ◽  
Time Delays ◽  
Dc Motor ◽  
Internal Communication ◽  
Pid Controllers ◽  
Time System ◽  
Communication Time ◽  
Uncertain Time ◽  
Continuous Time System

This paper presents an algorithm for all achievable coefficients of Proportional Integral Derivative (PID) controllers in an integral-derivative plane that stabilizes and satisfies additive mixed sensitivity constraint with an uncertain time delay for a continuous-time system. This algorithm solves the singularity problem of designing PID controllers in the integral and derivative plane and estimates achievable ranges of proportional gain of the PID controllers. A numerical cascaded ball and beam with unity feedback control of an SRV-DC motor and uncertain communication time delays in the system process demonstrate the application of this methodology. In this application, the additive weight bounds the additive errors for the cascaded ball and beam and the closed-loop SRV-DC motor system transfer function with the internal communication time delays

scholarly journals Optimized PID Position Control of a Nonlinear System Based on Correlating the Velocity with Position Error

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Nenad Muškinja ◽  
Matej Rižnar
Keyword(s):  
Pid Controller ◽  
Position Control ◽  
Design Approach ◽  
Control Loop ◽  
Real Time Control ◽  
Laboratory Setup ◽  
Time Control ◽  
Beam System ◽  
Ball Velocity ◽  
Ball And Beam System

We examined a design approach for a PID controller for a nonlinear ball and beam system. Main objective of our research was to establish a nonmodel based control system, which would also not be dependent on a specific ball and beam hardware setup. The proposed PID controller setup is based on a cascaded configuration of an inner PID ball velocity control loop and an outer proportional ball position control loop. The effectiveness of the proposed controller setup was first presented in simulation environment in comparison to a hardware dependent PD cascaded controller, along with a more comprehensive study on possible design approach for optimal PID controller parameters in relation to main functionality of the controller setup. Experimental real time control results were then obtained on a laboratory setup of the ball and beam system on which PD cascaded controller could not be applied without parallel system model processing.

Control of Ball and Beam System Using Fuzzy PID Controller

2018 ◽  
Author(s):  
Cristiano Osinski ◽  
Alessandro La Rocca Silveira ◽  
Claudinei Stiegelmaier ◽  
Mariane Gavioli Bergamini ◽  
Gideon Villar Leandro
Keyword(s):  
Pid Controller ◽  
Fuzzy Pid ◽  
Fuzzy Pid Controller ◽  
Beam System ◽  
Ball And Beam System

Intelligent Tuning of PID Controller to Balance the Shape Memory Wire Actuated Ball and Beam System

2020 ◽  
Vol 23 (6) ◽  
pp. 621-630
Author(s):  
M. Banu Sundareswari ◽  
G. Then Mozhi ◽  
K. Dhanalakshmi
Keyword(s):  
Shape Memory ◽  
Pid Controller ◽  
Beam System ◽  
Ball And Beam System
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