A novel PID control with fractional nonlinear integral

Direct adaptive neural network-based sliding mode control of a high-speed, ultratall building elevator using genetic algorithm

“…8, ) of the RBFNN-SMC were determined through a brief GAoptimisation procedure, with the parameters , K R , 0 , 1 and 2 being inherited from a separately optimised SSMC (Figs. 11,12,13,14,15). As detailed in Table 6, the RBFNN converged to a 10-8-1 structure, with the input vector given as x = [ vc v c vw v w ẋc x c ẋw x w i m 𝜔 s ] T .…”

“…Rather than initiating at the moment of arrival, re-levelling using SMC had to be delayed until the cabin decelerated to a velocity of 0.1 m/s, while the threshold for NPID controller was set at 0.02 m/s. This relatively poor performance of the NPID controller in particular is a significant result, given the prevalence of the PID architecture in industry [14], which includes its use in modern VVVF drives [19,20]. Given the similarity of the architectures, the results suggest that there would be merit in investigating the effects of replacing PID control with PDF control in real-world applications.…”

“…Tachometer noise and torque disturbance are the only sources of disturbance considered in this paper. A preliminary analysis identified that superior NPDF control was achieved using the simple velocity setpoint signal ( v d−s ) in (14). The same was not true for the NPID controller, which could not achieve control using a signal that does not account for jerk, with instantaneous transitions occurring from states of rest to acceleration to steady-state travel in (14).…”

“…A preliminary analysis identified that superior NPDF control was achieved using the simple velocity setpoint signal ( v d−s ) in (14). The same was not true for the NPID controller, which could not achieve control using a signal that does not account for jerk, with instantaneous transitions occurring from states of rest to acceleration to steady-state travel in (14). As such, the exact velocity setpoint signal ( v d−e ) in (18) was derived from the exact jerk setpoint signal ( j d−e ) in (15).…”

“…Furthermore, this paper will supplement the limited research that is available on NPDF control, with there being only one previous investigation [2] and one concurrent study [13] into the architecture. Given the similarity of the controller to the PID control system (one of the most common industrial controllers [14]), there exists a multitude of control applications wherein NPDF control could easily replace PID control, should it be deemed beneficial.…”