A Novel PIDA Controller Design for a Single-Axis Gimbal System

Kumar, Munish; Hote, Yogesh V.

doi:10.1109/indicon49873.2020.9342153

Cited by 4 publications

(5 citation statements)

References 29 publications

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“…With respect to the critical point (−1, 0j), the Nyquist curve of the MRDP-PIDA controller (15) in Figure 5 satisfies the stability condition in linear control. However, due to the presence of the saturation nonlinearity (which is a sector nonlinearity), the loop with the MRDP-PIDA controller does not satisfy the absolute stability requirement (30).…”

Section: Absolute Stability Testmentioning

confidence: 89%

“…Nyquist curves of the loop with IPDT process and PIDA-controllers tuned according to (15) with T e = 1 and T e = 0.2; Since small distortions in the control signal u(t) already occur at T e /T dp = 0.2 (see Figure 3), the following proposal can be formulated with respect to the settings of the PIDA controller.…”

Section: Design Of Controller Filtersmentioning

confidence: 99%

“…After replacing the numerator of controller (5) with 2 , the new controller parameters (denoted by overline) correspond to a new automatic reset time constant T i = T 2 . At the same time, the previously derived transfer function of the MRDP controller specified by parameters (15) was retained, as can be seen from the comparison of the corresponding parameters of the approximating and the new controller:…”

Section: Basic Constrained Series Mrdp-pida Modificationsmentioning

confidence: 99%

“…Some of the approaches use optimization methods and/or artificial intelligence to tune the increased number of coefficients of the controller [4][5][6][7]. Other approaches use controller optimization considering sensitivity constraints [8][9][10][11] or controller design by internal model control (IMC) [12][13][14][15][16][17]. Using a significantly different approach, it is also possible to design higher-order controllers using fractional calculus [18][19][20][21][22][23][24][25].…”

Section: Introductionmentioning

confidence: 99%

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Parametrization and Optimal Tuning of Constrained Series PIDA Controller for IPDT Models

Huba,

Bistak,

Vrancic

2023

Mathematics

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The new modular approach to constrained control of higher-order processes with dominant first-order dynamics using generalized controllers with automatic resets (ARCs) is addressed. The controller design is based on the multiple real dominant pole (MRDP) method for the integrator plus dead time (IPDT) process models. The controller output constraints are taken into account by inserting the smallest numerator time constant of the controller transfer function into the positive feedback loop representing the automatic reset (integral) term. In the series realization of the proportional–integral–derivative–acceleration (PIDA) controller (and other controllers with even derivative degree), the time constant mentioned is complex, so only the real part of the time constant has been used so far. Other possible conversions of a complex number to a real number, such as the absolute value (modulus), can be covered by introducing a tuning parameter that modifies the calculated real time constant and generalizes the mentioned conversion when designing controllers with constraints. In this article, the impact of the tuning parameter on the overall dynamics of the control loop is studied by simulation. In addition, an evaluation of the stability of the closed-loop control system is performed using the circle criterion in the frequency domain. The analysis has shown that the approximation of the complex zero by its real part and modulus leads to a near optimal response to the set point tracking. The disturbance rejection can be significantly improved by increasing the tuning parameter by nearly 50%. In general, the tuning parameter can be used to find a compromise between servo and regulatory control. The robustness and applicability of the proposed controller is evaluated using a time-delayed process with first-order dominant dynamics when the actual transfer function is much more complicated than the IPDT model. A comparison of the proposed MRDP-PIDA controller with series PI, PID and PIDA controllers based on a modified SIMC method has shown that the MRDP-PIDA controller performs better than the SIMC method, although the SIMC uses a more complex process model.

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Section: Absolute Stability Testmentioning

confidence: 89%

Section: Design Of Controller Filtersmentioning

confidence: 99%

Section: Basic Constrained Series Mrdp-pida Modificationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Parametrization and Optimal Tuning of Constrained Series PIDA Controller for IPDT Models

Huba,

Bistak,

Vrancic

2023

Mathematics

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“…According to the literature, several model-based designs have been presented to evaluate the performance of desalination plants in the last few decades [14]- [25]. Modeling, simulation, optimization, control, and verifications are the essential phases of such designs [26], [27].…”

Section: A Backgroundmentioning

confidence: 99%

PID Control Design Using AGPSO Technique and Its Application in TITO Reverse Osmosis Desalination Plant

et al. 2022

Self Cite

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Desalination plants have an important concern regarding controlling the permeate flow rate and pH during operability. This paper proposes the proportional integral derivative (PID) control design using modified Particle Swarm Optimization (PSO) techniques called autonomous groups PSO (AGPSO) in the two-input two-output (TITO) RO desalination plant to control the permeate flow rate and pH. Here, three different versions (AGPSO1, AGPSO2, and AGPSO3) of the AGPSO algorithm are utilized to design PID control for the same TITO plant. In addition, an integral time absolute error (JITAE) based objective function is utilized to design a PID controller. The simulation results suggest that the proposed controller designs are flexible, self-tuning, and have stable characteristics, while the AGPSO3-PID control design attained a robust design for optimum tuning compared to existing improved grey wolf optimization PID (IGWO-PID) and other versions of AGPSO based PIDs (AGPSO1-PID, AGPSO2-PID). The design of AGPSO-PID achieved a minimum objective function than existing IGWO-PID and other versions of AGPSO based PIDs {AGPSO1-PID, AGPSO2-PID}. Finally, the proposed controller designs outperform the existing IGWO-PID design in literature in terms of control performance, demonstrating a precise control for and the improvement of plant performance.

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Comparative study of PID-type controllers design for a single-axis gimbal system

Kamble,

Rewatkar,

Belsare

et al. 2023

PHYSICAL MESOMECHANICS OF CONDENSED MATTER: Physical Principles of Multiscale Structure Formation and the Mechanisms of Nonline

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A Novel PIDA Controller Design for a Single-Axis Gimbal System

Cited by 4 publications

References 29 publications

Parametrization and Optimal Tuning of Constrained Series PIDA Controller for IPDT Models

Parametrization and Optimal Tuning of Constrained Series PIDA Controller for IPDT Models

PID Control Design Using AGPSO Technique and Its Application in TITO Reverse Osmosis Desalination Plant

Comparative study of PID-type controllers design for a single-axis gimbal system

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