In this paper a novel Optimal Type-2 Fuzzy Proportional-Integral-Derivative Controller (OT2FPIDC) is designed for controlling the air supply pressure of Heating, Ventilation and Air-Conditioning (HVAC) system. The parameters of input and output membership functions, and PID controller coefficients are optimized simultaneously by random inertia weight Particle Swarm Optimization (RNW-PSO). Simul...

Friction is a nonlinear phenomenon which has destructive effects on performance of control systems. To obviate these effects, friction compensation is an effectual solution. In this paper, an adaptive technique is proposed in order to eliminate limit cycles as one of the undesired behaviors due to presence of friction in control systems which happen frequently. The proposed approach works for n...

In this paper the design of an optimal nonlinear H∞ controller for flexible joint robot (FJR) is presented. An approximate solution based on Taylor Series expansion is considered for the Hamilton-Jacobi-Isaac (HJI) inequality. A two-degree-of-freedom controller combined of optimal nonlinear H∞ controller and inverse dynamics controller is proposed to tackle the regulation as well as tracking pr...