This paper proposes an optimized control policy over type one diabetes. Type one diabetes is taken into consideration as a nonlinear model (Augmented Minimal Model), which is implemented in MATLAB-SIMULINK. This Model is developed in consideration of the patient's conditions. There are some uncertainties in the regarded model due to factors such as blood glucose concentration, daily meals or su...

The present paper describes the development of a simple yet effective gain scheduling type fuzzy PID controller algorithm that can employ fuzzy adaptation to dynamically vary conventional PID controller gain(s). While one scheme can dynamically vary the reset rate only, an even improved scheme can effectively vary both proportional gain and reset rate of a PID controller simultaneously, employi...

A new algorithm of PID controller tuning is presented in this paper. It is well known that there have been introduced many techniques for PID controller tuning, both theoretical and experimental ones. However, this algorithm is suitable especially for highly nonlinear processes. It uses a model of the controlled process in the shape of piecewise-linear neural network which is linearized continu...

Heating, Ventilating and Air Conditioning (HVAC) plant is a multivariable, nonlinear and non minimum phase system, which control of this plant, is very difficult. This paper presents a new approach to control of HVAC system. The proposed method is a hybrid of fuzzy logic and PID controller. Simulation results show that this control strategy is very robust, flexible and alternative performance. ...

In this dissertation Euler-Lagrange’s method is used to model the dynamics of two linked rigid manipulator. The multi input and the multi output model is found to be nonlinear. To observe and control the output response of manipulator, SIMULINK model is designed using S-Function block without any controller and the response found is unbounded. In order to control the position of the manipulator...

Parallel robots exhibit good performance in terms of rigidity, accuracy, and dynamic characteristics. However, parallel robots have complex configurations and their dynamic model is highly nonlinear, and conventional PID controllers are not sufficiently robust for their motion control. In this paper, we have investigated the intelligent control of a hydraulically driven parallel robot based on ...

— A novel algorithm is developed to update the rule base of the fuzzy gain scheduling of the PID controller. The algorithm fulfills the following requirements: all data needed are stored in a rule base, this keeps the rule base small so that it can also be maintained manually, and it stores the PID parameters with a common base of operation points. Key-Words: — nonlinear control, controller design

For some disturbances and model uncertainties of the multi-tank level system, we develop an adaptive nonlinear control law based on the neural network to achieve high performance control. A nonlinear model including the model uncertainties and disturbances is firstly built through carefully analyzing the multi-tank level system. Based on the model, the level controller is designed, in which the...

This paper aims 3-dof scara type robot manipulator using dynamic modeling. In this paper presents dynamic modeling of robot manipulator based on Lagrange Euler formulation using Mamdani based Fuzzy controller. The aim of designing fuzzy controller is to overcome the drawbacks of conventional PID controller because robot manipulators are nonlinear model so conventional PID controller cannot give...

Distillation is an essential separation process in the chemical and petrochemical industry. The distillation process is a highly nonlinear, complex, interactive and non -stationary, therefore its control is difficult. In the present work an adaptive neuro-fuzzy controller is designed to control a binary distillation process. A conventional PID controller is also designed for comparison purpose....