In this paper an approach for robust anti-windup compensation design for PID controllers based on the characterization of H2 and H∞ norms as Linear Matrix Inequalities (LMI) is presented. The robustness is considered by assuring the closed loop performance, spite of unknown changes on the actuator saturation limits. The stability and performance margins are evaluated from H2 and H∞ norms of the...

This work addresses the problem of global set-point control elastic joint robots by combining structure preserving (ESP) with non-collocated integral action. Despite popularity and extensive research on PID for rigid robots, such schemes largely evaded adoption to robots. is mainly due underactuation inherent these systems, which impedes direct implementation (link position) feedback. We remedy...

In order to achieve feasible and copacetic low energy consuming building, a robust and efficient air conditioning system is necessary. Since heating ventilation and air conditioning systems are nonlinear and temperature and humidity are coupled, application of conventional control is inappropriate. A multi-input multi-output nonlinear model is presented. The temperature and humidity of thermal ...

Many processes and systems work well only within a narrow range of physical parameters like temperature, humidity, pressure etc. Certain chemical reactions, biological processes, and even electronic circuits perform best within limited parameters ranges. So, these processes need to be optimized with well designed controllers that keep physical parameters to within specified limits or constant. ...

Although many PID tuning approaches are available, it is not easy to find a method that does not require any engineer/operator interference. In this work, we present a fully automated approach for PID tuning based on relay feedback. This method involves sending the relay feedback test data from PLCs (Programmable Logic Controller) into a historian, analyzing the test data using a tuning applica...

The direct-drive pump control system has been gradually applied to the industrial control field due to its high control precision, fast response, small throttle loss and compact structure. This paper adopts the fuzzy PID control method to resolve the hydraulic cylinder position servo control of direct-drive pump control system. The system model and fuzzy PID control algorithm was established by...

Even though employed widely in industrial practice, the popular proportional– integral–derivative (PID) controller has weaknesses that limit its achievable performance. In this paper, an alternative control scheme that combines the simplicity of the PID controller with the versatility of model predictive control is presented. The result is a controller that combines the time-delay compensation ...

In chemical industries in mid 90’s, process engineers were using the classical controller tuning methods to find the controller parameter values like Kp, Ki ,and Kd. The classical controller tuning methods may require complex computations to identify the controller parameters. With the evolution of soft computing methods these classical control methods were eliminated. This paper focus on desig...

As is pointed out in [2], the so-called mixed H2/H∞ control designs are quite useful for robust performance design for systems under parameter perturbation and uncertain disturbance. However, as is also pointed out in [2], the conventional output feedback designs of mixed H2/H∞ optimal control are complicated and not easily implemented. By these reasons, it is quite common to fix the structure ...