This work focuses on the design and implementation of a New Modified Repetitive Control Strategy (NMRCS) for position control in real-time AC servo motor system. The dynamic second order transfer function model of the system is derived and the model parameters are identified using experimental data. Based on the model parameters, the conventional PD controller parameters are computed by optimiz...

In this paper a new design method of a self-tuning I-PD controller is proposed. The I-PD controller is designed based on a generalized predictive control (GPC) law. By using a conventional design method of the I-PD controller based on the GPC law, it is impossible to introduce future reference trajectory into the I-PD controller. The future reference trajectory of the GPC approaches a setpoint ...

This paper a new method for the control of Two linkrobotic manipulator systems using Neural Network has been presented, The first method is based on Proportional-Derivative controller, The second method is based on Proportional-IntegralDerivative controller, the third method is based on artificial Neural Network by PD controller, and the forth method is based on artificial Neural Network by PID...

An attitude control strategy based on Ziegler-Nichols rules for tuning PD (proportional-derivative) parameters of quadrotor helicopters is presented to solve the problem that quadrotor tends to be instable. This problem is caused by the narrow definition domain of attitude angles of quadrotor helicopters. The proposed controller is nonlinear and consists of a linear part and a nonlinear part. T...

ress as: , Alexa and hosti 013.11.0 Abstract The interval type-2 fuzzy logic controller (IT2-FLC) is able to model and minimize the numerical and linguistic uncertainties associated with the inputs and outputs of a fuzzy logic system (FLS). This paper proposes an interval type-2 fuzzy PD (IT2F-PD) controller for nonlinear inverted pendulum. The proposed controller uses the Mamdani interval type...

this paper presents h∞ control problem for input-delayed systems. a neutral system approach is considered to the design of pd controller for input delay systems in presence of uncertain time-invariant delay. using this approach, the resulting closed-loop system turns into a specific time-delay system of neutral type. the significant specification of this neutral system is that its delayed coeff...

This paper presents a novel teleoperation controller for a nonlinear master–slave robotic system with constant time delay in communication channel. The proposed controller enables the teleoperation system to compensate human and environmental disturbances, while achieving master and slave position coordination in both free motion and contact situation. The current work basically extends the pas...

In this paper, a comparative study was carried out to evaluate the real-time performance of fuzzy proportional-integral plus fuzzy proportional-derivative (Fuzzy PI + Fuzzy PD) controller with the real-time performance of Conventional PI for a liquid-level process experiment. The process considered for this experiment shows highly nonlinear behavior due to equal percentage pneumatic control val...

To compensate for significant time delays in the control of human bipedal stance, it was suggested that a feed-forward control mechanism is needed to generate a preceding motor command to the body sway position observed in quiet standing. In this article, we present evidence that a feedback proportional-derivative (PD) controller can effectively generate a desired preceding motor command. We al...