This paper presents the modelling and simulation for optimal control design of nonlinear inverted pendulum-cart dynamic system using Proportional-Integral-Derivative (PID) controller and Linear Quadratic Regulator (LQR). LQR, an optimal control technique, and PID control method, both of which are generally used for control of the linear dynamical systems have been used in this paper to control ...

A parallel three degrees of freedom (3-DOF) manipulator known as Maryland manipulator is considered in this paper. The manipulator model considered in this paper is more practical because the offset lengths are not taken zero. The trajectory tracking control of the Maryland manipulator is done using linear–quadratic regulator (LQR) based proportional–integral–derivative (PID) controller. Three ...

A novel digital implementation of speed controller for a Permanent Magnet Synchronous Motor (PMSM) with disturbance rejection using conventional observer combined with Extended Kalman Filter (EKF) is proposed. First, the EKF is constructed to achieve a precise estimation of the speed and current from the noisy measurement. Second, a proportional integral derivative (PID) controller is developed...

This paper investigates the proportional-integral-derivative (PID) control of positive systems in discrete-time case. First, a tuning parameter is introduced to construct framework systems. The problem thus transformed into synthesis with time-delay. By virtue matrix decomposition approach, gain matrices controller are designed. Using co-positive Lyapunov functions and linear programming, posit...

This paper proposes a controller design for the electric pump of deep-throttling rocket engine. The nonlinearity system is taken into consideration by analyzing gap metric. Then, proportional-integral-derivative and gain-scheduling linear quadratic regulator are designed. Analyzing amplitude- phase-frequency characteristics as well pole-zero distribution system, results show that designed contr...

With the further development of automotive industry, traditional vibration isolation method is difficult to meet requirements for wide frequency bands under multiple operating conditions, active control mount (ACM) gradually paid attentions, and algorithm plays a decisive role. In this paper, ACM with oscillating coil actuator (OCA) taken as object, comparative study algorithms performed select...

The Quadrotor Unmanned Aerial Vehicles (UAVs) have gained significant attention in recent years due to their versatile applications civilian and military sectors. It is a highly nonlinear underactuated system an outdoor flight; it always subjected external disturbances wind gusts other environmental factors. Implementing the control strategies could be improved terms of high computational time,...

Parrot Mambo mini-drone is a readily available commercial quadrotor platform to understand and analyze the behavior of both in indoor outdoor applications. This study evaluates performance three alternative controllers on an interior environment, including Proportional–Integral–Derivative (PID), Linear Quadratic Regulator (LQR), Model Predictive Control (MPC). To investigate controllers’ perfor...

The quadrotor is an ideal platform for testing control strategies because of its non-linearity and under-actuated configuration, allowing researchers to evaluate verify strategies. Several are used, including Proportional-Integral-Derivative (PID), Linear Quadratic Regulator (LQR), Backstepping, Feedback Linearization Control (FLC), Sliding Mode (SMC), Model Predictive (MPC), Neural Network, H-...

This article presents the design and real-time implementation of an optimal collaborative approach to obtain desired trajectory tracking two Degree Freedom (DOF) pantograph end effector position. The proposed controller constructively synergizes Proportional Integral Derivative (PID) Linear Quadratic Regulator (LQR) by taking their weighted sum. Particle Swarm Optimization (PSO) algorithm is op...