The objective of this paper is to compare the time specification performance between conventional controller PID and modern controller SMC for an inverted pendulum system. The goal is to determine which control strategy delivers better performance with respect to pendulum’s angle and cart’s position. The inverted pendulum represents a challenging control problem, which continually moves toward ...

This thesis presents a new method for design of PI and PID controllers with the level of control signal activity taken into consideration. The main reason why the D-part is often disabled in industrial control loops is because it leads to control signal sensitivity of measurement noise. A frequently varying control signal with too high amplitude will very likely lead to actuator wear and tear. ...

A Maglev system was modeled by the exact feedback linearization to achieve two same linear subsystems. The proportional-integral-differential controllers (PID) based on particle swarm optimization (PSO) algorithm with four different inertia weights were then used to regulate both linear subsystems. These different inertia weights were Fixed Inertia Weight (FIW), Linear Descend Inertia Weight (L...

Astrom and Hagglund developed tuning rules in 1995 for PID controllers that outperform the 1942 Ziegler-Nichols rules on an industrially representative set of plants. In this paper, we use genetic programming to automatically discover tuning rules for PID controllers that outperform the Astrom-Hagglund rules for the industrially representative set of plants specified by Astrom and Hagglund. Cop...

This paper highlights the benefits of using intelligent model based controllers to produce FES induced sit-to-stand movement (FES-STS), in terms of reducing energy cost and producing more natural responses in comparison with conventional controllers. A muscle energy expenditure model for the quadriceps is implemented in the control design of FES-STS, then simulation is run for three different c...

Proportional-Integral-Derivative (PID) controllers are still extensively used in industrial systems. In the literature, many publications can be found considering PID controller design for processes with integrators and unstable transfer functions. However, due to structural limitations of PID controllers, generally, good closed loop performance cannot be achieved with a PID for controlling afo...

This paper presents a computer tool for tuning PID controllers. What makes this tool different to others available in the market is the ability to model the most important load disturbances. The MISO calculated model enables a better tuning of the PID loop, both for the servo and regulatory cases. This is of special interest in the Petrochemical Industry where most of the PID controllers have a...

For SISO (single-input-single-output) models typically used in the process plants, the Internal Model Control (IMC) is shown to supersede the conventional PID controllers and also it becomes much easier to tune than are controllers in a standard feedback control structure. The conventional PID controllers are used in the process plants to a large extent due to their simple structure and its imp...

Abstract: In this paper a graphical technique is introduced for finding all continuous-time and discrete-time proportional integral derivative (PID) controllers that satisfy an H∞ sensitivity constraint of an arbitrary order transfer function with time delay. These problems can be solved by finding all achievable PID controllers that simultaneously stabilize the closed-loop characteristic polyn...

Polynomial stabilization method has important feature in PID tuning. It computationally characterizes the entire set of admissible PID gains for various control system configurations. This paper shows a correction is needed in order to find all robust PID region controllers that satisfy a given robust performance. We also provides selection procedure for searching the best PID gains controllers...