• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.12 no.4
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• pp.70-74
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• 1998

Robust control for DC motor is needed according to the highest precision of industrial automation. However, when a motor control system with PID contoller has an effect of load disturbance, it is very difficult to guarantee the robustness of control system. In this paper, PID-supervision hybrid control methods for motor control system (without the supervisory controller) is stable in the sense that the error is inside the constraint set, the supervisory control is idle. If the error hits the boundary of the constraint, the supervisory controller beings operation to force the error back to the constraint set. We prove that the PID-supervision hybrid control system is globally stable in the sense that the error is guaranteed to be within the tolerance limits specified by the system designer.

• Structural Engineering and Mechanics
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• v.87 no.3
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• pp.231-242
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• 2023

A novel combinatorial type-2 adaptive neuro-fuzzy inference system (T2-ANFIS) and robust proportional integral derivative (PID) control framework for intelligent vibration mitigation of uncertain structural system is introduced. The fuzzy logic controllers (FLCs), are designed independently of the mathematical model of the system. The type-1 FLCs, have a limited ability to reduce the effect of uncertainty, due to their fuzzy sets with a crisp degree of membership. In real applications, the consequent part of the fuzzy rules is uncertain. The type-2 FLCs, are robust to the fuzzy rules and the process parameters due to the fuzzy degree of membership functions and footprint of uncertainty (FOU). The adaptivity of the proposed method is provided with the optimum tuning of the parameters using the neural network training algorithms. In our approach, the PID control force is obtained using the generalized type-2 neuro-fuzzy in such a way that the stability and robustness of the controller are guaranteed. The robust performance and stability of the presented framework are demonstrated in a numerical study for an eleven-story seismically-excited building structure combined with an active tuned mass damper (ATMD). The results indicate that the introduced type-2 neuro-fuzzy PID control scheme is effective to attenuate plant states in the presence of the structured and unstructured uncertainties, compared to the conventional, type-1 FLC, type-2 FLC, and type-1 neuro-fuzzy PID controllers.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1735_1736
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• 2009

This paper discusses about a robust servo system applying PID control to PMSM. The system has robustness by Sliding Mode Controller. A novel sliding surface is defined by virtual state. This sliding surface has nominal dynamics of an original PID control system. So Sliding Mode Control(SMC) technique can be used with PID controller. Its design is based on the augmented system whose dynamics have a higher order than that of the original system. The reaching phase is removed by using an initial virtual state whitch makes the initial sliding function equal to zero.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.39 no.4
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• pp.1-5
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• 2002

This paper presents a new loop shaping procedure for tuning the robust optimal LQ-PID regulators by selecting the appropriate weighting factors Q and R in order to satisfy both the stability-robustness and the performance-robustness.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.54 no.3
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• pp.129-133
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• 2005

In this paper we present a new PID controller design method using IMC design. The PID controller is derived based on the ${\infty}$-norm of sensitivity function to guarantee stability and performance robustness. This new PID controller is suitable for the plant with right half plane zeros or with time delay. The Simulation results show that the new method is superior to Ziegler-Nichols, Morari-Zafiriou, Mattezzoni-Rocco methods in respects in overshoot and settling time.

• Journal of IKEEE
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• v.13 no.1
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• pp.11-18
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• 2009

In this paper, the stability of second order uncertain systems with regulation of PID type controllers is analyzed by using Lyapunov second method for the first time in the time domain. The property of the stability of PID regulation servo systems is revealed in sense of Lyapunov, i.e., bounded stability due to the disturbances and uncertainties. By means of the results of this stability analysis, the maximum norm bound of the error from the output without variation of the uncertainties and disturbances is determined as a function of the gains of the PID control, which make it enable to analyze the effect resulted from the variations of the disturbances and uncertainties using this norm bound for given PID gains. Using the relationship of the error from the output without variation of the uncertainties and disturbances and the PID gain with maximum bounds of the disturbances and uncertainties, the robust gain design rule is suggested so that the error from the output without the variation of the disturbances and uncertainties can be guaranteed by the prescribed specifications as the advantages of this study. The usefulness of the proposed algorithm is verified through an illustrative example.

• Journal of Electrical Engineering and Technology
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• v.13 no.2
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• pp.969-980
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• 2018

This paper aims to design of the neutrosophic fuzzy-PID controller and it has been compared with the conventional fuzzy-PID controller for position tracking control in terms of robustness. In the neutrosophic fuzzy-PID controller, error (e) and change of error (ce) were assessed separately on two fuzzy inference systems (FISs). In this study, the designed method is different from the conventional fuzzy logic controller design, membership degrees of antecedent variables were determined by using the T(true), I(indeterminacy), and F(false) membership functions. These membership functions are grouped on the universe of discourse with the neutrosophic set approach. These methods were tested on three-dimensional (3-D) position-tracking control application of a spherical robot manipulator in the MATLAB Simulink. In all tests, reference trajectory was defined for movements of all axes of the robot manipulator. According to the results of the study, when the moment of inertia of the rotor is changed, less overshoot ratio and less oscillation are obtained in the neutrosophic fuzzy-PID controller. Thus, our suggested method is seen to be more robust than the fuzzy-PID controllers.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.2
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• pp.93-102
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• 2005

The Nyquist robust stability margin is proposed as a measure of robust stability for systems with Affine TFM(Transfer Function Matrix) parametric uncertainty. The parametric uncertainty is modeled through a Affine TFM MIMO (Multi-Input Multi-Output) description with dead-time, and the unstructured uncertainty through a bounded perturbation of Affine polynomials. Gershgorin's theorem and concepts of diagonal dominance and GB(Gershgorin Bands) are extended to include model uncertainty. Multiloop PI/PID controllers can be tuned by using a modified version of the Ziegler-Nichols (ZN) relations. Consequently, this paper provides sufficient conditions for the robustness of Affine TFM MIMO uncertain systems with dead-time based on Rosenbrock's DNA. Simulation examples show the performance and efficiency of the proposed multiloop design method for Affine uncertain systems with dead-time.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2513-2516
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• 2003

This paper presents an optimal robust LQ-PID roller design method for the second-order ems with state delay to satisfy the design ification in time domain. The Sensitivity bach concept is utilized for its optimization.

• Journal of Mechanical Science and Technology
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• v.17 no.12
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• pp.1855-1866
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• 2003

This paper discusses an entire procedure for a robust controller design and its implementation of an AMB (active magnetic bearing) spindle, which is part II of the papers presenting details of system modeling and robust control of an AMB spindle. Since there are various uncertainties in an AMB system and reliability is the most important factor for applications, robust control naturally gains attentions in this field. However, tight evaluations of various uncertainties based on experimental data and appropriate performance weightings for an AMB spindle are still ongoing research topics. In addition, there are few publications on experimental justification of a designed robust controller. In this paper, uncertainties for the AMB spindle are classified and described based on the measurement and identification results of part I, and an appropriate performance weighting scheme for the AMB spindle is developed. Then, a robust control is designed through the mixed ${\mu}$ synthesis based on the validated accurate nominal model of part I, and the robust controller is reduced considering its closed loop performance. The reduced robust controller is implemented and confirmed with measurements of closed-loop responses. The AMB spindle is operated up to 57,600 rpm and performance of the designed controller is compared with a benchmark PID controller through experiments. Experiments show that the robust controller offers higher stiffness and more efficient control of rigid modes than the benchmark PID controller.