Browsing by Subject "Two term control systems"

Now showing 1 - 6 of 6

Open Access
Approximations in compensator design: a duality
(The Institution of Engineering and Technology (IET), 2002) Özgüler, A. B.; Gündeş, A. N.
In classical controller design, poles fat to the left of dominant poles are sometimes ignored. Similarly, in some proportional-integral compensation techniques, the controller zero is placed close to the origin and design proceeds after cancelling this zero with a pole at the origin. A rigorous basis for these methods is provided, it being shown that there is a duality between the two.
Open Access
Mechanical design and position control of a modular mechatronic device (MechaCell)
(IEEE, 2015) Ristevski, Stefan; Çakmakçı, Melih
Manufacturing techniques have advanced exponentially in recent years, providing means for production of smaller and more powerful electronics, which makes it compelling to design small and more powerful robots. Our work focuses on a mechanical design and position control of a modular mechatronic device called MechaCell. Mechacells are designed as modular semi-autonomous devices which can be used alone or part of a pack. In this paper our main focus is on the mechanical design of the Mechacell, especially the locomotion system which uses forces produced by a rotating unbalance that moves in a spherical domain for steering of the Mechacell. As part of the supervisory algorithm an overhead HD camera is used for position tracking of the Mechacell; the data is then sent to the Mechacells through a wireless connection. A proportional integral derivative controller is used as a base controller; then a friction compensation algorithm is added, based on the mathematical model of the Mechacell's locomotion system. Steering and locomotion controller of the Mechacell is validated using a complex motion profile in the developed testbed.
Open Access
On stabilizing with PID controllers
(IEEE, 2007-06) Saadaoui, K.; Özgüler, A. Bülent
In this paper we give an algorithm that determines the set of all stabilizing proportional-integral-derivative (PID) controllers that places the poles of the closed loop system in a desired stability region S. The algorithm is applicable to linear, time invariant, single-input single-output plants. The solution is based on a generalization of the Hermite-Biehler theorem applicable to polynomials with complex coefficients and the the application of a stabilizing gain algorithm to three auxiliary plants. ©2007 IEEE.
Open Access
PI and low-order controllers for two-channel decentralized systems
(IEEE, 2003-06) Gündeş, A.N.; Özgüler, A. Bülent
A systematic design method is proposed for simple loworder decentralized controllers in the cascaded form of proportional-integral and first-order blocks. The plant is linear, time-invariant and has two channels, each with a single-input and single-output; there may be any number of poles in the region of stability, but the unstable poles can only occur at the origin.
Open Access
PID controller synthesis for a class of unstable MIMO plants with I/O delays
(Elsevier, 2006-07) Gündeş, A. N.; Özbay, Hitay; Özgüler, A. Bülent
Conditions are presented for closed-loop stabilizability of linear time-invariant (LTI) multi-input, multi-output (MIMO) plants with I/O delays (time delays in the input and/or output channels) using PID (Proportional + Integral + Derivative) controllers. We show that systems with at most two unstable poles can be stabilized by PID controllers provided a small gain condition is satisfied. For systems with only one unstable pole, this condition is equivalent to having sufficiently small delay-unstable pole product. Our method of synthesis of such controllers identify some free parameters that can be used to satisfy further design criteria than stability. Copyright © 2006 IFAC.
Open Access
Reliable decentralised control of delayed MIMO plants
(Taylor & Francis, 2010-03) Gündeş, A. N.; Özbay, Hitay
Reliable decentralised proportional-integral-derivative controller synthesis methods are presented for closed-loop stabilisation of linear time-invariant plants with two multi-input, multi-output (MIMO) channels subject to time delays. The finite-dimensional part of plants in the classes considered here are either stable or they have at most two poles in the unstable region. Closed-loop stability is maintained with only one of the two controllers when the other controller is turned off and taken out of service.