Design of first order controllers for a flexible robot arm with time delay

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buir.advisorÖzbay, Hitay
dc.contributor.authorKuralay, Gökçe
dc.date.accessioned2016-06-06T10:26:16Z
dc.date.available2016-06-06T10:26:16Z
dc.date.copyright2016-06
dc.date.issued2016-06
dc.date.submitted2016-06-03
dc.descriptionCataloged from PDF version of article.en_US
dc.descriptionIncludes bibliographical references (leaves 37-38).en_US
dc.descriptionThesis (M.S.): Bilkent University, Department of Electrical and Electronics Engineering, İhsan Doğramacı Bilkent University, 2016.en_US
dc.description.abstractIn an earlier work, Gündeş et al. (2007), stabilizing PID controllers for a class of unstable plants with time delays (I/O delays) are obtained. By utilizing this approach and methods given in Özbay and Gündeş (2007, 2014) we aim to investigate appropriate PI, PD and PID controllers by finding the maximum allowable boundaries for each controller parameter. A model of a flexible robot arm which includes a time delay and an integrator is considered as an application example. It is aimed to find the optimal coefficients for the derivative and integral gains such that the designs achieve a set of performance and robustness objectives. Stability and robustness properties of the closed-loop system are also investigated. Specifically, for PD controller design, optimal derivative action gain is determined under various performance objectives. For PI controller design, optimal P (proportional) and D (derivative) gains are determined to achieve the least fragile integral action gain. Moreover, system performance is compared with other PID designs considering different types of control objectives.en_US
dc.description.provenanceSubmitted by Betül Özen (ozen@bilkent.edu.tr) on 2016-06-06T10:26:16Z No. of bitstreams: 1 GokceKuralayTez.pdf: 702354 bytes, checksum: 02725ab1bb7cb67e2d0a1834c6c53594 (MD5)en
dc.description.provenanceMade available in DSpace on 2016-06-06T10:26:16Z (GMT). No. of bitstreams: 1 GokceKuralayTez.pdf: 702354 bytes, checksum: 02725ab1bb7cb67e2d0a1834c6c53594 (MD5) Previous issue date: 2016-06en
dc.description.statementofresponsibilityby Gökçe Kuralay.en_US
dc.format.extentx, 51 leaves : charts.en_US
dc.identifier.itemidB153381
dc.identifier.urihttp://hdl.handle.net/11693/29127
dc.language.isoEnglishen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectPID Controlleren_US
dc.subjectPD Controlleren_US
dc.subjectFlexible Modesen_US
dc.subjectTime Delay Systemsen_US
dc.subjectVector Marginen_US
dc.subjectSmall Gain Theoremen_US
dc.subjectH1 Normen_US
dc.titleDesign of first order controllers for a flexible robot arm with time delayen_US
dc.title.alternativeZaman gecikmeli esnek robot kolu için birinci dereceden kontrolör tasarımıen_US
dc.typeThesisen_US
thesis.degree.disciplineElectrical and Electronic Engineering
thesis.degree.grantorBilkent University
thesis.degree.levelMaster's
thesis.degree.nameMS (Master of Science)

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