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Abstract: We examined a design approach for a PID controller for a nonlinear ball and beam system. Main objective of our research was to establish a nonmodel-based control system, which would also not be dependent on a specific ball and beam hardware setup. The proposed PID controller setup is based on a cascaded configuration of an inner PID ball velocity control loop and an outer proportional ball position control loop. The effectiveness of the proposed controller setup was first presented in simulation environment in comparison to a hardware dependent PD cascaded controller, along with a more comprehensive study on possible design approach for optimal PID controller parameters in relation to main functionality of the controller setup. Experimental real-time control results were then obtained on a laboratory setup of the ball and beam system on which PD cascaded controller could not be applied without parallel system model processing.
Keywords: position control, nonlinear system, position error
Published in DKUM: 15.06.2017; Views: 1171; Downloads: 441
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Abstract: Encyclopedia of Complexity and Systems Science provides an authoritative single source for understanding and applying the concepts of complexity theory together with the tools and measures for analyzing complex systems in all fields of science and engineering. The science and tools of complexity and systems science include theories of self-organization, complex systems, synergetics, dynamical systems, turbulence, catastrophes, instabilities, nonlinearity, stochastic processes, chaos, neural networks, cellular automata, adaptive systems, and genetic algorithms. Examples of near-term problems and major unknowns that can be approached through complexity and systems science include: The structure, history and future of the universe; the biological basis of consciousness; the integration of genomics, proteomics and bioinformatics as systems biology; human longevity limits; the limits of computing; sustainability of life on earth; predictability, dynamics and extent of earthquakes, hurricanes, tsunamis, and other natural disasters; the dynamics of turbulent flows; lasers or fluids in physics, microprocessor design; macromolecular assembly in chemistry and biophysics; brain functions in cognitive neuroscience; climate change; ecosystem management; traffic management; and business cycles. All these seemingly quite different kinds of structure formation have a number of important features and underlying structures in common. These deep structural similarities can be exploited to transfer analytical methods and understanding from one field to another. This unique work will extend the influence of complexity and system science to a much wider audience than has been possible to date.
Keywords: cellular automata, complex networks, computational nanoscience, ecological complexity, ergodic theory, fractals, game theory, granular computing, graph theory, intelligent systems, perturbation theory, quantum information science, system dynamics, traffic management, chaos, climate modelling, complex systems, dynamical sistems, fuzzy theory systems, nonlinear systems, soft computing, stochastic processes, synergetics, self-organization, systems biology, systems science
Published in DKUM: 01.06.2012; Views: 2813; Downloads: 126
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