IRAQI JOURNAL OF COMPUTERS, COMMUNICATION, CONTROL & SYSTEMS ENGINEERING, 2009
Lab VIEW (Laboratory Virtual Instrument Engineering Workbench) is gaining its popularity as a gra... more Lab VIEW (Laboratory Virtual Instrument Engineering Workbench) is gaining its popularity as a graphical programming language especially for data acquisition and measurement. This is due to the vast array of data acquisition cards and measurement systems which can be ...
In this paper, the derivation of optimal control using state derivative feedback to obtain a new... more In this paper, the derivation of optimal control using state derivative feedback to obtain a new control approach is presented. A control approach similar to linear quadratic regulator (LQR) is applied to find the optimal gain matrices that achieve the desired performance. The effectiveness and robustness of the proposed controller can be shown using the uncertain and under-actuated overhead crane system. The results show that the proposed controller can robustly stabilize the system in the presence of system parameters uncertainty. Further, a more desirable time response specifications can be obtained using state derivative feedback control in comparison to the state feedback control.
In this paper, the design of a robust controller for two wheeled inverted pendulum (TWIP) system ... more In this paper, the design of a robust controller for two wheeled inverted pendulum (TWIP) system is presented. In the first stage of the design, a full state feedback H2 control is designed for stabilizing the inclination of (TWIP) system to upright position. The H∞ controller for the stabilized system is synthesized in the second stage. The mathematical model of the system based on the Newtonian approach is developed. The results verify that the proposed controller can compensate the system parameter uncertainty with a more desirable time response specifications.
American Scientific Research Journal for Engineering, Technology, and Sciences, 2017
This paper presents the design of LQR (linear quadratic regular) and controller using state deri... more This paper presents the design of LQR (linear quadratic regular) and controller using state derivative feedback. This design is solvable for all controllable systems. The state derivative feedback is used instead of state feedback in many mechanical systems because the main sensors of vibration are accelerometers. A multivariable active suspension system is used in this paper to show the effectiveness of the proposed controllers. The obtained results are compared to the same approaches when a state feedback is used. It is shown that the design using state derivative feedback can achieve a better performance.
In this paper, the H-infinity Sliding Mode Control (HSMC) is designed to produce a new dynamic ou... more In this paper, the H-infinity Sliding Mode Control (HSMC) is designed to produce a new dynamic output feedback controller for trajectory tracking of the nonlinear human swing leg system. The human swing leg system represents the support of human leg or the humanoid robot leg which is usually modeled as a double pendulum. The thigh and shank of a human leg is represented by two pendulum links and the hip joint will connect the upper body to the thigh and the knee joint will connect the thigh to the shank. The external torques (servo motors) are applied at the hip and knee joints to move the muscles of thigh and shank. The results show that the HSMC can robustly stabilize the system and achieve a desirable time response specification better than if only H-infinity or SMC is used. This controller achieves the following specifications: sec, for hip joint and sec, for knee joint.
In this paper, the robustness properties of sliding mode control (SMC) which is designed to produ... more In this paper, the robustness properties of sliding mode control (SMC) which is designed to produce a dynamic output feedback controller to achieve robustness for trajectory tracking of the nonlinear human swing leg system is presented. The human swing leg represents the support of human leg or the humanoid robot leg which is usually modeled as a double pendulum. The thigh and shank of a human leg will respect the pendulum links, hip and knee will connect the upper body to thigh and then shank respectively. The total moments required to move the muscles of thigh and shank are denoted by two external (servomotors) torques applied at the hip and knee joints. The mathematical model of the system is developed. The results show that the proposed controller can robustly stabilize the system and achieve a desirable time response specification.
In this work, the control of Translational Oscillations with a Rotational Actuator (TORA) system ... more In this work, the control of Translational Oscillations with a Rotational Actuator (TORA) system is presented in this paper. The optimal sliding mode controller is proposed to control the two DOF underactuated mechanical system. The nonlinear coupling from the rotational to the translational motion is the main problem that faces the controller design. The H2 sliding mode controller is designed to give a better performance if only sliding mode control is used. The results illustrate that the proposed H2 sliding mode controller can achieve the stabilization of the system with the variation in system parameters and disturbance.
This paper presents a design of robust PI-PD position controller for Magnetic Levitation Ball sys... more This paper presents a design of robust PI-PD position controller for Magnetic Levitation Ball system. The Magnetic Levitation system considered in this work is taken as a ferromagnetic ball suspended in a voltage controlled magnetic field. The Magnetic Levitation system is unstable, because electromagnetic force is very sensitive and there is a noise that creates acceleration forces on the steel ball resulting the instability due to existence of positive poles causing the steel ball to move into the unbalanced region. The robust controller is aimed to keep a steel ball suspended in the air in the desired position by maintaining the balance between the magnetic force and ball's weight. The Particle Swarm Optimization (PSO) method is used to tune the gains of the PI-PD controller. The simulation and experimental results show the effectiveness of the designed controller.
In this paper the design of robust Active Queue Management (AQM) for congestion control in comput... more In this paper the design of robust Active Queue Management (AQM) for congestion control in computer networks is presented. The Ant Colony Optimization (ACO) method is used to tune the parameters of PID controller subject to H-infinity constraints. The nonlinear dynamic model for multiple TCP flows control is developed based on fluid-flow theory. The designed controller provides good tracking performance in the presence of wide range of system parameter uncertainty. NS2 package is used to perform the nonlinear simulation of the system.
In this paper, the design of robust blood glucose controller in diabetes using H-infinity techniq... more In this paper, the design of robust blood glucose controller in diabetes using H-infinity technique is presented. The Particle Swarm Optimization (PSO) method is used to tune the specific structure controller parameters subject to H-infinity constraints. The Bergman model is used to represent the artificial pancreas. This model is one of the more widely used models of the effect of insulin infusion and glucose inputs on the blood glucose concentration. The results show the effectiveness of the designed controller in controlling the behavior of glucose deviation to a sudden rise in the blood glucose. The proposed controller can effectively attenuate the blood glucose deviation to 0.15. This value of attenuation makes the proposed controller superior to the other controllers in previous works. Matlab 7.11 is used to demonstrate the simulation results.
In this work, the design procedure of a hybrid robust controller for crane system is presented. T... more In this work, the design procedure of a hybrid robust controller for crane system is presented. The proposed hybrid controller combines the linear quadratic regulator (LQR) properties with the sliding mode control (SMC) to obtain an optimal and robust LQR/SMC controller. The crane system which is represented by pendulum and cart is used to verify the effectiveness of the proposed controller. The crane system is considered one of the highly nonlinear and uncertain systems in addition to the under-actuating properties. The parameters of the proposed LQR/SMC are selected using Particle Swarm Optimization (PSO) method. The results show that the proposed LQR/SMC controller can achieve a better performance if only SMC controller is used. The robustness of the proposed controller is examined by considering a variation in system parameters with applying an external disturbance input. Finally, the superiority of the proposed LQR/SMC controller over the SMC controller is shown in this work.
IRAQI JOURNAL OF COMPUTERS, COMMUNICATION, CONTROL & SYSTEMS ENGINEERING, 2009
Lab VIEW (Laboratory Virtual Instrument Engineering Workbench) is gaining its popularity as a gra... more Lab VIEW (Laboratory Virtual Instrument Engineering Workbench) is gaining its popularity as a graphical programming language especially for data acquisition and measurement. This is due to the vast array of data acquisition cards and measurement systems which can be ...
In this paper, the derivation of optimal control using state derivative feedback to obtain a new... more In this paper, the derivation of optimal control using state derivative feedback to obtain a new control approach is presented. A control approach similar to linear quadratic regulator (LQR) is applied to find the optimal gain matrices that achieve the desired performance. The effectiveness and robustness of the proposed controller can be shown using the uncertain and under-actuated overhead crane system. The results show that the proposed controller can robustly stabilize the system in the presence of system parameters uncertainty. Further, a more desirable time response specifications can be obtained using state derivative feedback control in comparison to the state feedback control.
In this paper, the design of a robust controller for two wheeled inverted pendulum (TWIP) system ... more In this paper, the design of a robust controller for two wheeled inverted pendulum (TWIP) system is presented. In the first stage of the design, a full state feedback H2 control is designed for stabilizing the inclination of (TWIP) system to upright position. The H∞ controller for the stabilized system is synthesized in the second stage. The mathematical model of the system based on the Newtonian approach is developed. The results verify that the proposed controller can compensate the system parameter uncertainty with a more desirable time response specifications.
American Scientific Research Journal for Engineering, Technology, and Sciences, 2017
This paper presents the design of LQR (linear quadratic regular) and controller using state deri... more This paper presents the design of LQR (linear quadratic regular) and controller using state derivative feedback. This design is solvable for all controllable systems. The state derivative feedback is used instead of state feedback in many mechanical systems because the main sensors of vibration are accelerometers. A multivariable active suspension system is used in this paper to show the effectiveness of the proposed controllers. The obtained results are compared to the same approaches when a state feedback is used. It is shown that the design using state derivative feedback can achieve a better performance.
In this paper, the H-infinity Sliding Mode Control (HSMC) is designed to produce a new dynamic ou... more In this paper, the H-infinity Sliding Mode Control (HSMC) is designed to produce a new dynamic output feedback controller for trajectory tracking of the nonlinear human swing leg system. The human swing leg system represents the support of human leg or the humanoid robot leg which is usually modeled as a double pendulum. The thigh and shank of a human leg is represented by two pendulum links and the hip joint will connect the upper body to the thigh and the knee joint will connect the thigh to the shank. The external torques (servo motors) are applied at the hip and knee joints to move the muscles of thigh and shank. The results show that the HSMC can robustly stabilize the system and achieve a desirable time response specification better than if only H-infinity or SMC is used. This controller achieves the following specifications: sec, for hip joint and sec, for knee joint.
In this paper, the robustness properties of sliding mode control (SMC) which is designed to produ... more In this paper, the robustness properties of sliding mode control (SMC) which is designed to produce a dynamic output feedback controller to achieve robustness for trajectory tracking of the nonlinear human swing leg system is presented. The human swing leg represents the support of human leg or the humanoid robot leg which is usually modeled as a double pendulum. The thigh and shank of a human leg will respect the pendulum links, hip and knee will connect the upper body to thigh and then shank respectively. The total moments required to move the muscles of thigh and shank are denoted by two external (servomotors) torques applied at the hip and knee joints. The mathematical model of the system is developed. The results show that the proposed controller can robustly stabilize the system and achieve a desirable time response specification.
In this work, the control of Translational Oscillations with a Rotational Actuator (TORA) system ... more In this work, the control of Translational Oscillations with a Rotational Actuator (TORA) system is presented in this paper. The optimal sliding mode controller is proposed to control the two DOF underactuated mechanical system. The nonlinear coupling from the rotational to the translational motion is the main problem that faces the controller design. The H2 sliding mode controller is designed to give a better performance if only sliding mode control is used. The results illustrate that the proposed H2 sliding mode controller can achieve the stabilization of the system with the variation in system parameters and disturbance.
This paper presents a design of robust PI-PD position controller for Magnetic Levitation Ball sys... more This paper presents a design of robust PI-PD position controller for Magnetic Levitation Ball system. The Magnetic Levitation system considered in this work is taken as a ferromagnetic ball suspended in a voltage controlled magnetic field. The Magnetic Levitation system is unstable, because electromagnetic force is very sensitive and there is a noise that creates acceleration forces on the steel ball resulting the instability due to existence of positive poles causing the steel ball to move into the unbalanced region. The robust controller is aimed to keep a steel ball suspended in the air in the desired position by maintaining the balance between the magnetic force and ball's weight. The Particle Swarm Optimization (PSO) method is used to tune the gains of the PI-PD controller. The simulation and experimental results show the effectiveness of the designed controller.
In this paper the design of robust Active Queue Management (AQM) for congestion control in comput... more In this paper the design of robust Active Queue Management (AQM) for congestion control in computer networks is presented. The Ant Colony Optimization (ACO) method is used to tune the parameters of PID controller subject to H-infinity constraints. The nonlinear dynamic model for multiple TCP flows control is developed based on fluid-flow theory. The designed controller provides good tracking performance in the presence of wide range of system parameter uncertainty. NS2 package is used to perform the nonlinear simulation of the system.
In this paper, the design of robust blood glucose controller in diabetes using H-infinity techniq... more In this paper, the design of robust blood glucose controller in diabetes using H-infinity technique is presented. The Particle Swarm Optimization (PSO) method is used to tune the specific structure controller parameters subject to H-infinity constraints. The Bergman model is used to represent the artificial pancreas. This model is one of the more widely used models of the effect of insulin infusion and glucose inputs on the blood glucose concentration. The results show the effectiveness of the designed controller in controlling the behavior of glucose deviation to a sudden rise in the blood glucose. The proposed controller can effectively attenuate the blood glucose deviation to 0.15. This value of attenuation makes the proposed controller superior to the other controllers in previous works. Matlab 7.11 is used to demonstrate the simulation results.
In this work, the design procedure of a hybrid robust controller for crane system is presented. T... more In this work, the design procedure of a hybrid robust controller for crane system is presented. The proposed hybrid controller combines the linear quadratic regulator (LQR) properties with the sliding mode control (SMC) to obtain an optimal and robust LQR/SMC controller. The crane system which is represented by pendulum and cart is used to verify the effectiveness of the proposed controller. The crane system is considered one of the highly nonlinear and uncertain systems in addition to the under-actuating properties. The parameters of the proposed LQR/SMC are selected using Particle Swarm Optimization (PSO) method. The results show that the proposed LQR/SMC controller can achieve a better performance if only SMC controller is used. The robustness of the proposed controller is examined by considering a variation in system parameters with applying an external disturbance input. Finally, the superiority of the proposed LQR/SMC controller over the SMC controller is shown in this work.
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