Abstract: This paper provides a comparative study on the
performances of standard PID and adaptive PID controllers tested on
travel angle of a 3-Degree-of-Freedom (3-DOF) Quanser bench-top
helicopter. Quanser, a well-known manufacturer of educational
bench-top helicopter has developed Proportional Integration
Derivative (PID) controller with Linear Quadratic Regulator (LQR)
for all travel, pitch and yaw angle of the bench-top helicopter. The
performance of the PID controller is relatively good; however, its
performance could also be improved if the controller is combined
with adaptive element. The objective of this research is to design
adaptive PID controller and then compare the performances of the
adaptive PID with the standard PID. The controller design and test is
focused on travel angle control only. Adaptive method used in this
project is self-tuning controller, which controller’s parameters are
updated online. Two adaptive algorithms those are pole-placement
and deadbeat have been chosen as the method to achieve optimal
controller’s parameters. Performance comparisons have shown that
the adaptive (deadbeat) PID controller has produced more desirable
performance compared to standard PID and adaptive (poleplacement).
The adaptive (deadbeat) PID controller attained very fast
settling time (5 seconds) and very small percentage of overshoot (5%
to 7.5%) for 10° to 30° step change of travel angle.
Abstract: A new Feed-Forward/Feedback Generalized
Minimum Variance Pole-placement Controller to incorporate the
robustness of classical pole-placement into the flexibility of
generalized minimum variance self-tuning controller for Single-Input
Single-Output (SISO) has been proposed in this paper. The design,
which provides the user with an adaptive mechanism, which ensures
that the closed loop poles are, located at their pre-specified positions.
In addition, the controller design which has a feed-forward/feedback
structure overcomes the certain limitations existing in similar poleplacement
control designs whilst retaining the simplicity of
adaptation mechanisms used in other designs. It tracks set-point
changes with the desired speed of response, penalizes excessive
control action, and can be applied to non-minimum phase systems.
Besides, at steady state, the controller has the ability to regulate the
constant load disturbance to zero. Example simulation results using
both simulated and real plant models demonstrate the effectiveness of
the proposed controller.
Abstract: A cart-ball system is a challenging system from the
control engineering point of view. This is due to the nonlinearities,
multivariable, and non-minimum phase behavior present in this
system. This paper is concerned with the problem of modeling and
control of such system. The objective of control strategy is to place
the cart at a desired position while balancing the ball on the top of the
arc-shaped track fixed on the cart. A State-Feedback Controller
(SFC) with a pole-placement method will be designed in order to
control the system. At first, the mathematical model of a cart-ball
system in the state-space form is developed. Then, the linearization of
a model will be established in order to design a SFC. The integral
control strategy will be performed as to control the cart position of a
system. Simulation work is then performed using
MATLAB/SIMULINK software in order to study the performance of
SFC when applied to the system.