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Article
A ROBUST PRACTICAL GENERALIZED PREDICTIVE CONTROL FOR BOILER SUPER HEATER TEMPERATURE CONTROL

Author: Zaki Maki Mohialdeen
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2010 Volume: 6 Issue: 1 Pages: 33-38
Publisher: Basrah University جامعة البصرة

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Abstract

A practical method of robustgeneralized predictive controller (GPC)application is developed using acombination of Ziegler-Nichols typefunctions relating the GPC controllerparameters to a first order with time delayprocess parameters and a model matchingcontroller.The GPC controller and the modelmatching controller are used in amaster/slave configuration, with the GPCas the master controller and the modelmatching controller as the slave controller.The model matching controller parametersare selected to obtain the desired overallperformance.The effectiveness of the proposed controlmethod is tested by simulation using amathematical model of the boiler superheater temperature process


Article
Optimal Robust Controller Design for Heartbeat System

Authors: Amjad J. Humaidi --- Kadhim Yakoob Yousif --- Ruaa Muayad AL_Wardie
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2016 Volume: 34 Issue: 8 Part (A) Engineering Pages: 1530-1537
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

In the present work, an optimal control approach is suggested to design a robust controller for the heart system. The work objective is to generate artificial or synthetic optimal Electrocardiogram (ECG) signals using the nonlinear optimal robust control. This includes the design of a state feedback controller to stabilize the ECG under uncertainty. The approach key is to reflect the uncertainty bound in the cost function, and the solution to the optimal control problem is a solution to the robust control problem. The robust optimal control strategy is applied for nonlinear heart system; different structures of uncertainties have been sought. Unfortunately, for the present case study only unmatched structure of uncertainty has been found in both state and input matrices.


Article
Full State Feedback Full State Feedback H2 and H-infinity Controllers Design for a Two Wheeled Inverted Pendulum System

Authors: Zain. M. Shareef --- Hazem. I. Ali
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2018 Volume: 36 Issue: 10 Part (A) Engineering Pages: 1110-1121
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

In this work, two robust controllers, which are full state feedback,


Article
Design of a Nonlinear Robust Controller for Vibration Control of a Vehicle Suspension System

Authors: YasirKhudhair Abbas --- Muhsin N.Hamza --- Shibly Ahmed Al-Samarraie
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2011 Volume: 29 Issue: 11 Pages: 2259-2273
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

The suspension system is the main tool to achieve ride comfort and drive safety for a vehicle. Passive suspension systems have been designed to obtain a good compromise between these objectives, but intrinsic limitations prevent them from obtaining the best performances for both goals. In present work, a robust controller for the active suspension system has been designed to get the best performance of thesuspension system. The nonlinear robust controller is designed based on adding an integrator to a two-degree-of-freedom quarter-car model. The control action will decouple the upper sprung mass subsystem from the lower (unsprung mass) subsystem after a certain small period of time. As a result, by adjusting the control law parameters, the dynamical response for the sprung mass subsystem is freely specified (the damping ratio and the natural frequency for the sprung system afterdecoupling). The simulation results, which are carried out by using Matlab/Simulink, proved the effectiveness of the proposed control law. The results confirmed that the sprung mass system is decoupled from the lower unsprung system and unaffected by the change in sprung mass and the road excitation disturbance. Additionally, the time history of thesprung mass response is according to a mass spring system response with the desired damping ratio and the natural frequency.


Article
singular perturbation method for robust control of nonlinear systems

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Abstract


Article
Design of PSO Based Robust Blood Glucose Control in Diabetic Patients

Author: Assist. Prof. Dr. Hazem I. Ali
Journal: IRAQI JOURNAL OF COMPUTERS,COMMUNICATION AND CONTROL & SYSTEMS ENGINEERING المجلة العراقية لهندسة الحاسبات والاتصالات والسيطرة والنظم ISSN: 18119212 Year: 2014 Volume: 14 Issue: 1 Pages: 1-9
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

Abstract – 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.


Article
ROBUST ACTIVE DAMPING DESIGN FOR A SUSPENSION SYSTEM

Author: Dr.emad q. hussien
Journal: Iraqi journal of mechanical and material engineering المجلة العراقية للهندسة الميكانيكية وهندسة المواد ISSN: 20761819 Year: 2013 Volume: 13 Issue: 3 Pages: 483-494
Publisher: Babylon University جامعة بابل

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Abstract

This paper proposes a control of robust active damping for a quarter car model with three degrees of freedom by using an optimal control approach. The design takes into consideration the uncertainty of system parameters. The solution to the robust damping problem is obtained by translating it into an optimal control problem, and the subsequent design of appropriate feedback controllers for the active suspension system can be obtained by solving the LQR (linear quadratic regulator) problem. The results show that the proposed robust design provides superior kinematic and dynamic performance compared to those of the passive system.

يقترح هذا البحث السيطرة على التخميد النشيط القوي لنموذج ربع سيارة مع ثلاثة درجات من الحرية من خلال استخدام اسلوب السيطرة الأمثل. يأخذ هذا التصميم بعين الاعتبار حالة عدم التاًكد لمعلمات النظام .وتحل مشكلة التخميد القوية بتحويلها الى مشكلة سيطرة مثلى ومن ثم يمكن الحصول على تصميم لاحق لمسيطرات التغذية العكسية لنظام التعليق النشيط من خلال حل مشكلة LQR . وأظهرت النتائج أن التصميم المقترح يوفر أداءً حركياً وديناميكياُ متميز مقارنة مع تلك التابعة للمنظومة السلبية


Article
DESIGN OF NONLINEAR ROBUST PROPORTIONAL CONTROLLER FOR ACTIVE BRAKING SYSTEM
تصميم مسيطر تناسبي لاخطي متين لمنظومة فرملة فعالة

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Abstract

This work presents nonlinear proportional feedback controller design for the active braking system. The controller objective is to maximize the deceleration braking force by forcing the slip ratio to attain the maximum value, where a magic formula is utilized to model the friction force to slip ratio for various road conditions. The validity of the proposed controller is proved, first, based on Liapunov function approach taking into consideration the uncertainty in system model. Then, the simulation results using MATLAB/Simulink showed the effectiveness of the proposed nonlinear controller in reducing the vehicle velocity to the desired velocity (5 km/hr) in a minimal period of time in presence of model uncertainty and for various road conditions.

يقدم هذا العمل تصميم لمسيطر تناسبي لاخطي ذو تغذية استرجاعية لمنظومة فرملة فعالة. هدف المسيطر هو تعظيم قوة الفرملة التباطؤية بقسر نسبة الانزلاق للوصول الى اعلى قيمة لها، حيث تم استخدام ما يسمى "بالمعادلة السحرية" لنمذجة قوة الاحتكاك لنسب الانزلاق لمختلف الظروف للطرق. تم اثبات صلاحية المسيطر المقترح، اولا، وذلك بالاعتماد على طريقة دالة ليابونوف آخذين بعين الاعتبار مبدأالريبةفي نموذج المنظومة. بعدها، تم عمل محكاة باستخدام (MATLAB/Simulink)،حيث اظهرت النتائج الخاصة بالمحاكاة فعالية المسيطر اللاخطي المقترح في تخفيض سرعة المركبة الى السرعة المرغوبة (5كم/ساعة) في فترة زمنية قياسية وبوجود مبدأ الريبة في النموذج ولمختلف انواع الطرق او ظروفها.


Article
Optimal Multi-objective Robust Controller Design for Magnetic Levitation System

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Abstract

Abstract- In this work, the design of three types of robust controllers is presented to control the magnetic levitation system. These controllers are: basic H∞ controller, robust Genetic Algorithm (GA) based PID (GAPID) controller and robust Particle Swarm Optimization (PSO) based PID (PSOPID) controller. In the second and third controllers, the GA and PSO methods are used to tune the parameters of PID controller subject to multi-objective cost function (H∞ constraints and time domain specifications). The use of GA and PSO methods is used to simplify the design procedure and to overcome the difficulty of the resulting high order controller of the basic H∞ controller. The ability of the proposed controllers in compensating the system with a wide range of system parameters change is demonstrated by simulation using MATLAB 7.14.


Article
Robust Tuning of PI-PD Controller for Antilock Braking System

Authors: Hazem I. Ali --- Ali Hadi Saeed
Journal: AL-NAHRAIN JOURNAL FOR ENGINEERING SCIENCES مجلة النهرين للعلوم الهندسية ISSN: 25219154 / eISSN 25219162 Year: 2017 Volume: 20 Issue: 4 Pages: 983-995
Publisher: Al-Nahrain University جامعة النهرين

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Abstract

This paper presents the design of robust four parameters (two degree of freedom) PI-PD controller based on Kharitonov theorem for antilock braking system. The Particle Swarm Optimization (PSO) method is used to tune the parameters of the proposed controller based on Kharitonov theorem to achieve the robustness over a wide range of system parameters change. The proposed cost function combines the time response specifications represented by the model reference and the frequency response specifications represented by gain margin and phase margin and the control signal specifications. The model reference control is used because of the antilock braking system is originally nonlinear and has different operating points. The robust stability is guaranteed by applying the Kharitonov theorem. Three types of road conditions (dry asphalt, gravel and icy) are used to test the proposed controller.

هذا البحث يقدم تصميم للمسيطر التناسبي التكاملي – التناسبي التفاضلي الرصين ذي المعاملات الاربعة بالاعتماد على نظرية خاريتونوف. تم استخدام طريقة امثلية الحشد الجزيئي لتنغيم معاملات المسيطر لتحقيق مواصفات الرصانة المطلوبة بوجود المعاملات المتغيرة للنظام وطبقا الى دالة الكلفة المقترحة. ان دالة الكلفة المقترحة تتضمن مواصفات الاستجابة الزمنية ومواصفات الحالة الترددية ومواصفات اشارة السيطرة. تم استخدام السيطرة عن طريق استجابة النموذج المتبع وذلك لان النظام غير خطي اذ ان له اكثر من نقطة عمل ويحتوي على معاملات غير مؤكدة. لضمان الرصانة في الاستقرارية تم استخدام نظرية خاريتونوف. تم استخدام ثلاثة انواع من الطرق في اختبار المسيطر وهي الاسفلت الجاف والحصى والطريق الثلجي.

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