Industrial Temperature PID Controller for Pb-Free Soldering Iron?

Size: px
Start display at page:

Download "Industrial Temperature PID Controller for Pb-Free Soldering Iron?"

Transcription

1 Proceeding of the 17th World Congre The International Federation of Automatic Control Indutrial Temperature PID Controller for Pb-Free Soldering Iron? Hiroto Hamane Kazuki Hirano Koichi Kae Kazuyohi Miyazaki Mechanical Sytem Engineering Department, Kogakuin Univerity, Tokyo, Japan, ( Toho Electoronic Inc. Kanagawa, Japan, ( Abtract: Thi paper preent a Pb-free oldering iron temperature controller in conideration of the ue of an embedded micro-proceor (MPU) with a low memory capacity. The propoed method i uitable for a wide ue type commercial controller due to only a variable et point i applied to a PID controller. The propoed controller could olve the Pb-free oldering problem. The propoed method could be uccefully applied to a commercial digital temperature controller.the controller ha been commercialized. 1. INTRODUCTION Recently, much importance ha been added to the environmental problem. The major content of two directive to better control the management of wate electronic equipment wa approved. The two directive are the Wate from Electrical and Electronic Equipment (WEEE) and the Retriction of Hazardou Subtance (RoHS). Thee et phae-out date for the ue of Pb (lead) material contained in electronic product. Increaingly, the attention i focuing on the potential ue of Pb-free oldering in electronic manufacturing. It hould be noted that many of the conventional oldering iron are not uitable for Pbfree technology, due to the inferior ability of Pb-free alloy compared with SnPb older pate. Thi paper preent a Pb-free oldering iron temperature controller in coniderationoftheueofanembeddedmicro-proceor(mpu) with a low memory capacity. The temperature of oldering iron take an important role in the fuing point of Pb-free older. The oldering with Pb-free older can be undertaken in every oldering iron which i able to produce ufficient heat, but it i important to enure that the temperature doe not overheat the component or the printed circuit board. The oldering iron i a time varying proce depending on the oldering condition. Hence, it i difficult to compenate the exceive control input which caue the overheating. And alo, due to the memory capacity of an embedded MPU i low to minimize the cot of controller, the advanced control theory cannot be acceptable. In thi paper,the above oldering iron characteritic and the memory ize are conidered to deign the temperature control ytem. The eay deign procedure for an embedded MPU with a low memory capacity in a oldering iron temperature control ytem i baically developed for the above problem of oldering. Thi paper propoed three method baed on bumple and conditioned tranfer technique for the oldering technology. The topic of anti-windup and bump-? Thi work wa upported in part by the Toho Electoronic Inc. le tranfer ha been tudied by many reearcher, the detail technique are decribed in (Åtröm and Rundqwit (1989); Glattfelder and Schaufelberger (1983); Hanu et al. (1987); Peng et al. (1996)). Firt, a baic concept i hown baed on a condition tranfer technic uing a virtual output limiter to contrain an integrator and a derivative for a PID regulator. And alo, an integrator i initialized according to the dicontinuou action of the output limiter. Secondary, a condition tranfer plu bumple method i propoed to reduce the program memory for the integrator ret code. Finally, the contrained input method by a variable et point i propoed. The variable et point i applied to the controller intead of a conventional etpoint. In thi cae, the nonlinearity i hidden in the variable et point. The advantage of propoed method i that the conventional PID control loop can be remained in the propoed procedure. The variable etpoint i only introduced to the computer code for a low memory MPU.The propoed controller ha been commercialized. 2. PB FREE SOLDERING PROBLEMS 2.1 Pb-free oldering The following characteritic of older have changed comparedwithpbolder. the high melting point the ball pattering the poor wettability the uneven brightne Thee characteritic change influenced all element of the older technology, uch a the quality aurance, the cot and the maintenance. Table.1 how the Pb-free oldering problem. Due to the high melting point, the complicated intermetallic compound and the poor wettability, Pb-free oldering need the technical kill and the temperature monitoring. Conequentially, the development of a digital controller that pecialize in the Pb-free technology i required to olve the problem /08/$ IFAC / KR

2 Fig. 1. Commercial Digital Temperature Controller TOHO ELECTRONICS Inc. TTM-000 erie. (All experiment are performed by a Flah memory verion of TTM-000.) Table 1. The Pb-free oldering problem Problem Main caue Deterioration Low heating, of fillet formation Poor wettability Quality Poor contact Low heating Ball pattering High temperature Thermal breakdown High temperature Compenation Difficultie Uneven brightne of inpection Poor Controller Repair Bad working Low heating efficiency Poor wettability Beyond repair Low heating Soldering Perforation High temperature iron Low oxidation Poor wettability Carbonization High temperature Iron cot Complicated function Cot Tact time Low heating Part change High temperature Maintenance cot Subtandard product 2.2 The Problem of temperature control For Pb-free oldering iron, the temperature control problem are a follow: The exceive heater input A control input i an exceive heater o a not to become the heat hortage through the connection with the printed circuit. The exceive input caue overheating. Time variant ytem The controlled ytem i a oldering iron which ha a mall thermal capacity. However, the iron i a time-variant ytem when the iron contact with printed circuit or older. The thermal capacity of printed circuit and older cannot be predicted. It i poible to make four different contact combination. And alo the tate change are different when the older i liquid or olid. Reduction in tact time The overhoot have to be avoided after oldering. Thi lead a log ettling time and a long waiting time. When the controlled ytem i only the iron, the overhoot caue frequently due to the thermal capacity of iron i mall. Conideration of melting point The melting point i raied 30 C 40 C compared with Pb oldering. The et point of the iron temperature i alo raied. The proper heating temperature plu 40 C 50 C for the intermetallic compound. Fig. 2. The concept of propoed method Retriction of MPU perfomance The memory capacity of an embedded MPU i low to minimize the cot of controller. The advanced control theory (e.g. Hamane and Seborg (2002)) and the power phae control unit cannot be acceptable. And alo, a ampling time of the controller i long due to a commercial AC power i ued for the control input. 2.3 Control pecification From the above retriction, the control oftware redeign i required without hardware change. The controlled ytem detect a temperature by a thermo-couple at the tip of iron. The temperature i fed back into the temperature adjutment circuit. And then the heater input i controlled by PID control. PID controller i parallel connected type (Åtröm and Hägglund (1995)), U = pmv + imv dmv, (1) where pmv = K(bW Y ), imv = K i E, K d dmv = (Y cw ), 1+K d /(NK) where: U, Y and W are Laplace tranformation of the heater input (The heater watt i normalized by the definition of proportional band.), the temperature output and the etpoint, repectively. K i the proportional gain, K i i the integration coefficient and K d i the derivative coefficient. b [0, 1] i the two degree of freedom coefficient and c [0, 1] i the derivative tuning coefficient. N [8, 20] i tuned to reduce the noie amplification. In thi paper, b =1,c = 0 are ued for all experiment. 3. BASIC PROPOSED METHOD 3.1 Concept of propoed method An exceive control input and the time-varying ytem have to be conidered in the control ytem deign. Thi controlled ytem doe not caue a wind-up phenomenon (Seborg et al. (1989); Shinkey (1996)) due to the exceive control input remove a input limiter. Even if the anti windup technique are applied, the overhoot cannot be removed. If the control algorim ha the top of an integral calculation, the temperature of a oldering iron will reach the unexpected equilibrium due to the mall thermal capacity. The main concept i uing a virtual output limiter to contrain an integrator and a derivative for a PID controller

3 Fig. 3. Propoed method 1: Conditioned tranfer type An integrator contraint i conidered for the mall thermal capacity of iron. A derivative contraint i to eliminate the noie influence of an exceive control input and timevariable ytem. The concept of propoed method i hown in Fig.1. The input limiter doe not exit in thi controlled ytem. On the other hand, the propoed method ha a virtual output limiter LIM o :, (2) ( HL ; e>h L e r = e ; H L e H L H L ; e< H L which work a a minor loop to operate an integrator and a derivative of PID controller. H L i the band of limiter. Note that u and u r denote the controller output and the real proce input, repectively. The real proce input u r i influenced by the nonlinearity of limiter or witching algorim. The value of u r and u are different. e and e r denote the real error and the error of output limiter, repectively. 3.2 Baic concept of the integrator action Fig.3 how a baic concept baed on a condition tranfer technic uing a virtual output limiter. The upervior operate the witch by the output limiter H L. ½ Sw = OFF ; Q =0for PID, (3) S w = ON ; Q 6= 0for P (ID) If the condition for Q =0or y w H L, the compenator work a a PID controller due to the minor-loop i not activated. If the condition for Q 6= 0or y w >H L,the integrator output imv i contrained by a minor-loop gain F. The derivative output i alo contrained in the ame rage. Hence, P (ID) control ha a contrained tructure for an integrator and a derivative. F i defined by, F = Contant, where 0 <F <1. (4) The influence of the exceive control input i the mallet for F = 1 due to the integral output i full contrained. The general PID control work for F = 0. The feature of propoed method, the integral action doe not top for F 6= 1.The heat hortage can be avoided for the tracking performance. The propoal method i an expanded application of a general bump tranfer technique,which ha the degree of freedom of 0 <F <1. When the ytem atifie the ufficient condition which the proce i the linear timeinvariant ytem (LTI) and F i the contant value in the range of 0 <F <1, a table tranfer for the compenate input can be performed in a teady operating range. BIBO Fig. 4. Temperature change of Pb-free iron (left:pb, right:pb-free) (bounded input bounded output tability) can be atified due to the controlled input i bounded and aymptotically tability can be atified in the ame proof a the general bump tranfer technique (Glattfelder and Schaufelberger (1983); Hanu et al. (1987)). In cae of F i a variable parameter, it i neceary the more trict tability proof (Zhang and Evan (1988)). 3.3 Baic concept of the derivative action The iron temperature varie uddenly when the iron contact with the printed circuit board or the older. And alo, when the iron eparate from the printed circuit urface, the control performance i markedly reduced by the meaurement noie. The derivative contraint i only activated in the range of y w >H L to eliminate the influence. In the range of y w H L,a general derivative term work without a limiter. The limiter for the derivative term i given by where: dmv = ½ dmv ; dmv < X X ; dmv X, (5) X =(pmv + imv U max ) d lim, (6) 0 <d lim < 1, (7) Uing (5), the derivative kick i avoided by the coefficient d lim o that the PID output U = pmv + imv dmv doe not increae the maximum heater power U max =100%. Thi approach i the ame way of a oftware limiter for the derivative kick. Due to the input power for aymptotically tability i not influenced, the ytem can keep a table condition (Glattfelder and Schaufelberger (1983); Hanu et al. (1987)). 3.4 The tuning of H L Fig.4 how the temperature change of Pb-free iron. The left i Pb oldering. The right i Pb-free oldering. The appropriate Pb-free iron temperature for the melting point i in an extent of an oblique line. H L i fixed a a contant parameter within the range H L [15, 50]. H L i tuned according to the type of iron. A uer need not the tuning

4 Fig. 5. Concept of Variable et point method (linear) Fig. 7. Propoed method 3: Variable et point method (Nonlinear) Fig. 6. Propoed method 2: Bumple conditioned tranfer type 3.5 The initializing of compenator When the contraint of a compenator i large, namely, when a difference of u 6= u r i large by the dicontinuou action of upervior, a controlled output will jump. The quick convergence u = u r i required to remove a jump whichcaueanoverheating.thegeneralreetmethod for a tate variable i applied. From (1), the output of a parallel type PID controller i only imv in the teady tate. For thi reaon, imv a a tate variable i memorized in the teady tate and reet. After the oldering, the iron temperature decreae uddenly. The temperature output i determined between i% to j% of H L a a following algorithm, i IF H L 100 e H j e L and 100 t > 0 Then imv tore = imv. (8) 4. THE VARIABLE SET POINT METHOD FOR A LOW MEMORY MPU The baic propoed method in Section.3 cannot be applied to a low memory MPU. Since a lot of algorithm occupy the memory pace of MPU. For a commercial controller, a more imple computer code i appropriate to minimize the controller cot. Peng et al. (1996) have preented a baic framework for the realizable reference or the variable et point method in Fig.5. In thi paper, the variable et point method baed on the output limiter in Section.3 i propoed for the Pb free oldering iron. Firtly, Fig.3 can be redeigned to Fig.6. The bumple tranfer technique i introduced intead of the witching method of Fig.3 to remove a jump caued by the dicontinuou action of upervier. Secondly, Fig.6 can be redeigned to Fig.7. An integrator imv i contrained by the minor loop F 2 {e(),} with the output limiter of (2). Finally, a variable et point w r in Fig.8 i introduced intead of the etpoint w in Fig.7. Fig.7 can be tranformed into Fig.5. Fig. 8. Linear tranformation of Fig.7 We conidered that the compenator output u and error e in Fig.8 are equal to the real proce input u r and the limiter output e r in Fig.7, repectively. Namely, the nonlinear element of the bumple tranfer and the output limiter are not activated under the condition u r = u and e r = e. Whenw r i introduced in Fig.7, we aume that u r,e r and y decribed in Fig.8 are equivalent to u r,e r and y decribed in Fig.7, repectively. The control tructure doe not include nonliniarity which i hidden in the variable et point w r. From Fig.8, the proce input u r i given by thi yield µ u r = w r K + K i µ K + K i + K d y, (9) 1+K d /(KN) w r = 2 K d K i 1+ 1 N + 1 K i K + K d K i KN +1 (1 + K K i ) 1+ K y d NK + 1 K i K K i +1 ur. (10) When the bumple tranfer and the output limiter are activated, u r (= u) ore r (= e) keep contant value in pite of F i (i =1, 2) if the initial condition of the integrator are the ame. On the other hand, when the contraint are not activated, F 1 =1/K a F 2 =1/K b are defined to converge u r = u, e r = e for the linearization. From Fig.7, the compenator output u i given by µ u = K + K µ i w K + K i + K d y 1+K d /KN 10841

5 + K i µ u r u K a + K i µ e r e K b. (11) Subtracting (11) from (9), the variable etpoint w r i given by w r = w + 1+ K a K i K a (1 + K K i ) (ur u) 1 + K b (1 + K K i ) (er e) = w + G w1 ()(u r u)+g w2 ()(e r e). (12) G w1 with repect to u r i reduced to a tatic gain from a dynamic tranfer function with a pole and a zero. w r can converge to w quickly when the contrain (u r = u e r = e) are achived. During u r 6= u, y track w r due to w r i different from w. After convergence u r = u, the controller achive w r = w o that y track w which ha theamedynamicofcloedloopteprepone.thii theameathebumpletranferby G w1 ()=1/K, (13) where, K a = K. G w2 which inherit the concept of Section.3 i given a a dynamic filter with K b, K b = H L e e F ; e>0 H L + e e F ; e<0 (14) where 0 <F <1. A mooth converge i achieved by a dynamic filter to avoid the influence of a dicrete operation (14). The variable etpoint w r i given by w r 1 = w + K b (1 + T i ) (er e)+ ur u K, (15) where T i = K/K i. The ytem tability can be proved baed on aymptotically table (Glattfelder and Schaufelberger (1983); Hanu et al. (1987)). The propoed method wrote w to replace w r o that u r i equal to u and e r i equal to e. In (11), u r and e r will be approaching the contant value and u will cleally aymptotically converge when the nonliner element are activated. When the nonlinear element are not activated, u r and e r will be approaching u r = u, e r = e and u will clealy aymptotically converge by the third and forth term of (11) are zero. Furthermore, in (9) and (10), the ame aymptotically table can be proved by the converge of w r and u r. The derivative term i introduced a the ame alglorim of (5). Due to the third term of (15) with repect to bumple tranfer will be approaching u r = u, the derivative action can alo achive aymptotically table. 4.1 The feature of propoed method The feature i that the propoed method leave a cloed loop of PID a it i without changing. And the variable etpoint w r can be tuned by the proportional gain K and the integration coefficient K i of PID parameter. The dynamic filter of (15) ha the adequate convergence peed due to PID i tuned a the atatic proce. Hence, the propoed method can reduce the program code and alo be eaily applied in practice. 5. EXPERIMENTS The propoed method were applied and teted to a commercial controller for a Pb-free oldering iron baed on TTM-000 erie (Toho electronic Inc.). The PID parameterwatunedbyanautotuningfunction(hamaneetal. (2005)) under the ame condition for the end uer. An actual oldering wa performed under the ame condition at all the examination. The temperature et point i 350. F and H L are fixed to 0.7 and 25, repectively. In the experimental reult, the ocillation at the teady tate i a reult of every oldering for three econd. The temperature ocillate when the iron contact with the printed circuit board. When the claical PID controller i ued in Fig.9, the average of the ocillation amplitude raie a the frequency of oldering increae. The ocillation i not removed due to the thermal capacity of the iron i mall. And a large overhoot occur after the lat oldering. The range of load variation i hown in Fig.13.Thepropoedmethod1,2and3howninFig.10, Fig.11 and Fig.12. The propoed method could olved the ocillation problem. The average of the amplitude i tabilized and the overhoot i mall. Thi improvement in cae of the propoed method 3 i hown in Fig.13. The propoed method were atified the temperature change of Pb-free iron in Fig.4. And alo a quality criterion of the Pb-free oldering wa atified. Thee propoed method can extend the life-time of the Pb-free iron and the thermal breakdown can be avoided by the removing the overheating.thepropoedmethod3baedonthevariableetpoint method i particularly good memory conumption of MPU from the propoed method. 6. CONCLUSION The propoed PID control trategy ha been uccefully applied to the Pb-free oldering iron temperature controller. Thi controller ha been commercialized. A wide variety of application are poible, e.g. the packaging machine which ha the ame characteritic a the oldering iron. ACKNOWLEDGEMENTS Thi work wa upported by the Toho Electoronic Inc. REFERENCES H.Hamane and D.E.Seborg. Multiple Model Adaptive PID Control for Extruder Temperature Control International Sympoium on Advanced Control of Indutrial Proce. page , H.Hamane, Y.Hayahi and K.Miyazaki. Development of PID Implementation and Simulation Software for Commercial Digital Temperature Controller International Sympoium on Advanced Control of Indutrial Proce. page ,2005. K.Åtröm and T.Hägglund. PID Controller Theory, Deign and Tuning, Intrument Society of America,

6 Fig. 9. The problem of PID control Fig. 11. Propoed2: Bumple conditioned tranfer type method Fig. 10. Propoed1: Conditioned tranfer type method Fig. 12. Propoed3: Variable et-point method 450 K.Åtröm and L.Rundqwit. Integrator Windup and How to Avoid it Proceeding of the American Control Conference, page , A.H.Glattfelder and W.Schaufelberger. Stability Analyi of Single Loop Sytem with Saturation and Antireetwindup Circuit, IEEE Tranaction on Automatic Control, volume 28, page , R.Hanu, M.Kinnaert and J.L.Henrotte. Conditioning Technique, a General Anti-Windup and Bumple Tranfer Method, Automatica, volume 23, page C.Zhang, R.J.Evan. Rate Contrained Adaptive Control, International Journal of Control,volume 48:6, page , T.Peng, D.Vrancic and R.Hanu. Anti-Windup, Bumple and Conditioned Tranfer Technique for PID Controller, IEEE Control Sytem, Augut page 48 57, F.G.Shinkey. Proce Control Sytem, McGraw-Hill, D.E.Seborg, T.F.Edgar and D.A.Mellichamp. Proce Dynamic and Control, JohnWiley&Son,NewYork Temperature[ ] Load variation range ( normal PID ) Time[] Fig. 13. The magnification of Fig

CHAPTER 4 DESIGN OF STATE FEEDBACK CONTROLLERS AND STATE OBSERVERS USING REDUCED ORDER MODEL

CHAPTER 4 DESIGN OF STATE FEEDBACK CONTROLLERS AND STATE OBSERVERS USING REDUCED ORDER MODEL 98 CHAPTER DESIGN OF STATE FEEDBACK CONTROLLERS AND STATE OBSERVERS USING REDUCED ORDER MODEL INTRODUCTION The deign of ytem uing tate pace model for the deign i called a modern control deign and it i

More information

Gain and Phase Margins Based Delay Dependent Stability Analysis of Two- Area LFC System with Communication Delays

Gain and Phase Margins Based Delay Dependent Stability Analysis of Two- Area LFC System with Communication Delays Gain and Phae Margin Baed Delay Dependent Stability Analyi of Two- Area LFC Sytem with Communication Delay Şahin Sönmez and Saffet Ayaun Department of Electrical Engineering, Niğde Ömer Halidemir Univerity,

More information

Lecture 8. PID control. Industrial process control ( today) PID control. Insights about PID actions

Lecture 8. PID control. Industrial process control ( today) PID control. Insights about PID actions Lecture 8. PID control. The role of P, I, and D action 2. PID tuning Indutrial proce control (92... today) Feedback control i ued to improve the proce performance: tatic performance: for contant reference,

More information

Digital Control System

Digital Control System Digital Control Sytem - A D D A Micro ADC DAC Proceor Correction Element Proce Clock Meaurement A: Analog D: Digital Continuou Controller and Digital Control Rt - c Plant yt Continuou Controller Digital

More information

S_LOOP: SINGLE-LOOP FEEDBACK CONTROL SYSTEM ANALYSIS

S_LOOP: SINGLE-LOOP FEEDBACK CONTROL SYSTEM ANALYSIS S_LOOP: SINGLE-LOOP FEEDBACK CONTROL SYSTEM ANALYSIS by Michelle Gretzinger, Daniel Zyngier and Thoma Marlin INTRODUCTION One of the challenge to the engineer learning proce control i relating theoretical

More information

Evolutionary Algorithms Based Fixed Order Robust Controller Design and Robustness Performance Analysis

Evolutionary Algorithms Based Fixed Order Robust Controller Design and Robustness Performance Analysis Proceeding of 01 4th International Conference on Machine Learning and Computing IPCSIT vol. 5 (01) (01) IACSIT Pre, Singapore Evolutionary Algorithm Baed Fixed Order Robut Controller Deign and Robutne

More information

THE PARAMETERIZATION OF ALL TWO-DEGREES-OF-FREEDOM SEMISTRONGLY STABILIZING CONTROLLERS. Tatsuya Hoshikawa, Kou Yamada and Yuko Tatsumi

THE PARAMETERIZATION OF ALL TWO-DEGREES-OF-FREEDOM SEMISTRONGLY STABILIZING CONTROLLERS. Tatsuya Hoshikawa, Kou Yamada and Yuko Tatsumi International Journal of Innovative Computing, Information Control ICIC International c 206 ISSN 349-498 Volume 2, Number 2, April 206 pp. 357 370 THE PARAMETERIZATION OF ALL TWO-DEGREES-OF-FREEDOM SEMISTRONGLY

More information

Reliability Analysis of Embedded System with Different Modes of Failure Emphasizing Reboot Delay

Reliability Analysis of Embedded System with Different Modes of Failure Emphasizing Reboot Delay International Journal of Applied Science and Engineering 3., 4: 449-47 Reliability Analyi of Embedded Sytem with Different Mode of Failure Emphaizing Reboot Delay Deepak Kumar* and S. B. Singh Department

More information

Given the following circuit with unknown initial capacitor voltage v(0): X(s) Immediately, we know that the transfer function H(s) is

Given the following circuit with unknown initial capacitor voltage v(0): X(s) Immediately, we know that the transfer function H(s) is EE 4G Note: Chapter 6 Intructor: Cheung More about ZSR and ZIR. Finding unknown initial condition: Given the following circuit with unknown initial capacitor voltage v0: F v0/ / Input xt 0Ω Output yt -

More information

LOW ORDER MIMO CONTROLLER DESIGN FOR AN ENGINE DISTURBANCE REJECTION PROBLEM. P.Dickinson, A.T.Shenton

LOW ORDER MIMO CONTROLLER DESIGN FOR AN ENGINE DISTURBANCE REJECTION PROBLEM. P.Dickinson, A.T.Shenton LOW ORDER MIMO CONTROLLER DESIGN FOR AN ENGINE DISTURBANCE REJECTION PROBLEM P.Dickinon, A.T.Shenton Department of Engineering, The Univerity of Liverpool, Liverpool L69 3GH, UK Abtract: Thi paper compare

More information

A Simplified Methodology for the Synthesis of Adaptive Flight Control Systems

A Simplified Methodology for the Synthesis of Adaptive Flight Control Systems A Simplified Methodology for the Synthei of Adaptive Flight Control Sytem J.ROUSHANIAN, F.NADJAFI Department of Mechanical Engineering KNT Univerity of Technology 3Mirdamad St. Tehran IRAN Abtract- A implified

More information

into a discrete time function. Recall that the table of Laplace/z-transforms is constructed by (i) selecting to get

into a discrete time function. Recall that the table of Laplace/z-transforms is constructed by (i) selecting to get Lecture 25 Introduction to Some Matlab c2d Code in Relation to Sampled Sytem here are many way to convert a continuou time function, { h( t) ; t [0, )} into a dicrete time function { h ( k) ; k {0,,, }}

More information

Chapter 13. Root Locus Introduction

Chapter 13. Root Locus Introduction Chapter 13 Root Locu 13.1 Introduction In the previou chapter we had a glimpe of controller deign iue through ome imple example. Obviouly when we have higher order ytem, uch imple deign technique will

More information

MM1: Basic Concept (I): System and its Variables

MM1: Basic Concept (I): System and its Variables MM1: Baic Concept (I): Sytem and it Variable A ytem i a collection of component which are coordinated together to perform a function Sytem interact with their environment. The interaction i defined in

More information

Then C pid (s) S h -stabilizes G(s) if and only if Ĉpid(ŝ) S 0 - stabilizes Ĝ(ŝ). For any ρ R +, an RCF of Ĉ pid (ŝ) is given by

Then C pid (s) S h -stabilizes G(s) if and only if Ĉpid(ŝ) S 0 - stabilizes Ĝ(ŝ). For any ρ R +, an RCF of Ĉ pid (ŝ) is given by 9 American Control Conference Hyatt Regency Riverfront, St. Loui, MO, USA June -, 9 WeC5.5 PID Controller Synthei with Shifted Axi Pole Aignment for a Cla of MIMO Sytem A. N. Gündeş and T. S. Chang Abtract

More information

Module 4: Time Response of discrete time systems Lecture Note 1

Module 4: Time Response of discrete time systems Lecture Note 1 Digital Control Module 4 Lecture Module 4: ime Repone of dicrete time ytem Lecture Note ime Repone of dicrete time ytem Abolute tability i a baic requirement of all control ytem. Apart from that, good

More information

Advanced D-Partitioning Analysis and its Comparison with the Kharitonov s Theorem Assessment

Advanced D-Partitioning Analysis and its Comparison with the Kharitonov s Theorem Assessment Journal of Multidiciplinary Engineering Science and Technology (JMEST) ISSN: 59- Vol. Iue, January - 5 Advanced D-Partitioning Analyi and it Comparion with the haritonov Theorem Aement amen M. Yanev Profeor,

More information

EE Control Systems LECTURE 14

EE Control Systems LECTURE 14 Updated: Tueday, March 3, 999 EE 434 - Control Sytem LECTURE 4 Copyright FL Lewi 999 All right reerved ROOT LOCUS DESIGN TECHNIQUE Suppoe the cloed-loop tranfer function depend on a deign parameter k We

More information

March 18, 2014 Academic Year 2013/14

March 18, 2014 Academic Year 2013/14 POLITONG - SHANGHAI BASIC AUTOMATIC CONTROL Exam grade March 8, 4 Academic Year 3/4 NAME (Pinyin/Italian)... STUDENT ID Ue only thee page (including the back) for anwer. Do not ue additional heet. Ue of

More information

EE 4443/5329. LAB 3: Control of Industrial Systems. Simulation and Hardware Control (PID Design) The Inverted Pendulum. (ECP Systems-Model: 505)

EE 4443/5329. LAB 3: Control of Industrial Systems. Simulation and Hardware Control (PID Design) The Inverted Pendulum. (ECP Systems-Model: 505) EE 4443/5329 LAB 3: Control of Indutrial Sytem Simulation and Hardware Control (PID Deign) The Inverted Pendulum (ECP Sytem-Model: 505) Compiled by: Nitin Swamy Email: nwamy@lakehore.uta.edu Email: okuljaca@lakehore.uta.edu

More information

CONTROL OF INTEGRATING PROCESS WITH DEAD TIME USING AUTO-TUNING APPROACH

CONTROL OF INTEGRATING PROCESS WITH DEAD TIME USING AUTO-TUNING APPROACH Brazilian Journal of Chemical Engineering ISSN 004-6632 Printed in Brazil www.abeq.org.br/bjche Vol. 26, No. 0, pp. 89-98, January - March, 2009 CONROL OF INEGRAING PROCESS WIH DEAD IME USING AUO-UNING

More information

Lecture 4. Chapter 11 Nise. Controller Design via Frequency Response. G. Hovland 2004

Lecture 4. Chapter 11 Nise. Controller Design via Frequency Response. G. Hovland 2004 METR4200 Advanced Control Lecture 4 Chapter Nie Controller Deign via Frequency Repone G. Hovland 2004 Deign Goal Tranient repone via imple gain adjutment Cacade compenator to improve teady-tate error Cacade

More information

Solutions. Digital Control Systems ( ) 120 minutes examination time + 15 minutes reading time at the beginning of the exam

Solutions. Digital Control Systems ( ) 120 minutes examination time + 15 minutes reading time at the beginning of the exam BSc - Sample Examination Digital Control Sytem (5-588-) Prof. L. Guzzella Solution Exam Duration: Number of Quetion: Rating: Permitted aid: minute examination time + 5 minute reading time at the beginning

More information

Control of Delayed Integrating Processes Using Two Feedback Controllers R MS Approach

Control of Delayed Integrating Processes Using Two Feedback Controllers R MS Approach Proceeding of the 7th WSEAS International Conference on SYSTEM SCIENCE and SIMULATION in ENGINEERING (ICOSSSE '8) Control of Delayed Integrating Procee Uing Two Feedback Controller R MS Approach LIBOR

More information

A VIBRATION ISOLATION SYSTEM USING STIFFNESS VARIATION CAPABILITY OF ZERO-POWER CONTROL

A VIBRATION ISOLATION SYSTEM USING STIFFNESS VARIATION CAPABILITY OF ZERO-POWER CONTROL Proceeding of the International Conference on Mechanical Engineering 009 (ICME009) 6-8 December 009, Dhaka, Bangladeh ICME09-AM-0 A VIBRATION ISOLATION SYSTEM USING STIFFNESS VARIATION CAPABILITY OF ZERO-POWER

More information

ECE 3510 Root Locus Design Examples. PI To eliminate steady-state error (for constant inputs) & perfect rejection of constant disturbances

ECE 3510 Root Locus Design Examples. PI To eliminate steady-state error (for constant inputs) & perfect rejection of constant disturbances ECE 350 Root Locu Deign Example Recall the imple crude ervo from lab G( ) 0 6.64 53.78 σ = = 3 23.473 PI To eliminate teady-tate error (for contant input) & perfect reection of contant diturbance Note:

More information

A Simple Approach to Synthesizing Naïve Quantized Control for Reference Tracking

A Simple Approach to Synthesizing Naïve Quantized Control for Reference Tracking A Simple Approach to Syntheizing Naïve Quantized Control for Reference Tracking SHIANG-HUA YU Department of Electrical Engineering National Sun Yat-Sen Univerity 70 Lien-Hai Road, Kaohiung 804 TAIAN Abtract:

More information

Control Systems Analysis and Design by the Root-Locus Method

Control Systems Analysis and Design by the Root-Locus Method 6 Control Sytem Analyi and Deign by the Root-Locu Method 6 1 INTRODUCTION The baic characteritic of the tranient repone of a cloed-loop ytem i cloely related to the location of the cloed-loop pole. If

More information

Adaptive Control of Level in Water Tank: Simulation Study

Adaptive Control of Level in Water Tank: Simulation Study Adaptive Control of Level in Water Tank: Simulation Study Jiri Vojteek and Petr Dotal Abtract An adaptive control i a popular, o called modern control method which could be ued for variou type of ytem

More information

Control Systems Engineering ( Chapter 7. Steady-State Errors ) Prof. Kwang-Chun Ho Tel: Fax:

Control Systems Engineering ( Chapter 7. Steady-State Errors ) Prof. Kwang-Chun Ho Tel: Fax: Control Sytem Engineering ( Chapter 7. Steady-State Error Prof. Kwang-Chun Ho kwangho@hanung.ac.kr Tel: 0-760-453 Fax:0-760-4435 Introduction In thi leon, you will learn the following : How to find the

More information

LOAD FREQUENCY CONTROL OF MULTI AREA INTERCONNECTED SYSTEM WITH TCPS AND DIVERSE SOURCES OF POWER GENERATION

LOAD FREQUENCY CONTROL OF MULTI AREA INTERCONNECTED SYSTEM WITH TCPS AND DIVERSE SOURCES OF POWER GENERATION G.J. E.D.T.,Vol.(6:93 (NovemberDecember, 03 ISSN: 39 793 LOAD FREQUENCY CONTROL OF MULTI AREA INTERCONNECTED SYSTEM WITH TCPS AND DIVERSE SOURCES OF POWER GENERATION C.Srinivaa Rao Dept. of EEE, G.Pullaiah

More information

CHEAP CONTROL PERFORMANCE LIMITATIONS OF INPUT CONSTRAINED LINEAR SYSTEMS

CHEAP CONTROL PERFORMANCE LIMITATIONS OF INPUT CONSTRAINED LINEAR SYSTEMS Copyright 22 IFAC 5th Triennial World Congre, Barcelona, Spain CHEAP CONTROL PERFORMANCE LIMITATIONS OF INPUT CONSTRAINED LINEAR SYSTEMS Tritan Pérez Graham C. Goodwin Maria M. Serón Department of Electrical

More information

Stability. ME 344/144L Prof. R.G. Longoria Dynamic Systems and Controls/Lab. Department of Mechanical Engineering The University of Texas at Austin

Stability. ME 344/144L Prof. R.G. Longoria Dynamic Systems and Controls/Lab. Department of Mechanical Engineering The University of Texas at Austin Stability The tability of a ytem refer to it ability or tendency to eek a condition of tatic equilibrium after it ha been diturbed. If given a mall perturbation from the equilibrium, it i table if it return.

More information

Bogoliubov Transformation in Classical Mechanics

Bogoliubov Transformation in Classical Mechanics Bogoliubov Tranformation in Claical Mechanic Canonical Tranformation Suppoe we have a et of complex canonical variable, {a j }, and would like to conider another et of variable, {b }, b b ({a j }). How

More information

R. W. Erickson. Department of Electrical, Computer, and Energy Engineering University of Colorado, Boulder

R. W. Erickson. Department of Electrical, Computer, and Energy Engineering University of Colorado, Boulder R. W. Erickon Department of Electrical, Computer, and Energy Engineering Univerity of Colorado, Boulder ZOH: Sampled Data Sytem Example v T Sampler v* H Zero-order hold H v o e = 1 T 1 v *( ) = v( jkω

More information

Social Studies 201 Notes for November 14, 2003

Social Studies 201 Notes for November 14, 2003 1 Social Studie 201 Note for November 14, 2003 Etimation of a mean, mall ample ize Section 8.4, p. 501. When a reearcher ha only a mall ample ize available, the central limit theorem doe not apply to the

More information

EXTENDED STABILITY MARGINS ON CONTROLLER DESIGN FOR NONLINEAR INPUT DELAY SYSTEMS. Otto J. Roesch, Hubert Roth, Asif Iqbal

EXTENDED STABILITY MARGINS ON CONTROLLER DESIGN FOR NONLINEAR INPUT DELAY SYSTEMS. Otto J. Roesch, Hubert Roth, Asif Iqbal EXTENDED STABILITY MARGINS ON CONTROLLER DESIGN FOR NONLINEAR INPUT DELAY SYSTEMS Otto J. Roech, Hubert Roth, Aif Iqbal Intitute of Automatic Control Engineering Univerity Siegen, Germany {otto.roech,

More information

Direct Torque Tracking PI-Controller Design for Switched Reluctance Motor Drive using Singular Perturbation Method

Direct Torque Tracking PI-Controller Design for Switched Reluctance Motor Drive using Singular Perturbation Method Proceeding of the 17th World Congre The International Federation of Automatic Control Direct Torque Tracking PI-Controller Deign for Switched Reluctance Motor Drive uing Singular Perturbation Method Sanjib

More information

A Comparative Study on Control Techniques of Non-square Matrix Distillation Column

A Comparative Study on Control Techniques of Non-square Matrix Distillation Column IJCTA, 8(3), 215, pp 1129-1136 International Science Pre A Comparative Study on Control Technique of Non-quare Matrix Ditillation Column 1 S Bhat Vinayambika, 2 S Shanmuga Priya, and 3 I Thirunavukkarau*

More information

Chapter 7. Root Locus Analysis

Chapter 7. Root Locus Analysis Chapter 7 Root Locu Analyi jw + KGH ( ) GH ( ) - K 0 z O 4 p 2 p 3 p Root Locu Analyi The root of the cloed-loop characteritic equation define the ytem characteritic repone. Their location in the complex

More information

arxiv: v1 [cs.sy] 24 May 2018

arxiv: v1 [cs.sy] 24 May 2018 No More Differentiator in : Development of Nonlinear Lead for Preciion Mechatronic Arun Palanikumar, Niranjan Saikumar, S. Haan HoeinNia arxiv:5.973v [c.sy] May Abtract Indutrial conit of three element:

More information

Lecture 10 Filtering: Applied Concepts

Lecture 10 Filtering: Applied Concepts Lecture Filtering: Applied Concept In the previou two lecture, you have learned about finite-impule-repone (FIR) and infinite-impule-repone (IIR) filter. In thee lecture, we introduced the concept of filtering

More information

Root Locus Contents. Root locus, sketching algorithm. Root locus, examples. Root locus, proofs. Root locus, control examples

Root Locus Contents. Root locus, sketching algorithm. Root locus, examples. Root locus, proofs. Root locus, control examples Root Locu Content Root locu, ketching algorithm Root locu, example Root locu, proof Root locu, control example Root locu, influence of zero and pole Root locu, lead lag controller deign 9 Spring ME45 -

More information

A PLC BASED MIMO PID CONTROLLER FOR MULTIVARIABLE INDUSTRIAL PROCESSES

A PLC BASED MIMO PID CONTROLLER FOR MULTIVARIABLE INDUSTRIAL PROCESSES ABCM Sympoium Serie in Mechatronic - Vol. 3 - pp.87-96 Copyright c 8 by ABCM A PLC BASE MIMO PI CONOLLE FO MULIVAIABLE INUSIAL POCESSES Joé Maria Galvez, jmgalvez@ufmg.br epartment of Mechanical Engineering

More information

Robust Decentralized Design of H -based Frequency Stabilizer of SMES

Robust Decentralized Design of H -based Frequency Stabilizer of SMES International Energy Journal: Vol. 6, No., Part, June 005-59 Robut Decentralized Deign of H -baed Frequency Stabilizer of SMES www.erd.ait.ac.th/reric C. Vorakulpipat *, M. Leelajindakrirerk *, and I.

More information

Feedback Control Systems (FCS)

Feedback Control Systems (FCS) Feedback Control Sytem (FCS) Lecture19-20 Routh-Herwitz Stability Criterion Dr. Imtiaz Huain email: imtiaz.huain@faculty.muet.edu.pk URL :http://imtiazhuainkalwar.weebly.com/ Stability of Higher Order

More information

CONTROL SYSTEMS, ROBOTICS AND AUTOMATION Vol. VIII Decoupling Control - M. Fikar

CONTROL SYSTEMS, ROBOTICS AND AUTOMATION Vol. VIII Decoupling Control - M. Fikar DECOUPLING CONTROL M. Fikar Department of Proce Control, Faculty of Chemical and Food Technology, Slovak Univerity of Technology in Bratilava, Radlinkého 9, SK-812 37 Bratilava, Slovakia Keyword: Decoupling:

More information

The Influence of the Load Condition upon the Radial Distribution of Electromagnetic Vibration and Noise in a Three-Phase Squirrel-Cage Induction Motor

The Influence of the Load Condition upon the Radial Distribution of Electromagnetic Vibration and Noise in a Three-Phase Squirrel-Cage Induction Motor The Influence of the Load Condition upon the Radial Ditribution of Electromagnetic Vibration and Noie in a Three-Phae Squirrel-Cage Induction Motor Yuta Sato 1, Iao Hirotuka 1, Kazuo Tuboi 1, Maanori Nakamura

More information

CHAPTER 8 OBSERVER BASED REDUCED ORDER CONTROLLER DESIGN FOR LARGE SCALE LINEAR DISCRETE-TIME CONTROL SYSTEMS

CHAPTER 8 OBSERVER BASED REDUCED ORDER CONTROLLER DESIGN FOR LARGE SCALE LINEAR DISCRETE-TIME CONTROL SYSTEMS CHAPTER 8 OBSERVER BASED REDUCED ORDER CONTROLLER DESIGN FOR LARGE SCALE LINEAR DISCRETE-TIME CONTROL SYSTEMS 8.1 INTRODUCTION 8.2 REDUCED ORDER MODEL DESIGN FOR LINEAR DISCRETE-TIME CONTROL SYSTEMS 8.3

More information

State Space: Observer Design Lecture 11

State Space: Observer Design Lecture 11 State Space: Oberver Deign Lecture Advanced Control Sytem Dr Eyad Radwan Dr Eyad Radwan/ACS/ State Space-L Controller deign relie upon acce to the tate variable for feedback through adjutable gain. Thi

More information

PI control system design for Electromagnetic Molding Machine based on Linear Programing

PI control system design for Electromagnetic Molding Machine based on Linear Programing PI control ytem deign for Electromagnetic Molding Machine baed on Linear Programing Takayuki Ihizaki, Kenji Kahima, Jun-ichi Imura*, Atuhi Katoh and Hirohi Morita** Abtract In thi paper, we deign a PI

More information

Fractional-Order PI Speed Control of a Two-Mass Drive System with Elastic Coupling

Fractional-Order PI Speed Control of a Two-Mass Drive System with Elastic Coupling Fractional-Order PI Speed Control of a Two-Ma Drive Sytem with Elatic Coupling Mohammad Amin Rahimian, Mohammad Saleh Tavazoei, and Farzad Tahami Electrical Engineering Department, Sharif Univerity of

More information

Parameter Setting Method of Fractional Order PI λ D μ Controller Based on Bode s Ideal Transfer Function and its Application in Buck Converter

Parameter Setting Method of Fractional Order PI λ D μ Controller Based on Bode s Ideal Transfer Function and its Application in Buck Converter Parameter Setting Method of Fractional Order PI λ D μ Controller Baed on Bode Ideal Tranfer Function and it Application in Buck Converter Yiwen He, a, Zhen Li,b School of Mechanical and Automotive Engineering,

More information

NONLINEAR CONTROLLER DESIGN FOR A SHELL AND TUBE HEAT EXCHANGER AN EXPERIMENTATION APPROACH

NONLINEAR CONTROLLER DESIGN FOR A SHELL AND TUBE HEAT EXCHANGER AN EXPERIMENTATION APPROACH International Journal of Electrical, Electronic and Data Communication, ISSN: 232-284 Volume-3, Iue-8, Aug.-25 NONLINEAR CONTROLLER DESIGN FOR A SHELL AND TUBE HEAT EXCHANGER AN EXPERIMENTATION APPROACH

More information

POWER QUALITY AND RELIABILITY SUPPLY IMPROVEMENT USING A POWER CONDITIONING SYSTEM WITH ENERGY STORAGE CAPABILITY

POWER QUALITY AND RELIABILITY SUPPLY IMPROVEMENT USING A POWER CONDITIONING SYSTEM WITH ENERGY STORAGE CAPABILITY POWER QUALITY AND RELIABILITY UPPLY IMPROVEMENT UING A POWER CONDITIONING YTEM WITH ENERGY TORAGAPABILITY Domenico Caadei, Gabriele Grandi, Claudio Roi Department of Electrical Engineering Univerity of

More information

Chapter 2 Sampling and Quantization. In order to investigate sampling and quantization, the difference between analog

Chapter 2 Sampling and Quantization. In order to investigate sampling and quantization, the difference between analog Chapter Sampling and Quantization.1 Analog and Digital Signal In order to invetigate ampling and quantization, the difference between analog and digital ignal mut be undertood. Analog ignal conit of continuou

More information

715. Transients in the electromagnetic actuator with the controlled supplier

715. Transients in the electromagnetic actuator with the controlled supplier 75. Tranient in the electromagnetic actuator with the controlled upplier Broniław Tomczuk, Andrzej Waindok, Dawid Wajnert Opole Univerity of Technology, Department of Indutrial Electrical Engineering Prozkowka

More information

Experimental Verification of Optimal Sliding Mode Controllers for Hoisting Cranes

Experimental Verification of Optimal Sliding Mode Controllers for Hoisting Cranes Experimental Verification of Optimal Sliding Mode Controller for Hoiting Crane Alekandra Nowacka-Leverton Dariuz Pazderki Maciej Micha lek Andrzej Bartozewicz Intitute of Automatic Control, Technical Univerity

More information

SMALL-SIGNAL STABILITY ASSESSMENT OF THE EUROPEAN POWER SYSTEM BASED ON ADVANCED NEURAL NETWORK METHOD

SMALL-SIGNAL STABILITY ASSESSMENT OF THE EUROPEAN POWER SYSTEM BASED ON ADVANCED NEURAL NETWORK METHOD SMALL-SIGNAL STABILITY ASSESSMENT OF THE EUROPEAN POWER SYSTEM BASED ON ADVANCED NEURAL NETWORK METHOD S.P. Teeuwen, I. Erlich U. Bachmann Univerity of Duiburg, Germany Department of Electrical Power Sytem

More information

Thermal Resistance Measurements and Thermal Transient Analysis of Power Chip Slug-Up and Slug-Down Mounted on HDI Substrate

Thermal Resistance Measurements and Thermal Transient Analysis of Power Chip Slug-Up and Slug-Down Mounted on HDI Substrate Intl Journal of Microcircuit and Electronic Packaging Thermal Reitance Meaurement and Thermal Tranient Analyi of Power Chip Slug-Up and Slug-Down Mounted on HDI Subtrate Claudio Sartori Magneti Marelli

More information

RECURSIVE LEAST SQUARES HARMONIC IDENTIFICATION IN ACTIVE POWER FILTERS. A. El Zawawi, K. H. Youssef, and O. A. Sebakhy

RECURSIVE LEAST SQUARES HARMONIC IDENTIFICATION IN ACTIVE POWER FILTERS. A. El Zawawi, K. H. Youssef, and O. A. Sebakhy RECURSIVE LEAST SQUARES HARMONIC IDENTIFICATION IN ACTIVE POWER FILTERS A. El Zawawi, K. H. Youef, and O. A. Sebakhy Department of Electrical Engineering, Alexandria Univerity, Alexandria 21544, Egypt.P.O.

More information

THE IDENTIFICATION OF THE OPERATING REGIMES OF THE CONTROLLERS BY THE HELP OF THE PHASE TRAJECTORY

THE IDENTIFICATION OF THE OPERATING REGIMES OF THE CONTROLLERS BY THE HELP OF THE PHASE TRAJECTORY Mariu M. B LA Aurel Vlaicu Univerity of Arad, Engineering Faculty Bd. Revolu iei nr. 77, 3030, Arad, Romania, E-mail: mariu.bala@ieee.org THE IDENTIFICATION OF THE OPERATING REGIMES OF THE CONTROLLERS

More information

What lies between Δx E, which represents the steam valve, and ΔP M, which is the mechanical power into the synchronous machine?

What lies between Δx E, which represents the steam valve, and ΔP M, which is the mechanical power into the synchronous machine? A 2.0 Introduction In the lat et of note, we developed a model of the peed governing mechanim, which i given below: xˆ K ( Pˆ ˆ) E () In thee note, we want to extend thi model o that it relate the actual

More information

Exercises for lectures 19 Polynomial methods

Exercises for lectures 19 Polynomial methods Exercie for lecture 19 Polynomial method Michael Šebek Automatic control 016 15-4-17 Diviion of polynomial with and without remainder Polynomial form a circle, but not a body. (Circle alo form integer,

More information

Robust Mould Level Control

Robust Mould Level Control 5 American Control Conference June 8-1, 5. Portland, OR, USA ThA9.4 Robut Mould Level Control J. Schuurman, A. Kamperman, B. Middel, P.F.A van den Boch Abtract In the firt year of production ince, the

More information

Bahram Noshad Department of Electrical Engineering, Bandar Deylam Branch, Islamic Azad University, Bandar Deylam, Iran.

Bahram Noshad Department of Electrical Engineering, Bandar Deylam Branch, Islamic Azad University, Bandar Deylam, Iran. Journal of Advance in Computer Reearch Quarterly pissn: 345-66x eissn: 345-678 Sari Branch, Ilamic Azad Univerity, Sari, I.R.Iran (Vol. 9, No. 3, Augut 8), Page: - www.jacr.iauari.ac.ir A New Model for

More information

Wolfgang Hofle. CERN CAS Darmstadt, October W. Hofle feedback systems

Wolfgang Hofle. CERN CAS Darmstadt, October W. Hofle feedback systems Wolfgang Hofle Wolfgang.Hofle@cern.ch CERN CAS Darmtadt, October 9 Feedback i a mechanim that influence a ytem by looping back an output to the input a concept which i found in abundance in nature and

More information

Digital Control System

Digital Control System Digital Control Sytem Summary # he -tranform play an important role in digital control and dicrete ignal proceing. he -tranform i defined a F () f(k) k () A. Example Conider the following equence: f(k)

More information

ROBUST CONTROLLER DESIGN WITH HARD INPUT CONSTRAINTS. TIME DOMAIN APPROACH. Received August 2015; revised November 2015

ROBUST CONTROLLER DESIGN WITH HARD INPUT CONSTRAINTS. TIME DOMAIN APPROACH. Received August 2015; revised November 2015 International Journal of Innovative Computing, Information and Control ICIC International c 2016 ISSN 1349-4198 Volume 12, Number 1, February 2016 pp. 161 170 ROBUST CONTROLLER DESIGN WITH HARD INPUT CONSTRAINTS.

More information

MODERN CONTROL SYSTEMS

MODERN CONTROL SYSTEMS MODERN CONTROL SYSTEMS Lecture 1 Root Locu Emam Fathy Department of Electrical and Control Engineering email: emfmz@aat.edu http://www.aat.edu/cv.php?dip_unit=346&er=68525 1 Introduction What i root locu?

More information

Assessment of Performance for Single Loop Control Systems

Assessment of Performance for Single Loop Control Systems Aement of Performance for Single Loop Control Sytem Hiao-Ping Huang and Jyh-Cheng Jeng Department of Chemical Engineering National Taiwan Univerity Taipei 1617, Taiwan Abtract Aement of performance in

More information

A Constraint Propagation Algorithm for Determining the Stability Margin. The paper addresses the stability margin assessment for linear systems

A Constraint Propagation Algorithm for Determining the Stability Margin. The paper addresses the stability margin assessment for linear systems A Contraint Propagation Algorithm for Determining the Stability Margin of Linear Parameter Circuit and Sytem Lubomir Kolev and Simona Filipova-Petrakieva Abtract The paper addree the tability margin aement

More information

Multivariable Control Systems

Multivariable Control Systems Lecture Multivariable Control Sytem Ali Karimpour Aociate Profeor Ferdowi Univerity of Mahhad Lecture Reference are appeared in the lat lide. Dr. Ali Karimpour May 6 Uncertainty in Multivariable Sytem

More information

Real-Time Identification of Sliding Friction Using LabVIEW FPGA

Real-Time Identification of Sliding Friction Using LabVIEW FPGA Real-Time Identification of Sliding Friction Uing LabVIEW FPGA M. Laine Mear, Jeannie S. Falcon, IEEE, and Thoma R. Kurfe, IEEE Abtract Friction i preent in all mechanical ytem, and can greatly affect

More information

ME 375 FINAL EXAM Wednesday, May 6, 2009

ME 375 FINAL EXAM Wednesday, May 6, 2009 ME 375 FINAL EXAM Wedneday, May 6, 9 Diviion Meckl :3 / Adam :3 (circle one) Name_ Intruction () Thi i a cloed book examination, but you are allowed three ingle-ided 8.5 crib heet. A calculator i NOT allowed.

More information

Massachusetts Institute of Technology Dynamics and Control II

Massachusetts Institute of Technology Dynamics and Control II I E Maachuett Intitute of Technology Department of Mechanical Engineering 2.004 Dynamic and Control II Laboratory Seion 5: Elimination of Steady-State Error Uing Integral Control Action 1 Laboratory Objective:

More information

An estimation approach for autotuning of event-based PI control systems

An estimation approach for autotuning of event-based PI control systems Acta de la XXXIX Jornada de Automática, Badajoz, 5-7 de Septiembre de 08 An etimation approach for autotuning of event-baed PI control ytem Joé Sánchez Moreno, María Guinaldo Loada, Sebatián Dormido Departamento

More information

Stochastic Optimization with Inequality Constraints Using Simultaneous Perturbations and Penalty Functions

Stochastic Optimization with Inequality Constraints Using Simultaneous Perturbations and Penalty Functions Stochatic Optimization with Inequality Contraint Uing Simultaneou Perturbation and Penalty Function I-Jeng Wang* and Jame C. Spall** The John Hopkin Univerity Applied Phyic Laboratory 11100 John Hopkin

More information

POWER SYSTEM SMALL SIGNAL STABILITY ANALYSIS BASED ON TEST SIGNAL

POWER SYSTEM SMALL SIGNAL STABILITY ANALYSIS BASED ON TEST SIGNAL POWE YEM MALL INAL ABILIY ANALYI BAE ON E INAL Zheng Xu, Wei hao, Changchun Zhou Zheang Univerity, Hangzhou, 37 PChina Email: hvdc@ceezueducn Abtract - In thi paper, a method baed on ome tet ignal (et

More information

Social Studies 201 Notes for March 18, 2005

Social Studies 201 Notes for March 18, 2005 1 Social Studie 201 Note for March 18, 2005 Etimation of a mean, mall ample ize Section 8.4, p. 501. When a reearcher ha only a mall ample ize available, the central limit theorem doe not apply to the

More information

Improvement of Transient Stability of Power System by Thyristor Controlled Phase Shifter Transformer

Improvement of Transient Stability of Power System by Thyristor Controlled Phase Shifter Transformer American Journal of Applied Science 7 (11): 1495-1499, 010 ISSN 1546-939 010 Science Publication Improvement of Tranient Stability of Power Sytem by Thyritor Controlled Phae Shifter Tranformer Prechanon

More information

RELIABILITY OF REPAIRABLE k out of n: F SYSTEM HAVING DISCRETE REPAIR AND FAILURE TIMES DISTRIBUTIONS

RELIABILITY OF REPAIRABLE k out of n: F SYSTEM HAVING DISCRETE REPAIR AND FAILURE TIMES DISTRIBUTIONS www.arpapre.com/volume/vol29iue1/ijrras_29_1_01.pdf RELIABILITY OF REPAIRABLE k out of n: F SYSTEM HAVING DISCRETE REPAIR AND FAILURE TIMES DISTRIBUTIONS Sevcan Demir Atalay 1,* & Özge Elmataş Gültekin

More information

Simulation and Analysis of Linear Permanent Magnet Vernier Motors for Direct Drive Systems

Simulation and Analysis of Linear Permanent Magnet Vernier Motors for Direct Drive Systems Available online at www.ijpe-online.com vol. 3, no. 8, December 07, pp. 304-3 DOI: 0.3940/ijpe.7.08.p.3043 Simulation and Analyi of Linear Permanent Magnet Vernier Motor for Direct Drive Sytem Mingjie

More information

EE Control Systems LECTURE 6

EE Control Systems LECTURE 6 Copyright FL Lewi 999 All right reerved EE - Control Sytem LECTURE 6 Updated: Sunday, February, 999 BLOCK DIAGRAM AND MASON'S FORMULA A linear time-invariant (LTI) ytem can be repreented in many way, including:

More information

Thermal Σ- Modulator: Anemometer Performance Analysis

Thermal Σ- Modulator: Anemometer Performance Analysis Intrumentation and Meaurement Technology Conference IMTC 007 Waraw, Poland, May 1-3, 007 Thermal Σ- Modulator: Anemometer Performance Analyi Will R. M. Almeida 1, Georgina M. Freita 1, Lígia S. Palma 3,

More information

Real-time identification of sliding friction using LabVIEW FPGA

Real-time identification of sliding friction using LabVIEW FPGA Clemon Univerity TigerPrint Publication Automotive Engineering 6-26 Real-time identification of liding friction uing LabVIEW FPGA Laine Mear Clemon Univerity, mear@clemon.edu Jeannie S. Falcon IEEE Thoma

More information

PIM Digital Redesign and Experiments of a Roll-Angle Controller for a VTOL-UAV

PIM Digital Redesign and Experiments of a Roll-Angle Controller for a VTOL-UAV 1 roceeding of the International Conference on Information and Automation, December 15-1, 5, Colombo, Sri Lanka. IM Digital Redeign and Experiment of a Roll-Angle Controller for a VTOL-UAV Takahi Kahimura*

More information

Integration of RTO with MPC through the gradient of a convex function

Integration of RTO with MPC through the gradient of a convex function Preprint of the 8th IFAC Sympoium on Advanced Control of Chemical Procee he International Federation of Automatic Control Furama Riverfront, Singapore, July 1-13, 1 Integration of RO with MPC through the

More information

A Comparison of Correlations for Heat Transfer from Inclined Pipes

A Comparison of Correlations for Heat Transfer from Inclined Pipes A Comparion of Correlation for Heat Tranfer from Inclined Pipe Krihperad Manohar Department of Mechanical and Manufacturing Engineering The Univerity of the Wet Indie St. Augutine, Trinidad and Tobago

More information

Lecture 8 - SISO Loop Design

Lecture 8 - SISO Loop Design Lecture 8 - SISO Loop Deign Deign approache, given pec Loophaping: in-band and out-of-band pec Fundamental deign limitation for the loop Gorinevky Control Engineering 8-1 Modern Control Theory Appy reult

More information

Simple Observer Based Synchronization of Lorenz System with Parametric Uncertainty

Simple Observer Based Synchronization of Lorenz System with Parametric Uncertainty IOSR Journal of Electrical and Electronic Engineering (IOSR-JEEE) ISSN: 78-676Volume, Iue 6 (Nov. - Dec. 0), PP 4-0 Simple Oberver Baed Synchronization of Lorenz Sytem with Parametric Uncertainty Manih

More information

Lecture 5 Introduction to control

Lecture 5 Introduction to control Lecture 5 Introduction to control Tranfer function reviited (Laplace tranform notation: ~jω) () i the Laplace tranform of v(t). Some rule: ) Proportionality: ()/ in () 0log log() v (t) *v in (t) () * in

More information

Chapter 9: Controller design. Controller design. Controller design

Chapter 9: Controller design. Controller design. Controller design Chapter 9. Controller Deign 9.. Introduction 9.2. Eect o negative eedback on the network traner unction 9.2.. Feedback reduce the traner unction rom diturbance to the output 9.2.2. Feedback caue the traner

More information

Linear System Fundamentals

Linear System Fundamentals Linear Sytem Fundamental MEM 355 Performance Enhancement of Dynamical Sytem Harry G. Kwatny Department of Mechanical Engineering & Mechanic Drexel Univerity Content Sytem Repreentation Stability Concept

More information

Design of Digital Filters

Design of Digital Filters Deign of Digital Filter Paley-Wiener Theorem [ ] ( ) If h n i a caual energy ignal, then ln H e dω< B where B i a finite upper bound. One implication of the Paley-Wiener theorem i that a tranfer function

More information

Neural Network Linearization of Pressure Force Sensor Transfer Characteristic

Neural Network Linearization of Pressure Force Sensor Transfer Characteristic Acta Polytechnica Hungarica Vol., No., 006 Neural Network Linearization of Preure Force Senor Tranfer Characteritic Jozef Vojtko, Irena Kováčová, Ladilav Madaráz, Dobrolav Kováč Faculty of Electrical Engineering

More information

Design By Emulation (Indirect Method)

Design By Emulation (Indirect Method) Deign By Emulation (Indirect Method he baic trategy here i, that Given a continuou tranfer function, it i required to find the bet dicrete equivalent uch that the ignal produced by paing an input ignal

More information

Nonlinear Single-Particle Dynamics in High Energy Accelerators

Nonlinear Single-Particle Dynamics in High Energy Accelerators Nonlinear Single-Particle Dynamic in High Energy Accelerator Part 6: Canonical Perturbation Theory Nonlinear Single-Particle Dynamic in High Energy Accelerator Thi coure conit of eight lecture: 1. Introduction

More information

ME 375 FINAL EXAM SOLUTIONS Friday December 17, 2004

ME 375 FINAL EXAM SOLUTIONS Friday December 17, 2004 ME 375 FINAL EXAM SOLUTIONS Friday December 7, 004 Diviion Adam 0:30 / Yao :30 (circle one) Name Intruction () Thi i a cloed book eamination, but you are allowed three 8.5 crib heet. () You have two hour

More information

ME2142/ME2142E Feedback Control Systems

ME2142/ME2142E Feedback Control Systems Root Locu Analyi Root Locu Analyi Conider the cloed-loop ytem R + E - G C B H The tranient repone, and tability, of the cloed-loop ytem i determined by the value of the root of the characteritic equation

More information