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The thermal blooming effect, platform jitter, and other effects of laser beam propagation cause serious deviation, which will have a negative impact on laser tracking systems. It is important to ensure that the laser beam does not deviate. Based on a fast steering mirror, a CMOS camera, and a Flex RIO system, a laser beam jitter control system is designed and implemented. The error is detected by camera and compensated for by the fast steering mirror (FSM), which is controlled by the Flex RIO device. By using LabVIEW and MATLAB, a closed loop model is realized. The results show that the system response is highly stabilized and has a short rise time, providing a reference for engineering applications.

Nel mondo delle Digital Humanities (DH) i risultati prodotti sono spesso nella forma di banche dati, siti internet, blog o pubblicazioni digitali di varia forma; per gli autori è difficile ottenere il riconoscimento dei crediti e garantirne la tracciabilità. In questo articolo si descrive il sistema del DOI (utilizzato come identificatore persistente assegnato di norma a monografie e articoli scientifici per la loro identificazione e tracciabilità) proponendone l’adozione in alcuni contesti di progetti di DH per favorirne la identificazione e diffusione, attraverso anche un ampio set di metadati descrittivi. In the world of Digital Humanities (DH), the results produced often take the form of databases, websites, blogs, or various digital publications. For authors, it is difficult to obtain recognition and ensure traceability of these results. This article describes the DOI system (used as a persistent identifier typically assigned to monographs and scientific articles for their identification and traceability), proposing its adoption in some DH project contexts to promote identification and dissemination, also through a wide set of descriptive metadata.

Content-based identifiers can serve as persistent, portable, transparent, and reproducible handles with which to publish and access Earth Observations data. Unlike authority-based identifiers like DOIs, content-based identifiers such as SHA-256 are derived algorithmically using hash functions from the data / content that they refer to, and serve as a mechanism to version data, validate content, cache content, and resolve multiple locations that might host replicas of the data. Common systems that use content-based identifiers include git (using SHA-1), the Open Container Initiative for container registries, and BitTorrent-based distributed data systems. While relatively uncommon for scientific data, advances in R packages like “contented” and similar tools like Preston, the biodiversity data tracker, make it easier for researchers to utilize content-based identifiers in research workflows.

System integration for process automation promoted the technologies that were accessed to functions and data of field device, controller, and SCADA system. In addition, the data from filed devices can apply to solve device diagnostic and preventive maintenance. This paper describes the practical technique to configure and implement of control and SCADA system that focus on integration of field device, PLC controller, and SCADA system. The paper presents case study of Allen-Bradley (AB) PLC by using WirelessHART device to temperature control and device diagnostic through SCADA system. PLC’s input/output (I/O) modules are installed that consists of Modbus module, digital I/O module, analog I/O module. In addition, Prosoft configuration builder and Studio 5000 software are new software to build add on Modbus instruction and ladder diagrams, respectively. The experiments perform in case study of temperature control by using Proportional–Integral–Derivative (PID) function in the AB PLC. Wonderware InTouch SCADA software is implemented to monitor the process mimic, trend, and alarm. Moreover, the technique can support the operators and engineers to make decision for process control and devices diagnostic.

This paper presents a novel method for PID (proportional–integral–derivative) controller auto-tuning based on expert knowledge incorporated into a fuzzy logic inference system. The proposed scheme iteratively tries to improve the performance of the closed-loop system. As performance measures, the proposed scheme uses the characteristics of the step response (rise time, overshoot, and settling time). PID parameters in the first iteration can be calculated based on the basic open-loop step response experiment or it is possible to use current parameters. In each successive iteration, step response characteristics are measured and the relative changes expressed in the percentage of value in the first iteration are calculated and converted into linguistic values. The fuzzy expert system computes fuzzy values that are used after defuzzification as multiplying factors for current PID parameters. To achieve a balance between the aggressive and robust closed-loop response, as well as between the slower and the faster one, the fuzzy expert system works in three operating modes: the one for speeding up the system, the one for reducing the overshoot, and the one for a balanced reduction of rise time and overshoot. The performance and robustness are verified by computer simulation using an extensive range of different processes.

The idea of autonomous vehicle platoons presents a variety of social, economic, and safety benefits to the transportation industry. However, implementing and deploying autonomous vehicle platoons is still a challenge. In this paper, we present a PID-based computationally cost-efficient controller to aid in the longitudinal control of the inter-vehicle distance between successive platoon members. The proposed approach is facilitated by inter-vehicle communication. The algorithm was implemented using the Robotics Operating System and Gazebo simulation environment. In order to evaluate the performance and applicability of the proposed approach, meticulous simulations under numerous scenarios were performed using 3D vehicle models so as to mimic the real world. The algorithm successfully maintains the longitudinal inter-vehicle distance within the desired range, ensures that no collisions occur among platoon members, and preserves the platoon formation.

Introduction and aim. Mutation(s) in the gene encoding the CD19 molecule affect CD19 protein expression and primary immunodeficiency (PID) occurs. The PCR-RFLP method, which is faster and cheaper than other mutation detection methods, is rarely used in the diagnosis of PID. The study aimed to genetically identify CD19 deficiency, which is a PID, using the PCR-RFLP method. Material and methods. A total of 8 patients and two healthy controls were included in the study and the relevant region genotypes in the CD19 gene were determined by performing PCR-RFLP analysis. Results. The index case, newborn baby and mother were also included in the study. It was determined that the index case (P6) was homozygous mutant, the newborn baby (P7) and mother (P8) had heterozygous genotype. Based on this situation, one child (P1) was found to be homozygous mutant, mother (P2), father (P3) and other children (P4 and P5) had heterozygous genotype in the family, which was determined to be related to the first case. Conclusion. In our study, it has been shown that PCR-RFLP is a method that can be used in the diagnosis of PID by determining genotypes using PCR-RFLP, and especially in terms of rapid genetic testing of family screenings.

In this study, it is aimed to design discrete time PI, PID and PIR controllers with the dominant pole region assignment method in order to have time domain characteristics of the closed loop system in the desired interval. First of all, determination of the boundary functions for the regions where the dominant and non-dominant poles of the closedloop system are desired to be located are explained. Here, for the boundary functions, the region where the dominant poles are desired to be located are two circles of constant radius and a constant damping ratio curve in the discrete time domain, and the region where the remaining poles are desired to be located is a circle of constant radius. Then, solution method of dominant pole region assignment problem is given for discrete PI controller. The proposed method is extended for discrete PID and PIR controllers by fixing a parameter of the controller (𝐾𝑝 = 𝑘𝑝 ∗ ). In addition, the design starts with selecting the delay parameter ℎ as a positive integer in the PIR controller. The proposed method is demonstrated for discrete PI, PID and PIR controllers via two systems., Bu çalışmada, kapalı çevrim sistemin zaman özelliklerinin istenen aralıkta kalması için baskın kutup bölgesi atama yöntemiyle ayrık zamanlı PI, PID ve PIR kontrolörlerin tasarlanması amaçlanmıştır. Öncelikle, kapalı çevrim sistemin baskın ve baskın olmayan kutuplarının konumlanmaları istenen bölgeler için sınır fonksiyonlarının belirlenmesi anlatılmıştır. Burada, sınır fonksiyonları için, baskın kutupların konumlanması istenen bölge ayrık zaman düzleminde sabit yarıçaplı iki çember ve sabit bir sönüm oranı eğrisi, kalan kutupların konumlanması istenen bölge ise sabit yarıçaplı bir çember kullanılır. Daha sonra, baskın kutup bölgesi atama probleminin çözüm yöntemi ayrık PI kontrolör için verilmiştir. Önerilen yöntem, kontrolörün bir parametresini sabitleyerek (𝐾𝑝 = 𝑘𝑝 ∗ ) ayrık PID ve PIR kontrolörler için genişletilmiştir. PIR kontrolörde ek olarak gecikme parametresi ℎ’nin pozitif bir tamsayı olarak seçilmesi ile tasarıma başlanır. Önerilen yöntem, iki sistem üzerinden ayrık PI, PID ve PIR kontrolörler için anlatılmıştır.

Der KDSF-Standard enthält verschiedene Empfehlungen zum Umgang mit Identifikatoren bei der Verarbeitung und dem Berichten von Forschungsinformationen durch Hochschulen und Forschseinrichtungen. Diese beziehen, wo es möglich ist, auch Persistent Identifier (PID) ein. Die Präsentation gibt einen Überblick zur Rolle und zum Einsatz von Identifikatoren im KDSF.

This case study is part of a series that has been produced within the study on “Risks and Trust in pursuit of a well-functioning PID infrastructure for research” commissioned by the Knowledge Exchange in July 2021. The main outcome of this work is a report examining the current PID landscape with an emphasis on its risks and trust-related issues. The case study looks at the RePEc Author Service (RAS), an independent community owned and run DAI service within Economics. Established before ORCID emerged, RAS survives on the basis of low running costs, various sponsors, and volunteers. It demonstrates how community-trust, accepting uncertainty around sustainability and governance, can help a PID service run for a long time. The report, Building the Plane as We Fly It: the Promise of Persistent Identifiers, and remaining complementary case studies have also been published.

Direct current (DC) motors have many difficulties when controlling angular velocity in a variety of applications. The perfect controller cannot be carried out by traditional control alone due to the nonlinear properties of DC motors, design constraints, and mechanical variations caused by the operation conditions. This study proposes a design for an artificial neural network based PID controller (ANNPID) to control the speed of a permanent magnet DC motor (PMDC) in two methods. A detailed analysis is performed based on the simulation results of both methods. The proposed controllers are numerically simulated for various test conditions including; set-point changes, step changes in the load torque, and parameter variations, then the suggested techniques were compared in a comparative study with a traditional PID controller based on the transient response specifications and the performance indices to validate the performance of the controllers. The simulation results demonstrated that the controllers have improved dynamics, static performance, and less overshoot. The methods described here achieve control more effectively than the conventional control approaches under both nominal and disturbed test conditions over different operating ranges., Doğru akım (DA) motorları, çeşitli uygulamalarda açısal hız kontrol edilirken birçok zorluk içerir. DA motorların doğrusal olmayan özellikleri, tasarım kısıtlamaları ve çalışma koşullarından kaynaklanan mekanik varyasyon nedeniyle mükemmel kontrol tek başına geleneksel kontrol yöntemleri ile gerçekleştirilemez. Bu çalışma, sabit mıknatıslı bir DA (SMDA) motorun hızını iki yöntemle kontrol etmek için yapay sinir ağı tabanlı bir PID denetleyici tasarımı önermektedir. Her iki yöntemin benzetim sonuçlarına dayalı olarak detaylı bir analiz yapılmıştır. Önerilen denetleyiciler, ayar noktası değişiklikleri, yük torkundaki adım değişiklikleri ve parametre varyasyonları dahil olmak üzere çeşitli test koşulları için sayısal olarak simüle edilmiştir; ardından önerilen teknikler, denetleyicilerin başarımını doğrulamak için geçici tepki özelliklerine ve başarım endekslerine dayalı olarak geleneksel bir PID denetleyici ile karşılaştırılmıştır. Benzetim sonuçları, denetleyicilerin iyileştirilmiş dinamiklere, iyileştirilmiş statik performansa ve daha az en büyük aşmaya sahip olduğunu göstermiştir. Burada açıklanan yöntemler, farklı çalışma aralıklarında hem nominal hem de bozulmuş test koşulları altında geleneksel kontrol yaklaşımlarından daha etkili bir şekilde kontrol sağlamıştır.

The output voltage of microbial fuel cells (MFCs) needs to be controlled effectively to improve the operating efficiency of MFC system against the load variations, disturbances, and uncertainties. The output voltage control is purposed to provide the MFC with an appropriate amount of fuel required to maintain the stability of output voltage. In the applications, the MFC output voltage can be requested to track the variable reference voltage or to track the constant output voltage under changing conditions such as load change. For this purpose, two adaptive fuzzy PID (FPID) controllers powered by optimization algorithms were designed in this study to keep the output voltage value of the MFC at the desired values. This study extends the previous works by using optimization algorithms, such as particle swarm optimization (PSO) and gray wolf optimization (GWO) algorithms, to adjust fuzzy logic parameters, which are used for tuning Proportional-Integral-Derivative (PID) controllers. The optimization-based adaptive FPID controllers play an active role in efficient, fast, and robust tracking of the reference voltage value with its adaptive structure. The designed adaptive control algorithms were tested under different cases, which involve the variation of the reference voltage and load conditions. The results show that both of these controllers can effectively control the output voltage of a MFC by regulating the flow rate of the fuel. In addition, the performances of the designed controller strategies according to the results obtained vary according to the reference signal. While PSO-based FPID gives more successful results for positive step changes, GWO-based FPID gives more successful results for negative step changes. These two control strategies show more efficient, robust, successful, and faster performances compared to the traditional PID controller.

Intoductory presentation held during the DAPHNE4NFDI TA 1 lecture series: "Data for science" on 22 November 2022. The IGSN International Generic Sample Number is a globally unique and resolvable persistent identifier for physical objects. Originally derived from the Earth sciences, PIDs for physical objects are also interesting for other domains, e.g. material sciences, life sciences. This presentation describes the origin of IGSN, its usage and metadata schema, recent projects under the umbrella of potential application of IGSN for samples of the photone and neutron community.

Blood Glucose Control in T1DM using reinforcement learning, PID, BB.

Thispresentation was delivered during the ORCID Team Retreat meeting in Italy (October 2022) to present the activities done by 4Science tobenefit ORCID Members adopting the DSpace platform. 4Science,a leading contributor of DSpace, has developed the current ORCID integration for DSpace offering the ability to connect DSpace researcher profiles with ORCID, then push publications & projects information to the ORCID profile. DSpace, until its version 7.2 was only able to query the ORCID registryto lookup for authors.DSpace-CRIS instead, an open source extension of DSpace built and maintained by 4Science, provides since version 4 a full bi-directionalintegration with ORCID able to push & pull data via themember API. The DSpacegovernance,Steering & Leadership groups, set these newfeatures as a high priority and4Science donated what was done for ORCID integration inDSpace-CRISadaption and ported such features to plain DSpace. These features are available in DSpace, starting from 7.3 version.

A través de una revisión sistémica en los últimos veinte años, se responde a las preguntas clave para comprender el concepto de control fraccionario, identificar y clasificar los sistemas de orden fraccionario, determinar las técnicas de diseño e implementación de los controladores PID fraccionarios y mencionar algunos casos exitosos en los que se ha aplicado el PID fraccionario en la industria. Through a systemic review over the last twenty years, key questions are answered to understand the concept of fractional control, identify and classify fractional order systems, determine the design and implementation techniques of fractional PID controllers, and mention some successful cases where fractional PID has been applied in the industry. http://www.ustabuca.edu.co/ustabmanga/presentacion Pregrado

An open source system with control and/or recording capabilities for relative humidity, fan speed, weight, and air velocity. Designed for dry aging of beef, but is readily adaptable for other applications involving relative humidity.

An open source system with control and/or recording capabilities for relative humidity, fan speed, weight, and air velocity. Designed for dry aging of beef, but is readily adaptable for other applications involving relative humidity.

Makalah ini telah dipresentasikan dalam Seminar Nasional "Sain dan Teknologi dalam Penanganan Energi" tanggal 22 November 2011 di Kampus Universitas Jenderal Achmad Yani Cimahi. Mesin sintering furnace adalah sebuah tungku listrik dengan daya dan suhu tinggi untuk menghasilkan produk yang terbuat dari logam atau keramik dengan kualitas baik. Faktor kualitas dalam produk tersebut ditunjukkan oleh nilai kekerasan benda kerja yang dihasilkandan sangat bergantung kepada suhu dalam mesin tersebut. Karena berbagai faktor yang ada dalam sistem dan lingkungan, suhu yang dihasilkan dalam tungku tersebut kadang-kadang mengalami perubahan dari nilai yang seharusnya. Oleh karena itu, pengendalian suhu dalam mesin ini menjadi bagian yang cukup penting agar dihasilkan benda kerja dengan kualitas baik. Dalam makalah ini dipaparkan tentang pengendalian suhu dalam mesin sintering furnace secara elektronis menggunakan peralatan utama yang disebut thyristor. Thyristor adalah sebuah peralatan elektronis berbasis semikonduktor yang dapat mengatur arus dantegangan tinggi. Pengendalian suhu ini dilakukan dengan mengatur katup gas panas yang dialirkan ke ruang bakar sesuai dengan kondisi suhu sebenarnya yang terdeteksi oleh transduser suhu. Dari hasil pengamatan terhadap pengujian yang dilakukan terlihat bahwa suhu dapat diatur sesuai dengan set point-nya, meskipun terlihat bahwa ada fluktuasi di sekitar nilai tersebut.

Sharing research during public health emergencies Sept 29, 2020 Presentation at Exploring the COVID-19 Data Landscape: Publications and Research Articles

The paper explains a control method for turntable by feedback a PID controller with the traditional model reference adaptive controller (MRAC) based on the MIT rule. The traditional MRAC is designed for a first-order system with the adjustment of a two-variable parameter. However, the majority of plants, including turntable, are second-order systems. Traditional MRAC tracking performance for second-order systems is unsatisfactory. The control law for the second order system along with extension from the first to the second order of MRAC is derived. The modified MRAC i.e., MRAC-PID controller is designed for the application of turntable. It enhanced the system’s dynamic performance. To assess the performance of the proposed controller, MATLAB/Simulink software was used. The article incorporates a detailed analysis and comparison of PID, MRAC as well as MRAC-PID controllers based on the MIT rule for the turntable system. The robustness of the proposed controller is validated by introducing uncertainties in two aspects i.e., mistuning of the controller gains and turntable system dynamics change. The probabilistic design assessment for the mistuning is carried out through levels of uncertainty in controller gain. It is observed that PID and MRAC would track the reference model but modified MRAC has better performance in terms of tracking accuracy, adaptability, and rapidity. Several performance indexes such as integral absolute error (IAE), integral time absolute error (ITAE), and integral square error (ISE) were employed to justify the proposed controller superiority.

A three-phase induction motor is often used in everyday life because of its high reliability. However, it is associated with some disadvantages, including difficulties in maintaining constant speed during load changes and speed regulation due to the decoupled system. Therefore, this study aims to adjust the three-phase induction motor control to become a separate amplifier DC motor by setting the vector control using the IFOC method, which changes the coupled to the decoupled system. The speed settings are equipped with a PID controller where its parameters, which are obtained using Ziegler Nichols, produce speed output with fast research time and small steady-state errors. This research was conducted to observe and analyze the performance of a controller based on the IFOC approach with a PID controller at speed differences, with static and dynamic conditions in the entire speed working area. In the first stage of the research, simulation is carried out with static conditions, namely changes in speed variations throughout the work area (low speed to high speed), the next stage is a simulation with dynamic conditions, which is to provide changes in the value of the load torque when the system is operating. The simulation result carried out with LabVIEW shows a response time of 1.13 ms, a settling time of 9.9 ms, and a steady error of 0.4% at the 500 Rpm set point. It also indicated dynamic characteristics with a recovery time of 4.9 ms at the 300 Rpm set point. When operated at low speed, IFOC with PID controller has a stable response. But In dynamic conditions, the use of a PID controller is considered unsuitable. This is because the PID controller is less fast and less robust in responding to the system when conditions change in the value of the load torque.

Copper indium gallium diselenide (CIGS) based technology is actively competing in the global photovoltaic market with high conversion efficiency. Commercial CIGS modules are anticipated to perform on rated output in the field condition for 20 years. Potential induced degradation (PID) is considered as one of the critical concerns among all the current reliability assessment issues. PID accelerated tests have been performed on pre‐commercial CIGS modules to investigate reduction in electrical performance. We report the severe reduction in electrical performance after PID is correlated to the microstructural and chemical properties of the constituent materials. Under extreme PID stress, the cell surface reveals various defects including crater formation. The aim of this article is to explore the consequences of PID induced craters on the efficiency of CIGS solar cells by investigating material degradation kinetics. In this perspective, we present the root cause of PID in CIGS thin‐film modules in relation to microstructural defects by detailed investigation using J‐V analysis, field emission scanning electron microscope (FESEM), Raman spectroscopy, X‐Ray diffraction (XRD), X‐ray photoelectron spectroscopy (XPS) and photoluminescence spectroscopy (PL). This analysis can provide more effective and sustainable research strategies to cultivate more efficient and reliable CIGS technologies in the long run.

The process of folding clothes is one of the activities carried out in the household, and the laundry business is one of the micro-enterprises that are mushrooming at this time. Business actors use many strategies to increase productivity and customer satisfaction. Based on research, the process of ironing and folding clothes is a process that takes a long time compared to the washing and drying process, so a method or tool is needed to make folding clothes more practical. An automatic Foldron T-Shirt is the perfect solution to make folding and ironing clothes more manageable and time-efficient. This tool is equipped with a servo motor that moves the folding board and a steam iron designed so that the user only needs to control the clothes once and simply press one button; the clothes will fold, and the iron themselves will be neatly arranged. The PID method uses an ultrasonic sensor to measure the speed distance of the wiper motor, which is used to run the steam iron so that it can stop appropriately at the end of the table. The output of this ultrasonic sensor is used as the input (set point) of the PID controller applied to the tip so that the movement of the motor can adjust its speed. Moreover, the M5Stack, equipped with 12 Channel Servo, is used to drive the servo motor on the Application Server, making it more dynamic and flexible.

In this paper, the genetic algorithm (GA) which is a stochastic optimization algorithm is proposed. The genetic algorithm is echoing the natural selection and genetics. The control of the suggested plant can be done in different ways. Genetics are used to solve the problem that will be in the system that is represented by the response, ripple, and overshoot. Here, the proportional, integral, and derivative (PID) controller is used. The Kp,,Ki , and Kd of PID are controlled using a genetic algorithm. Then the procedures of GA are given which are implemented in Matlab 2018a. Also, the output response is compared with the set value to check the ability of GA to get the optimal solution. Through simulated results, there is a high response to the system, as well as the ripple, and the overshoot decreased significantly compared to the conventional method in control.

This work presents the novel maximum power point tracking (MPPT) approach for a small 50 W photovoltaic (PV) system using the dc-dc converter. The method of modeling of PV module is discussed. The firefly (FFY) algorithm and the perturbation and observation (P&O) algorithm are combined to implement MPPT of the PV system connected to battery load. The operating principle is discussed in detail and steady-state analysis of the proposed system is implemented through simulation. The charging profile of the 7.5 Ah VRL battery is also studied using simulation. Furthermore, a low-cost microcontroller-based experimental setup rated at 50 W system connected to battery load was built to implement a hybrid FFY-P&O algorithm. The experimental results are in same as the simulation result. In contrast to the traditional P&O approach, it demonstrated the quick and efficient maximum power point operation triggered by a sudden transition in the environment.

Today, there are a variety of technologies for wind-generating systems, characterized by component complexity and control. Controllers are essential for the sustainability of the output voltage and the optimal speed of the generator. To overcome the problems, the system must use controllers that determine the controllers’ ability relative to each other and ultimately the controller that behaves better. This paper investigates the simulation of a PMSG wind turbine with PI, PID, neutral-point-clamped (NPC) and fuzzy controllers to study performance at different wind speeds as input. The wind energy is converted by the wind turbine and given to the PMSG generator. The PMSG output power is transferred to the power network; in this case, we have modeled the power network with a three-phase load. In order to confirm the performance of the proposed method, a PMSG wind turbine is simulated using MATLAB R2017. The simulation results show that the controllers can adjust the DC link voltage, the active power produced by the wind system.

Quality, reliability, and durability are the key features of photovoltaic (PV) solar system design, production, and operation. They are considered when manufacturing every cell and designing the entire system. Achieving these key features ensures that the PV solar system performs satisfactorily and offers years of trouble-free operation, even in adverse conditions. In each cell, the quality of the raw material should meet the quality standards. The fulfillment of the quality management system requires every part that goes into the PV solar system to undergo extensive testing in laboratories and environments to ensure it meets expectations. Hence, every MWh of electricity generated by the PV solar system is counted, the losses should be examined, and the PV system’s returns should be maximized. There are many types of losses in the PV solar system; these losses are identified and quantified based on knowledge and experience. They can be classified into two major blocks: optical and electrical losses. The optical losses include, but are not limited to, partial shading losses, far shading losses, near shading losses, incident angle modifier (IAM) losses, soiling losses, potential induced degradation (PID) losses, temperature losses, light-induced degradation (LID) losses, PV yearly degradation losses, array mismatch losses, and module quality losses. In addition, there are cable losses inside the PV solar power system, inverter losses, transformer losses, and transmission line losses. Thus, this work reviews the losses in the PV solar system in general and the 103 MWp grid-tied Al Quweira PV power plant/Aqaba, mainly using PVsyst software. The annual performance ratio (PR) is 79.5%, and the efficiency (η) under standard test conditions (STC) is 16.49%. The normalized production is 4.64 kWh/kWp/day, the array loss is 1.69 kWh/kWp/day, and the system loss is 0.18 kWh/kWp/day. Understanding factors that impact the PV system production losses is the key to obtaining an accurate production estimation. It enhances the annual energy and yield generated from the power plant. This review benefits investors, energy professionals, manufacturers, installers, and project developers by allowing them to maximize energy generation from PV solar systems and increase the number of solar irradiation incidents on PV modules.

The boost-glide rocket needs to maneuver in the atmosphere with complex flight conditions, which is a big challenge for the attitude control system. In this paper, the design process of the control system is analyzed. With specific points of the flight trajectory, the design of an improved proportional-integrative-derivative (PID) controller based on the small perturbation theory is carried out. Design approach of the attitude control system is verified by the six-degree-freedom model simulation. The rocket flight control program is written to the onboard computer so that hardware-in-the-loop simulation experiment is completed. Experimental results show that the mean and standard deviation of the error between simulation value and experiment value are below 0.5°, so the control parameters and design method are reasonable with a great attitude tracking effect. This paper proposes the design and verification method of a boost-glide rocket attitude control system, which can provide a reference for design of the boost-glide rocket around the world.

Aircraft are increasingly being used for all sorts of tasks, of which drone video shooting is the most famous example. In order to reduce the cost of buying an aircraft, there is the possibility of making your own aircraft. The aim of this work was to make an aircraft operated by the Arduino as the main "brain" instead of a commercial flight controller. The successful and rather cheap construction of the Arduino spacecraft proved that everyone can have their own drone with a little effort.

Tek döngülü geleneksel kontrolör, kontrol edilen değişken ayar noktasından sapmadıkça bozulmalar için herhangi bir düzeltici eylemi başlatmaz. Böyle bir durumda, özellikle bozulmaları olan bir kademeli sistemde bu kontrol sisteminin performansını iyileştirmek için kademeli bir kontrol stratejisi kullanılabilir. Klasik kademeli kontrol yapısında, hem iç hem de dış döngüde Oransal-İntegral-Türev (PID) tipi kontrolörler kullanılır. Bununla birlikte, PID kontrolörleri, açık döngü kararsız süreçler ve transfer fonksiyonlarında bir integratör bulunan süreçler için iyi performans göstermeyebilir. Bazı durumlarda, kademeli kontroldeki dış döngü transfer fonksiyonu açık döngü kararsız olabilir veya bir integratör içerebilir. Bu nedenle, kontrol edilen sisteme ilişkin kapalı döngü yanıtı tatmin edici olmayabilmektedir. Bu çalışmada, dış döngüde bir PI-PD kontrolörünün kullanıldığı geliştirilmiş bir kademeli kontrol yapısı önerilmiştir. Önerilen geliştirilmiş kademeli kontrol şemasında kontrolörlerin optimal parametrelerinin ayarlanması, Genetik Algoritma (GA) kullanılarak eş zamanlı olarak elde edilmiştir. Önerilen geliştirilmiş kademeli kontrol yapısının literatürde önerilen bazı kademeli kontrol şemalarına göre üstünlüğü simülasyon örnekleri ile gösterilmiştir. Ayrıca, önerilen geliştirilmiş kademeli kontrol yapısının geçerliliğini göstermek için DIGIAC 1750 süreç kontrol seti üzerinde gerçek zamanlı uygulama gerçekleştirilmiştir., A single loop conventional controller will not initiate corrective action for disturbances unless the output variable moves away from the set-point. In this case, cascade control strategy can be benefitted to obtain better the control system performance, especially in existence of strong disturbances. Proportional-Integral-Derivative (PID) type controllers are usually preferred in both loops of a classical cascade control structure. However, if the outer loop transfer function of cascade control has an unstable pole or an integrator then its performance may not be as good as desired due to limitations of PID controllers. In this study, an improved cascade control structure incorporating a PI-PD controller in its outer loop is being proposed. Optimal parameters of controllers in the proposed improved cascade control scheme has been obtained simultaneously using Genetic Algorithm (GA). The superiority of the proposed improved cascade control structure over some cascade control schemes suggested in the literature has been shown by simulation examples. Also, real-time application on DIGIAC 1750 process control set has been performed to illustrate the validity of the proposed improved cascade control structure.

This paper presents a proportional-integral-derivative (PID) flight controller for a quadrotor micro air vehicle (MAV). The MAV (Parrot Mambo minidrones) is small, therefore, a slight perturbation will affect its performance. Hence, for the actuated dynamics, roll (ϕ), pitch (θ), yaw (ψ), and z stabilization, a PID control scheme is proposed. Furthermore, the same controller technique is also applied for under-actuated dynamics x and y position control. The newtonian model is simulated using simulink with a normal Gaussian noise of force as external disturbances. using simulink support package for Parrot Minidrones by MATLAB and based on the simulation parameter, the algorithm is deployed using Bluetooth® Low energy connection via personal area network (PAN). A slight force by hand is applied as perturbation during hovering to investigation system performances. Finally, the simulation and experimental on this commercial MAV, Parrot Mambo minidrones shows good performance of the flight controller scheme in the presence of external disturbances.

When the standard operating temperatures are exceeded in hydroxy generators, production performance decreases and power consumption increases. Self-adaptive fuzzy proportional integral derivative systems have been used to prevent this situation and to maintain optimum production conditions. The Fuzzy Logic is provided to tune the optimum PID parameters by using a gain scheduling method. The tuning scheme is demonstrated by a fuzzy decision process, which consists of fuzzification, knowledge and rule base, inference and defuzzification. Results of developed fuzzy proportional integral derivative (FPID), on-off, conventional PID and fuzzy control approach are discussed and compared. The presented result shows that self-adaptive fuzzy PID controllers achieve better control performance than conventional control methods mentioned. The last but not the least, developed approach minimizes the expertise needed to apply pulse width modulation technique. © 2020 Hydrogen Energy Publications LLC

For electric vehicle (EV) battery chargers, inductive power transfer (IPT) has become popular day by day due to its features such as being safe, comfortable and weather proof. The constant current (CC) and the constant voltage (CV) charge control modes are important for high-efficiency charging and long-life use of Lithium-ion (Li-ion) batteries commonly used in EVs. However, IPT method requires a wide range of operating frequency in order to provide CC/CV charge control modes. In IPT applications, CC and CV charge control modes are mainly achieved with dc-dc circuits using compensation networks at the transmitter and receiver sides. In this study, performances of inductor-capacitor/series compensation and double-sided inductor-capacitor-capacitor compensation topologies are evaluated based on CC/CV charge control modes. The analytical evaluation is presented in terms of voltage and current regulations during the entire charge control period. Finally, presented analytical evaluation is confirmed with ANSYS software providing field-electric common simulation to predict real response of compensation topologies. In the simulation work, both compensation topologies are operated for the maximum 2.5 kW output power and at the 250 V-450 V output voltage range. © The Author(s) 2020.

Son zamanlarda, sürü zekası optimizasyonu tekniklerine (Parçacık Sürüsü Optimizasyonu, Genetik Algoritma, Tabu Araştırma Algoritması, Yapay Arı Koloni Algoritması, vb.) ilgi artmıştır ve bu konu özellikle bilim adamları için ilgi odağı haline gelmiştir. Optimizasyon algoritmaları kullanılarak optimum kontrolör parametreleri kısa sürede daha az deneyim ile bulunabilir. PID, endüstride yaygın olarak kullanılan bir kontrolcü türüdür. PID kontrolcünün karakteristiği kontrolcü parametrelerine bağlıdır ve iyi bir kontrol için parametrelerin optimum değerlerde ayarlanması gerekir. Pratikte yaygın olarak kullanılan bir DC motorun hız kontrolü, mühendislikte önemli sorunlardan biridir. DC motorlar, kontrol kolaylığı ve optimum moment-hız özellikleri nedeniyle hem endüstriyel uygulamaların hem de günlük yaşamımızın ekonomik ve önemli elektrikli makineleridir. Kp, Ki ve Kd'nin klasik yöntemlerle en iyi değerleri zaman alıcı bir sorundur. Meta-sezgisel yöntemlerin kullanılması, optimum değerlerin bulunmasında hem hız hem de doğruluk sağlar. Bu çalışmada, Yapay Arı Koloni Algoritması (ABC) kullanılarak bir PID kontrolörü için optimum parametreler belirlenmiştir. PID kontrol DC motorun için hızını kontrol etmek amacıyla tasarlanmıştır ve benzetim çalışması yapılmıştır. Literatürde genellikle optimizasyon, tek bir amaç fonksiyonu veya farklı amaç fonksiyonlarının uygun kazançlarla bir kombinasyonu ile gerçekleştirilmiştir. Bu yaklaşım yaklaşımı, PID denetleyicisi optimizasyonu için uygun değildir çünkü her parametrenin etkisi sistemin çıktısı üzerinde farklıdır. Bu nedenle her bir parametrenin optimum değeri üç kanallı amaç fonksiyonu kullanılarak ayrı ayrı araştırılmıştır. Bu çalışmada önerilen algoritma, tek amaç fonksiyonuna sahip geleneksel ABC algoritmasından daha başarılı sonuçlar vermektedir., Recently, interest in swarm intelligence optimization techniques (Particle Swarm Optimization, Genetic Algorithm, Tabu Research Algorithm, etc.) has increased and this issue has become the focus of attention especially for scientists. Optimum controller parameters can be found with less experience in a short time by using optimization algorithms. PID is a type of controller which is widely used in the industry. The characteristic of the PID controller has effected the controller coefficients and optimum parameters must be tuned for good control. The speed control of a DC motor that is commonly used in practice is one of the important problems in engineering. DC motors are economical as well as important electrical machines of both industrial applications and our daily life due to their ease of control and optimum moment-speed characteristics. The best values of Kp, Ki and Kd with classical methods are a time consuming problem. The use of meta-heuristic methods gives both speed and accuracy in finding optimum values. In this study, optimum parameters are determined for a PID controller using Artificial Bee Colony Algorithm (ABC). The PID controller is designed as a speed controller for DC motor and simulated. In the literature, generally, the optimization was carried out with a single cost function or a combination of different functions with appropriate gains. This type of approach does not fit for the PID controller optimization since the effect of each parameter is different on the output of the system. Because of this reason, the optimum value of each parameter has been searched separately by using the three-channel cost function. The proposed algorithm in the present study gives more successful results than the traditional ABC algorithm having a single cost function.

Proportional–integral–derivative (PID) control is the most common control approach used to control active magnetic bearings system, especially in the case of supporting rigid rotors. In the case of flexible rotor support, the most common control is again PID control in combination with notch filters. Other control approaches, known as modern control theory, are still in development process and cannot be commonly found in real life industrial application. Right now, they are mostly used in research applications. In comparison to PID control, PI-D control implies that derivate element is in feedback loop instead in main branch of the system. In this paper, performances of flexible rotor/active magnetic bearing system were investigated in the case of PID and PI-D control, both in combination with notch filters. The performances of the system were analysed using an analysis in time domain by observing system response to step input and in frequency domain by observing a frequency response of sensitivity function.

In this study, it is examined that simultaneous flight control system and lateral and longitudional state-space model of a Unmanned Aerial Vehicle (UAV) and real time application. For this purpose an UAV whose wing and tail unit can be assembled to fuselage from different points in a prescribed interval and whose wing and tail can move forward and backward independently in tail to nose direction is manufactured. Following this, an autopilot is purchased and it lets change of P, I, D coefficients in certain intervals. First, dynamic model, and longitudinal and lateral state space models of UAV are obtained and then simulation model of UAV is reached. At the same time block diagram of autopilot system and modeling of it in MATLAB/Simulink environment are found. After these, using these two models and also benefiting and adaptive stochastic optimization method namely SPSA, simultaneous design of UAV and autopilot is done in order to minimize a cost function consisting of rise time, settling time and maximum overshoot. Therefore, primarily autonomous performance is maximized in computer environment. Moreover, high performance is observed by looking at simulation responses and real-time flights.

espanolEste Articulo describe la implementacion de un sistema de control difuso (FLC) y un controlador convencional proporcional-integral-derivativo (PID) para la velocidad y torque de un motor DC de potencia media, basado en la variacion de corriente de armadura y en el control del ciclo de trabajo. El sistema de control ha sido aplicado a un motor DC de Potencia media, utilizando Python, y un sistema embebido de bajo costo - Raspberry Pi, dicho trabajo es fundamental dada la importancia de implementar controladores de velocidad y torque que permitiran la optimizacion de la energia para su correcto funcionamiento lograndose a traves de la regulacion del ciclo de trabajo aplicado a la potencia del motor DC. EnglishThis article describes the implementation of a fuzzy and a PID control system for the velocity and torque of a DC power motor, based in the variation of the armor current and its duty cycle. The control system has been applied to a medium power DC motor, using Python, and a low-cost embedded system - Raspberry Pi, this work is fundamental given the importance of implementing velocity and torque controllers that yield energy optimization and correct operation being achieved through the regulation of the duty cycle applied to the power of the DC motor.

Un algoritmo genético o genetic algorithm (GA) es una técnica de la inteligencia artificial que es utilizada en cualquiera de las especialidades de ingeniería. En el presente estudio, el GA propuesto encuentra valores óptimos para los parámetros Kp, Ki y Kd de un controlador PID, utilizado ampliamente en la industria. Los cromosomas, formados con los genes Kp, Ki y Kd, representados por números reales, evolucionan y son evaluados mediante el error cuadrático medio (ECM) de la salida deseada. En ese sentido, la solución es el cromosoma con menor ECM, el cual produce menores transitorios en la salida. Además, el GA ha sido codificado en lenguaje M (MATLAB) y los resultados han sido comparados con otros trabajos.

This paper proposes Runge-Kutta neural disturbance observer to enhance the robustness of PID control of a system with general multicompartment lung mechanics. It is designed to observe the states of a particular type continous time, single-input single-output system where the states cannot be measured but can be observed through the single output and there exists parametric uncertainity or disturbance affecting the underlying system. It utilizes artificial neural network to estimate the disturbance online. Once an accurate disturbance estimation is obtained, it is incorporated in the system state equation and passed through the well-known Runge-Kutta integrator to predict the state values. Hence, the predicted states are obtained considering the disturbance and more robust state observation is achieved. The proposed observer is simple and easy to implement. Adaptation of the neural network is performed using gradient descent with an adaptive learning rate which guarantees convergence. The simulation results demonstrate that the proposed observer gains a significant success in enhancing the robustness of PID control at even high level of disturbance. Note that, multicompartment lung mechanics system is a stand-in model that can mimic the behavior of human lung. Thus, it is appropriate for hardware-in-the-loop simulation which opens a path to the real-patient-tests of mechanical respiratory systems in the future. Copyright (C) 2020 The Authors.

Magnetic levitation has been applied to maglev trains and magnetic suspension wind tunnel. However, there are some problems with the existing levitation control. For example, it is difficult to extract smooth velocity signals from the gap sensor with noise. The classical differentiator is susceptible to noise, which makes the levitation system sometimes vibrate. The accuracy and stability of levitation control need to be improved. The velocity fusion estimation method (VFE) is proposed to extract the velocity signal from the gap and acceleration sensor, which is theoretically derived to prove that it reduced the noise of the velocity signal. Then disturbance rejection control(DRC) is proposed that add VFE into classical levitation control. Because of the high-quality velocity signal and accelerometer's fast responsiveness, it makes DRC have many advantages. The advantages of using the proposed control structure are that it improved the control accuracy of the target gap and resisted disturbance effectively. Air-gap fluctuations in levitation systems can be reduced in transient pulse disturbance test, white noise disturbance test, and external force disturbance test when it applies the proposed control method. The effectiveness and advantages of the proposed control method are verified by the simulation and experiments.

The advanced boost DC-DC converter is used to overcome the low performance of boosting factors of traditional boost converter to get the stable and high output voltage from PV modules and other renewable sources. The application of Max-10 FPGA based PID controller development approach in double boost converter is presented to reduce system delay time and the output voltage ripples. This research is mainly focused on voltage-mode control in Continuous Conduction Mode (CCM) of the proposed converter. The proposed converter output under the PID controller is stable to manage the output voltage or to get the desired output voltage if the input voltage is changing. As the new finding result, if the two inductors' values of the proposed converter are the same, the switching frequency must be different and if the two inductors' values are different, the same switching frequency can be used for only this research. The same frequency of the two switches for two PWM modules is set 24 kHz to control the switch ON/OFF state in which the ripple voltage is about between 2.36% and 4.68%.

Objective: To detect the chlamydial antibodies in women with pelvic inflammatory disease (PID) and infertility. Method: This study was carried out on 72 patients suffering from pelvic inflammatory disease and/ or infertility who were admitted in the indoor wards and those attending the out patient department. Control group comprised of relatives of patients, nursing staff and other staff of the hospital who did not have any present or past history of PID or infertility. Result: IgG and IgA antibodies were detectable in 50% cases of PID while IgG alone were detectable in 75 % cases of PID. Compared with the control group, the differences was statistically significant (p value < 0.001). Statistically significant (p

Şebekeden uzak alanlarda ve mikro ölçekte hidrolik kaynağa sahip projelerde sahaya özel tasarım türbin-jeneratör ekipmanı kullanmak yatırım maliyetini yükselterek, erişilebilirliği azaltmaktadır. Sınırlı finansal kaynak ile kullanılabilir performansa sahip elektrik üretilmesi istenilen projeler için bir diğer alternatif de standart santrifüj pompa-motor setinin türbin-jeneratör olarak kullanılmasıdır. Bu çalışma standart santrifüj pompa-motor setinin şebekeden bağımsız türbin-jeneratör olarak ve tek fazlı yükleri beslerken, değişken yük durumlarındaki enerji kalite bozulmasını istenilen sınırlarda tutabilecek ve aynı zamanda düşük maliyet ile kurulabilecek yük kontrol sisteminin tasarlanmasını amaçlamıştır. Çalışmada kolay ikazlanan ve kararlı çalışma avantajı bulunan üç fazlı kendinden ikazlı indüksiyon jeneratörün tek fazlı olarak kullanımını üzerinde yoğunlaşılmıştır, böylece yük kontrol sistemindeki eleman sayısı ve maliyet düşürülmüştür. Yük kontrol sistemi parçası balast yükün hesaplanan güçte kararlı şekilde çalışmasını sağlamak için PID algoritması oluşturulmuştur. Ortaya çıkan tasarımın bilgisayar ortamında testi için MATLAB SIMULINK kullanılmıştır. Daha sonra deney seti ortamında kurulan sistemin fiziksel performans testleri de gerçekleştirilmiştir. Yapılan ölçüm sonuçları, tasarlanan yük kontrol kartının yük değişimleri esnasında jeneratör çıkış gerilimi frekansındaki değişiminin %16 mertebesinden %1’e, % 34 olan gerilim değişimini %3 mertebesine düşürdüğü, jeneratörün istenilen çıkış voltajı ve frekansında tuttuğunu göstermiştir. Yük atma ve yük alma esnasında yük kontrol kartının tepki süresinin 40 ila 150 ms arasında olduğu tespit edilmiştir., Using field-specific design turbine-generator equipment in rural areas and projects with hydraulic resources at micro scale reduces accessibility by increasing investment costs. Another alternative for projects that want to generate electricity with usable performance with limited financial resources is to use the standard centrifugal pump-motor set as a turbine-generator. This study aimed to design a load control system that can keep the energy quality deterioration in variable load situations within the desired limits and at the same time be installed with low cost, while the standard centrifugal pump-motor set is independent from the grid as a turbine-generator and feeding single-phase loads. It is focused on the use of a three-phase self-excited induction generator to feed one-phase loads, which has the advantage of easy excitation and stable operation, thus reducing the number and cost of the elements in the load control system. PID algorithm has been created to enable the ballast load of the load control system to a stabile operation at the calculated power. MATLAB SIMULINK program was used to test the design in computer environment. Then, the physical performance tests of the system, which was established in the experimental set environment, were also performed. The results of the measurements showed that the designed load control card keeps the generator output voltage and frequency at the desired output voltage and frequency, which reduces the change in the generator output voltage frequency from 16% to 1% and the voltage change from 34% to 3% during load changes. It has been determined that the response time of the load control card is between 40 and 150 ms during load shedding and unloading.

BACKGROUND AND OBJECTIVE The glucose clamp (GC) is an experimental technique for assessing several aspects of glucose metabolism. In these experiments, investigators face the non-trivial challenge of accurately adjusting the rate of intravenous glucose infusion to drive subjects' blood glucose (BG) concentration towards a desired plateau level. In this work we present Gluclas, an open-source software to support researchers in the modulation of glucose infusion rate (GIR) during GC experiments. METHODS Gluclas uses a proportional-integrative-derivative controller to provide GIR suggestions based on BG measurements. The controller embeds an anti-wind-up scheme to account for actuator physical limits and suitable corrections of control action to accommodate for possible sampling jitter due to manual measurement and actuation. The software also provides a graphic user interface to increase its usability. A preliminary validation of the controller is performed for different clamp scenarios (hyperglycemic, euglycemic, hypoglycemic) on a simulator of glucose metabolism in healthy subjects, which also includes models of measurement error and sampling delay for increased realism. In silico trials are performed on 50 virtual subjects. We also report the results of the first in-vivo application of the software in three subjects undergoing a hypoglycemic clamp. RESULTS In silico, during the plateau period, the coefficient of variation (CV) is in median below 5% for every protocol, with 5% being considered the threshold for sufficient quality. In terms of median [5th percentile, 95th percentile], average BG level during the plateau period is 12.18 [11.58 - 12.53] mmol/l in the hyperglycemic clamp (target: 12.4 mmol/), 4.92 [4.51 - 5.14] mmol/l in the euglycemic clamp (target: 5.5 mmol/) and 2.38 [2.33 - 2.64] in the hypoglycemic clamp (target: 2.5 mmol/). Results in vivo are consistent with those obtained in silico during the plateau period: average BG levels are between 2.56 and 2.68 mmol/l (target: 2.5 mmol/l); CV is below 5% for all three experiments. CONCLUSIONS Gluclas offered satisfactory control for tested GC protocols. Although its safety and efficacy need to be further validated in vivo, this preliminary validation suggest that Gluclas offers a reliable and non-expensive solution for reducing investigator bias and improving the quality of GC experiments.

The phosphoinositide-3-kinase (PI3K) family plays a major role in cell signalling and is predominant in leukocytes. Gain-of-function (GOF) mutations in the PIK3CD gene lead to the development of activated PI3Kδ syndrome (APDS), a rare primary immunodeficiency disorder. A subset of APDS patients also displays neurodevelopmental delay symptoms, suggesting a potential role of PIK3CD in cognitive and behavioural function. However, the extent and nature of the neurodevelopmental deficits has not been previously quantified. Here, we assessed the cognitive functions of two APDS patients, and investigated the causal role of the PIK3CD GOF mutation in neurological deficits using a murine model of this disease. We used E1020K knock-in mice, harbouring the most common APDS mutation in patients. We found that APDS patients present with visuomotor deficits, exacerbated by autism spectrum disorder comorbidity, whereas p110δE1020K mice exhibited impairments in motor behaviour, learning and repetitive behaviour patterning. Our data indicate that PIK3CD GOF mutations increase the risk for neurodevelopmental deficits, supporting previous findings on the interplay between the nervous and the immune system. Further, our results validate the knock-in mouse model, and offer an objective assessment tool for patients that could be incorporated in diagnosis and in the evaluation of treatments.

Modeling and controlling highly nonlinear, multivariable, unstable, coupled and underactuated systems are challenging problems to which a unique solution does not exist. Modeling and control of Unmanned Aerial Vehicles (UAVs) with four rotors fall into that category of problems. In this paper, a nonlinear quadrotor UAV dynamical model is developed with the Newton–Euler method, and a control architecture is proposed for 3D trajectory tracking. The controller design is decoupled into two parts: an inner loop for attitude stabilization and an outer loop for trajectory tracking. A few attitude stabilization methods are discussed, implemented and compared, considering the following control approaches: Proportional–Integral–Derivative (PID), Linear–Quadratic Regulator (LQR), Model Predictive Control (MPC), Feedback Linearization (FL) and Sliding Mode Control (SMC). This paper is intended to serve as a guideline work for selecting quadcopters’ control strategies, both in terms of quantitative and qualitative considerations. PID and LQR controllers are designed, exploiting the model linearized about the hovering condition, while MPC, FL and SMC directly exploit the nonlinear model, with minor simplifications. The fast dynamics ensured by the SMC-based controller together with its robustness and the limited estimated command effort of the controller make it the most promising controller for quadrotor attitude stabilization. The outer loop consists of three independent PID controllers: one for altitude control and the other two, together with a dynamics’ inversion, are entitled to the computation of the reference attitude for the inner loop. The capability of the controlled closed-loop system of executing complex trajectories is demonstrated by means of simulations in MATLAB/Simulink®.

In this paper, we present the development of a non-linear model predictive controller for the trajectory tracking of a quadrotor using the CasADi optimization framework. The non-linear dynamic model of the quadrotor was derived using Newton–Euler equations, and the control algorithm and drone dynamics were wrapped in Matlab. The proposed controller was tested by simulating the tracking of a 3D helical reference trajectory, and its efficiency was evaluated in terms of numerical performance and tracking accuracy. The results showed that the proposed controller leads to faster computational times, approximately 20 times faster than the Matlab toolbox (nlmpc), and provides better tracking accuracy than both the Matlab toolbox and classical PID controller. The robustness of the proposed control algorithm was also tested and verified under model uncertainties and external disturbances, demonstrating its ability to effectively eliminate tracking errors.

For Brush-less DC motors to function better under various operating settings, such as constant load situations, variable loading situations, and variable set speed situations, speed controller design is essential. Conventional controllers including proportional integral controllers, frequently fall short of efficiency expectations and this is mostly because the characteristics of a Brush-less DC motor drive exhibit non linearity. This work proposes a hybrid gray wolf optimization and proportional integral controller for management of the speed in Brush-less DC motors to address this issue. For constant load conditions, varying load situations and varying set speed situations, the proposed controller’s efficiency is evaluated and contrasted with that of PID controller, PSO-PI controller, and ANFIS. In this study, two PI controller are used to get the more stability of the system based on tuning of their coefficients with meta heuristic method. The simulation findings show that Hybrid GWO-PI-based controllers are in every way superior to other controllers under consideration. In this study, four case studies are presented, and the best-case study was obtained 0.18619, 0.01928, 0.00030, and 0.01233 for RMSE, IAE, ITAE, and ISE respectively.