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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.

This paper explains the construction of a novel augmented hunger games search algorithm using a logarithmic spiral opposition-based learning technique. The proposed algorithm (LsOBL-HGS) is used as an efficient tool for both function optimization and controller design. To assess the performance of the algorithm for function optimization, benchmark functions from the CEC2017 test suite were employed and comparisons were made with available and good performing algorithms. In terms of controller design, the proposed LsOBL-HGS algorithm was utilized to design a FOPID controlled magnetic ball suspension system. Comparative assessments were also performed for FOPID controller design, as well using other state-of-the-art methods reported for the magnetic ball suspension system. The results showed that the proposed LsOBL-HGS algorithm has good capability for FOPID controller design employed in a magnetic ball suspension system as it provided an improvement of more than 13% in terms of the transient response-related parameters and more than 34% in terms of bandwidth compared to the best-reported approach used for comparisons. © 2022 Karabuk University

This study focuses on construction of novel enhanced metaheuristic algorithm using a modified opposition-based learning technique and the hunger games search algorithm. The proposed modified opposition-based hunger games search (mOBL-HGS) algorithm is aimed to be used as an efficient tool to tune a fractional order proportional-integral-derivative (FOPID) controller in order to control a magnetic ball suspension system with greater flexibility. The challenging benchmark functions from CEC2017 test suite are used to confirm the greater performance of the proposed mOBL-HGS algorithm. The proposed mOBL-HGS algorithm is also utilized to reach the optimum values of a FOPID controller employed in a magnetic ball suspension system in order to demonstrate its capability in terms of a complex real-world engineering problem. The latter case is confirmed through comparative evaluations of statistical analysis, convergence profile, transient response, frequency response, disturbance rejection, and robustness. The demonstrated results confirm the greater ability of the proposed approach to control a magnetic ball suspension system. © 2022 John Wiley & Sons Ltd.

Since inverted pendulum systems (IPSs) are under-actuated systems, controlling these systems has become an important problem. Because of their irregular movements and being structurally unstable, the balancing of these systems poses a major problem. In this study, the dynamic model of a linear IPS has been obtained by using the Newton–Euler method and also conventional proportional–integral–derivative (PID), fuzzy logic (FLC), and self-adaptive fuzzy-proportional–integral–derivative (SAF-PID) control algorithms have been designed for the control of the system. The purpose of these designed controllers is to keep the arms of the IPS on the moving cart in a vertical position and bring the cart to the specified equilibrium position. In conventional control methods, unwanted oscillations have occurred during the movement of the cart. By using two-loop control methods, it is aimed to reduce these oscillations and to design a robust system. The results have been obtained using the conventional PID, FLC, and SAF-PID controllers. To increase the performance of the SAF-PID control type, the optimum value of the coefficients of the points where the legs of the membership functions touch were calculated using the firefly optimization algorithm. To conclude, the designed controllers were performed on computer simulation. The results are given graphically and numerically. Mean absolute error (MAE), mean squared error, integral absolute error IAE, and integral squared error have been compared and examined with each other and with the studies in the literature using performance criteria. As a result, the proposed control method was at least 26.31% more successful in the angular control of the pendulum and at least 9.26% better in the position control of the cart than the studies in the literature. © The Author(s) 2021.

5h International Symposium on Multidisciplinary Studies and Innovative Technologies, ISMSIT 2021 -- 21 October 2021 through 23 October 2021 -- -- 174473 This paper aims to demonstrate the success of a recently developed metaheuristic algorithm, named slime mould algorithm (SMA), for efficient operation of a magnetic levitation system. A real proportional-integral-derivative (PID) plus second-order derivative (PIDD2) controller was utilized to demonstrate the implementation. This paper is also the first report on SMA based real PIDD2 controller tuning for control of a magnetic levitation system. The transient response analysis was performed to demonstrate the promise of the proposed approach. Besides, a comparative performance analysis in terms of transient stability was also performed by using other available and good performing approaches. The results have shown the SMA based real PIDD2 controller to be a better choice for efficient operation of a magnetic levitation system. © 2021 IEEE.

The development of a novel enhanced metaheuristic algorithm is considered in this paper. Such a structure was achieved through enhancement of the arithmetic optimization algorithm by employing the opposition-based learning mechanism together with the Nelder-Mead simplex search method. The developed algorithm (ObAOANM) adopts the opposition-based learning scheme to enhance the algorithm in terms explorative behavior, and the Nelder-Mead method in terms of exploitative behavior. The developed ObAOANM was firstly tested against well-known unimodal and multimodal benchmark functions through comparisons with the original arithmetic optimization algorithm, as it was previously shown to be superior to other efficient algorithms. The benchmark functions and related statistical results demonstrated greater capability of the ObAOANM algorithm. Then, the ObAOANM algorithm was utilized to achieve an optimum design of a proportional-integral-derivative controller adopted in an automobile cruise control system. The performance of the ObAOANM algorithm was compared with the arithmetic optimization algorithm algorithm through statistical, transient response, frequency response, and disturbance rejection analyses, which have shown better capability of the enhanced ObAOANM algorithm. Furthermore, the capability of the ObAOANM-based proportional-integral-derivative-controlled automobile cruise control system was compared with other available approaches in the literature by performing time domain analysis, which also confirmed the superior capability of the proposed approach for such a task. © 2021 Istanbul University. All rights reserved.

This article addresses the development of a control system design methodology to make control courses easier to understand. The methodology can be handled in four stages: Modeling, controller design and tuning of the controller gains, simulation, and experimental studies. A PC-based control system environment is chosen to help students/researchers understand the control system both theoretically and experi-mentally. An electro-hydraulic system is used for training. Such fluid power systems are widely used in the industrial area and combine different engineering system properties. First, a system is defined by a mathematical model and simulated using the MATLAB/Simulink environment. An easy to use toolbox, Simscape/Simhydraulics, is used to facilitate the modeling phase in simulation of the hydraulic system. Next, the design of the feedback controller is proposed. Basic controllers in control education, such as proportional + derivative + integral (PID) and a Fuzzy Logic Controller (FLC), are utilized, and the gains of the controllers are tuned with a simplified method according to the given design criteria. The proposed tuning method can also be useful for overdamped or first-order systems. Time and frequency responses of the system are obtained and evaluated. The experimental studies are conducted on a hydraulic control system at the Automatic Control Laboratory of the Mechanical Engineering Department of Uludağ University. This work aims to train engineering students/researchers both theoretically and practically regarding PC-based control system design and fluid power systems.

This paper presents a global tracking passivity-based proportional-integral (PI) control for output voltage regulation of a DC-DC Buck converter. The proposed controller is based on passivity formulation since DC-DC Buck converter has a passive structure in open-loop. Additionally, the controller takes advantage of the PI actions to design a control law that guarantees asymptotically stability in the Lyapunov's sense under closed-loop operation. The proposed controller does not depend on the parameters, which makes it a robust controller. The robustness of the proposed controller is checked by comparing its dynamical performance in front of a conventional PID controller. All simulation results were fulfilled via MATLAB software. © 2019 IEEE. Departamento Administrativo de Ciencia, Tecnología e Innovación, COLCIENCIAS: 727-2015 Department of Science, Information Technology and Innovation, Queensland Government IEEE;IEEE Circuits and Systems Society (CAS);IEEE Council on Electronic Design Automation (CEDA) This work was partially supported by the National Scholarship Program Doctorates of the Administrative Department of Science, Technology and Innovation of Colombia (COLCIENCIAS), by calling contest 727-2015 and the PhD program in Engineering of the Technological University of Pereira.

The simulation of cortical electrical activity of the cerebral cortex is very important for the treatment of neurological disorders involving seizures such as epilepsy, parkinson and etc. It is assumed that the mathematical model of the brain cortex has been exactly modeled. However, the cortex dynamics are highly nonlinear and chaotic under some conditions. The stabilization of seizures becomes difficult when cortex dynamics are unknown or uncertain. This paper presents design and application of the simple adaptive fuzzy control and proportional-integral-derivative (PID) control to the stabilization of the unknown epileptic dynamics. Assuming that all of the system states are not suitable for the measurement where only the system output is available. An adaptive update rule has been designed to allow the adjustment of the controller parameters. Simulation results show that the desired performance for the stabilization of epileptic seizure is achieved via simple controllers. C1 [Cetin, Meric] Pamukkale Univ, Dept Comp Engn, Denizli, Turkey. [Bahtiyar, Bedri] Pamukkale Univ, Dept Elect & Elect Engn, Denizli, Turkey. [Beyhan, Selami] Izmir Democracy Univ, Dept Elect & Elect Engn, Izmir, Turkey.

14th IFAC Conference on Programmable Devices and Embedded Systems (PDES), WOS: 000401255800072, This paper presents PID and SMC control schemes on a Field Programmable Gate Array device (FPGA) for robot manipulators. The implementation of the control systems on FPGA by using optimal hardware resources is one of the challenging research areas in control engineering. To accomplish this, MATLAB Xilinx System Generator toolbox plays an important role in control design on an FPGA device. In this paper, FPGA-based PD and SMC controllers are designed by using MATLAB Xilinx System Generator tool for the chosen robot system. The tracking performances of the presented control schemes, implemented in Matlab/Simulink and implemented on FPGA, are compared. Robustness and good trajectory performance of the system on FPGA are demonstrated. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved., Int Federat Automat Control, Tech Comm 4 1 Components & Technologies Control, Int Federat Automat Control, Tech Comm 3 1 Comp Control, Inst Elect & Elect Engineers, Czechoslovakia Sect, TUBITAK-ARRS Project [114E954], The authors gratefully acknowledge the TUBITAK-ARRS Project, Reference No 114E954.

Minaei, Shahram (Dogus Author) A new voltage-mode (VM) proportional integral derivative (PID) controller employing only a single active component named Current Feedback Operational Amplifier (CFOA), two resistors and two grounded capacitors is proposed. The proposed PID controller employs a canonical number of only grounded capacitors without requiring any critical passive component matching conditions and cancellation constraints. It has high input and low output impedances; thus, it can be easily cascaded with other VM structures. It can be easily constructed by a single commercially available active element. Frequency-dependent non-ideal gain and parasitic impedance effects on the performance of the proposed PID controller are investigated. The performance of the proposed PID controller circuit is demonstrated by using PSPICE circuit simulation program and an experiment. Also, 0.18 μm CMOS TSMC technology parameters with ±2 V supply voltages are used. Total power dissipation of the proposed PID controller is 1.64 mW.

A new voltage-mode (VM) single-input single-output circuit for realizing proportional-integral-derivative (PID) controller is proposed in this study. The proposed PID controller employs a canonical number of only grounded passive components without requiring any critical passive component matching conditions and cancellation constraints. Therefore, it is easily implemented in integrated circuit (IC) process. Also, it uses three plus-type differential difference current conveyors. It has high input and low output impedances; thus, it can be easily cascaded with other VM configurations. Proportional, integral and derivative parameters of the proposed PID controller can be easily adjusted via only resistors for fix valued capacitors in IC fabrication. A number of analyses with SPICE program and an experimental test result are included to demonstrate performance of the proposed PID controller. © 2016, National Institute of Science Communication and Information Resources (NISCAIR). All rights reserved.

Online pH control during microbial shake flask cultivation has not been established due to the lack of a practical combination of an online sensor system and an appropriate control unit. The objective of this investigation was to develop a minimum scale dosage apparatus, namely shake flask controller ("SFC"), which can control the pH during a complete cultivation and serves as technical example for the application of small liquid dispensing lab devices. A well evaluated optical, chemosensor based, noninvasive, multisensory platform prototype for online DO (dissolved oxygen)-, pH- and biomass measurement served as sensor. The SFC was designed as cap-integrated, semi-autarkical control unit. Minimum scale working parts like the commercial mp6 piezoelectric micropumps and miniature solenoid valves were combined with a selective laser sintering (SLS) printed backbone. In general it is intended to extend its application range on the control of enzymatic assays, polymerization processes, cell disruption methods or the precise dispense of special chemicals like inducers or inhibitors. It could be proved that pH control within a range of 0.1 pH units could be maintained at different cultivation conditions. A proportional-integral-derivative- (PID) controller and an adaptive proportional controller were successfully applied to calculate the balancing solution volume. SLS based 3D printing using polyamide combined with state-of-the-art micro pumps proved to be perfectly adaptable for minimum size, autoclavable lab devices. BMWi

In the present work, the equating coefficient method (ECM) of designing proportional integral derivative (PID) controllers is applied to critically damped stable second-order plus time delay (SOPTD) systems. Four simulation examples representing the higher-order models and based on the identified critically damped SOPTD model are considered to show the effectiveness of the proposed method. A good improvement in the closed-loop system performance is achieved for the ECM when compared to that the internal model control (IMC) method. A significant improvement is obtained in the performance of the control systems based on the critically damped SOPTD model over that of the first-order plus time delay (FOPTD) model. The ECM of designing PID controllers is also given for stable general SOPTD systems (under damped or over damped). � 2014, � 2014 Indian Institute of Chemical Engineers.

In this paper, a novel Rtinge-Kutta (RK) discretization-based model-predictive auto-tuning proportional-integral-derivative controller (RK-PID) is introduced for the control of continuous-time nonlinear systems. The parameters of the PID controller are tuned using RK model of the system through prediction error-square minimization where the predicted information of tracking error provides an enhanced tuning of the parameters. Based on the model-predictive control (MPC) approach, the proposed mechanism provides necessary PID parameter adaptations while generating additive correction terms to assist the initially inadequate PID controller. Efficiency of the proposed mechanism has been tested on two experimental real-time systems: an unstable single-input single-output (SISO) nonlinear magnetic-levitation system and a nonlinear multi-input multi-output (MIMO) liquid-level system. RIC-PID has been compared to standard PID, standard nonlinear MPC (NMPC), RK-MPC and conventional sliding-mode control (SMC) methods in terms of control performance, robustness, computational complexity and design issue. The proposed mechanism exhibits acceptable tuning and control performance with very small steady-state tracking errors, and provides very short settling time for parameter convergence. (C) 2015 ISA. Published by Elsevier Ltd. All rights reserved.

This article present the design and construction of a PID controller for direct current motors motion control in low-cost robotic applications. The reasons which led us to the make the proposal and design of the system were, on the one hand, the need for robotic developments by students in Colombians academic environments with the resources available locally, and on the other hand, the need for a teaching of the robotics based on laboratory practices of the most commonly used control algorisms in this area, such as: the inverse kinematics based PID control and the dynamic control by calculated torque. © 2014 IEEE. Universidad Tecnologica de Bolivar

This paper presents response surface methodology for tuning of fractional order PI λ D μ controller of a fractional order diffusion system subject to input hysteresis which is defined with Riemann-Liouville fractional derivative. Eigenfunction expansion method and the Grünwald-Letnikov numerical technique are used to solve the system. The necessary data for response surface analysis are read from the obtained numerical solution. Then second-order polynomial response surface mathematical model for the experimental design is presented and the optimum controller parameters are predicted from this model. The proposed tuning method is compared with the technique of minimization of integral square error by means of settling time and the results are discussed.

An idle speed engine model has been proposed and applied for the development of an idle speed controller for a 125 cc two wheeler spark ignition engine. The procedure uses the measured Indicated Mean Effective Pressure (IMEP) at different speeds at a constant fuel rate and throttle position obtained by varying the spark timing. At idling conditions, IMEP corresponds to the friction mean effective pressure. A retardation test was conducted to determine the moment of inertia of the engine. Using these data, a model for simulating the idle speed fluctuations, when there are unknown torque disturbances, was developed. This model was successfully applied to the development of a closed loop idle speed controller based on spark timing. The controller was then implemented on a dSPACE Micro Autobox on the actual engine. The Proportional Derivative Integral (PID) controller parameters obtained from the model were found to match fairly well with the experimental values, indicating the usefulness of the developed idle speed model. Finally, the optimized idle speed control algorithm was embedded in and successfully demonstrated with an in-house built, low cost engine management system (EMS) specifically designed for two-wheeler applications. � 2011 The Korean Society of Automotive Engineers and Springer-Verlag Berlin Heidelberg.

Reliable decentralised proportional-integral-derivative controller synthesis methods are presented for closed-loop stabilisation of linear time-invariant plants with two multi-input, multi-output (MIMO) channels subject to time delays. The finite-dimensional part of plants in the classes considered here are either stable or they have at most two poles in the unstable region. Closed-loop stability is maintained with only one of the two controllers when the other controller is turned off and taken out of service.

In this paper, a novel two-input two-output current-mode (CM) circuit for providing proportional-integral-derivative (PID) controller and instrumentation amplifier (IA) responses, depending on the passive component selection, is presented. The developed circuit uses only grounded capacitors (PID controller selection) and only grounded resistors (IA choice); accordingly, it is convenient for integrated circuit (IC) fabrication. The proposed new configuration can simultaneously realize both gain variable non-inverting and inverting responses without requiring extra additional components. The proposed topology for providing high output impedance currents can be easily cascaded with other CM structures. Finally, some time domain and frequency domain analysis with SPICE simulation program and experimental results are included to show workability and effectiveness of the proposed circuit. Crown Copyright © 2010.

The problem of trajectory tracking control of an underactuated autonomous underwater robot (AUR) in a three-dimensional (3-D) space is investigated in this paper. The control of an underactuated robot is different from fully actuated robots in many aspects. In particular, these robot systems do not satisfy Brockett's necessary condition for feedback stabilization and no continuous time-invariant state feedback control law exists that makes a specified equilibrium of the closed-loop system asymptotically stable. The uncertainty of hydrodynamic parameters, along with the coupled, nonlinear dynamics of the underwater robot, also makes the navigation and tracking control a difficult task. The proposed hybrid control law is developed by combining sliding mode control (SMC) and classical proportional-integral-derivative (PID) control methods to reduce the tracking errors arising out of disturbances, as well as variations in vehicle parameters like buoyancy. Here, a trajectory planner computes the body-fixed linear and angular velocities, as well as vehicle orientations corresponding to a given 3-D inertial trajectory, which yields a feasible 6-d.o.f. trajectory. This trajectory is used to compute the control signals for the three available controllable inputs by the hybrid controller. A supervisory controller is used to switch between the SMC and PID control as per a predefined switching law. The switching function parameters are optimized using Taguchi design techniques. The effectiveness and performance of the proposed controller is investigated by comparing numerically with classical SMC and traditional linear control systems in the presence of disturbances. Numerical simulations using the full set of nonlinear equations of motion show that the controller does quite well in dealing with the plant nonlinearity and parameter uncertainties for trajectory tracking. The proposed controller response shows less tracking error without the usually present control chattering. Some practical features of this control law are also discussed. � 2010 Koninklijke Brill NV, Leiden and The Robotics Society of Japan.

Conference name: 6th IFAC Workshop on Time Delay Systems, 2006 Date of Conference: 10-12 July, 2006 Conditions are presented for closed-loop stabilizability of linear time-invariant (LTI) multi-input, multi-output (MIMO) plants with I/O delays (time delays in the input and/or output channels) using PID (Proportional + Integral + Derivative) controllers. We show that systems with at most two unstable poles can be stabilized by PID controllers provided a small gain condition is satisfied. For systems with only one unstable pole, this condition is equivalent to having sufficiently small delay-unstable pole product. Our method of synthesis of such controllers identify some free parameters that can be used to satisfy further design criteria than stability. Copyright © 2006 IFAC.