Shibly Al-Samarraie - Academia.edu (original) (raw)
Papers by Shibly Al-Samarraie
Mathematical Modelling of Engineering Problems, 2020
In this paper, a simple flatness condition for the two degree of freedom underactuated mechanical... more In this paper, a simple flatness condition for the two degree of freedom underactuated mechanical system has been derived. Differential geometry was used as a mathematical tool in the derivation of the flatness condition. The flatness condition has been found as a direct inner product between the covariant derivative of a vector field which annihilate the codistribution, that spanned by the force matrix and the force matrix itself. Several examples of underactuated mechanical systems are 2DOF systems, or mechanical systems underactuated by one control which can be reduced to 2DOF system. Systems that are classified as differentially flat have many useful features, which can be used in designing an effective controller for the nonlinear systems. The Translational Oscillator with Rotational Actuator (TORA) system is considered here as an example of a typical flat 2DOF underactuated mechanical system. The flat output is derived based on the obtained result here, and then a nonlinear controller is designed for a TORA system based on the flatness property, and using a Backstepping method to overcome the under actuation problem. The simulation results demonstrate the effectiveness of the proposed controller.
Iraqi Journal of Computer, Communication, Control and System Engineering, 2021
In this paper, we study the Sliding Mode Extremum Seeking (SMES) optimization method for a Heat E... more In this paper, we study the Sliding Mode Extremum Seeking (SMES) optimization method for a Heat Exchangers Network. The studied network is constructed from plate Heat Exchangers, in which several thermal sources are used to heat a common cold stream that is distributed between the several branches of the network. The considered optimization problem is the optimization of the thermal power gained from different hot sources. The control variables are the split ratios of the cold stream to the different heat exchangers. The dynamical model for general Heat Exchanger Network with (n) Heat Exchangers was driven and the special case of two Heat Exchangers in parallel was considered as a case study. The SMES algorithm was modified with an integral anti-windup scheme to constrain the search within the admissible region. The simulation results obtained by using Matlab program confirmed the effectiveness of the approach. Index Terms— Heat Exchangers Network, Sliding Mode Based Extremum Seekin...
International Journal on Advanced Science, Engineering and Information Technology, 2022
˜Al-œKhawarizmi engineering journal, 2015
One of the major components in an automobile engine is the throttle valve part. It is used to kee... more One of the major components in an automobile engine is the throttle valve part. It is used to keep up with emissions and fuel efficiency low. Design a control system to the throttle valve is newly common requirement trend in automotive technology. The non-smoothness nonlinearity in throttle valve model are due to the friction model and the nonlinear spring, the uncertainty in system parameters and non-satisfying the matching condition are the main obstacles when designing a throttle plate controller. In this work, the theory of the Integral Sliding Mode Control (ISMC) is utilized to design a robust controller for the Electronic Throttle Valve (ETV) system. From the first instant, the electronic throttle valve dynamics is represented by the nominal system model, this model is not affected by system parameters uncertainty and the non-smooth nonlinearities. This is a consequence of applying the integral sliding mode control. The ISMC consists of two part; the first is the nominal contr...
Journal of Engineering Science and Technology, 2013
A linear feedback controller is usually designed based on many approaches like poles placement, l... more A linear feedback controller is usually designed based on many approaches like poles placement, linear quadratic regulator and others. In this work the linear feedback controller is designed based on creating an output function named manifold function and then design the controller to regulate this function to zero level and keep it there for all future time. On the other hand the manifold function, is derived provided that the system dynamics is minimum phase with respect to it. This will ensure the asymptotic stability for the whole system. Furthermore, the manifold function zero level will divide the state space into two halves and keeps the state in one of them depending on its initial condition. This feature is helpful for the case of constrained states system. A linearized model for a container crane is utilized as a case study for the application of the manifold based controller. The simulation results showed the effectiveness of the manifold based approach in designing a lin...
In recent years, the use of electronic throttle valve systems has been very popular in the automo... more In recent years, the use of electronic throttle valve systems has been very popular in the automotive industry. It is used to regulate the amount of air flow into the engine. Due to the existence of multiple nonsmooth nonlinearities, the controller design to the electronic throttle valve becomes difficult task. These nonlinearities including stick–slip friction, backlash, and a discontinuous nonlinear spring involved in the system. In the first part of this paper the electronic throttle valve system is presented first, and then the model is derived for each components of the throttle valve system. Later, the system dimension is reduced to two by ignoring the motor inductance at the end of this part of work. Actually this step enables us to design a nonlinear PID controller electronic throttle valve system. The simulation results, of applying a nonlinear PID controller to the electronic throttle valve system, show the effectiveness of the proposed controller in forcing the angle of t...
A nonlinear PI controller for a system with a mismatched and unknown external disturbance is prop... more A nonlinear PI controller for a system with a mismatched and unknown external disturbance is proposed in the present paper. A Sigmoidal function is proposed to be used in the nonlinear integral element to attenuate the disturbance effect. Formally the controller forces the state to a positively invariant set around the origin. As an application, the nonlinear PI controller is used as a virtual controller for the upper subsystem in the frame of Backstepping control approach for the DC motor system. In this Backstepping controller design the restriction about the disturbance form in the upper system is relaxed. The results show the effectiveness of the nonlinear PI controller to attenuate the effect of unknown and varying disturbance torque and force the angular velocity to follow the desired reference. Finally a reduced order observer is designed to estimate the armature current used in the designed controller for the DC motor system.
The Journal of Engineering, 2015
Active Magnetic Bearings (AMBs) are progressively being implemented in a wide variety of applicat... more Active Magnetic Bearings (AMBs) are progressively being implemented in a wide variety of applications. Their exclusive appealing features make them suitable for solving traditional rotor-bearing problems using novel design approaches for rotating machinery. In this paper, a linearized uncertain model of AMBs is utilized to develop a nonlinear sliding mode controller based on Lyapunov function for the electromechanical system. The controller requires measurements of the rotor displacements and their derivatives. Since the control law is discontinuous, the proposed controller can achieve a finite time regulation but with the drawback of the chattering problem. To reduce the effect of this problem, the gain of the unite vector term is evaluated as a function to state variables. As a result the proposed discontinuous controller regulates the state to the origin in a finite time in spite of the uncertainty in system model and the presence of external disturbances. These results are demo...
This work presents nonlinear proportional feedback controller design for the active braking syste... more This work presents nonlinear proportional feedback controller design for the active braking system. The controller objective is to maximize the deceleration braking force by forcing the slip ratio to attain the maximum value, where a magic formula is utilized to model the friction force to slip ratio for various road conditions. The validity of the proposed controller is proved, first, based on Liapunov function approach taking into consideration the uncertainty in system model. Then, the simulation results using MATLAB/Simulink showed the effectiveness of the proposed nonlinear controller in reducing the vehicle velocity to the desired velocity (5 km/hr) in a minimal period of time in presence of model uncertainty and for various road conditions.
Al-Nahrain Journal for Engineering Sciences, 2018
In this paper, an Adaptive Sliding Mode Controller (ASMC) is designed and applied for a magnetic ... more In this paper, an Adaptive Sliding Mode Controller (ASMC) is designed and applied for a magnetic levitation system (Maglev) where a steel ball is desired to be stabilized at a desired position with existence of uncertainty in system model. Additionally, a sliding mode differentiator (SMD) is used for estimating the ball velocity since it’s needed for the controller to work properly. The designed controller and differentiator are applied practically to an experimental laboratory size magnetic levitation system and the results were plotted to show the behavior of the system under the effect of the designed controller. The experimental results reveal clearly the effectiveness and ability of the suggested controller in forcing the steel ball to follow various desired position.
2018 Third Scientific Conference of Electrical Engineering (SCEE), 2018
The main drawback of the classical sliding mode observer is the chattering problem which eliminat... more The main drawback of the classical sliding mode observer is the chattering problem which eliminated in the present via replacing the signum function with an approximation to get approximate classical sliding mode observer. When the signum function is replaced with an approximating one, the estimation error will not go to zero anymore, but it will go to the bounded region around the origin. In this paper, the bounded region is obtained and controlled by adjusting the parameters of the proposed observer. The DC motor system suffers from a perturbation vector, and unmeasured angular acceleration is utilized as an application to a nonlinear controller based on the proposed observer.
This paper deals with the problem of designing a robust controller for the electro-hydraulic posi... more This paper deals with the problem of designing a robust controller for the electro-hydraulic position servo system (EHPSS). The sliding mode control design methodology is utilized here to design a robust controller with respect to system parameters uncertainty. Because the relative degree of the mechanical sub-system with respect to hydraulic force is two, the switching function is constructed in two stages in order to reduce the relative degree to one. As a result of the proposed controller, the switching function reaches the zero level in a finite time, after that the state tracks the reference value asymptotically. The simulations result using MATLAB/ Simulink tools reveal the effectiveness and the robustness of the proposed control in forcing the position to track the reference value in spite of the uncertainty in system parameters. The uncertainty in hydraulic system model depends mainly on the variation on load mass (20 to 250 ). Namely, the robustness is tested for two load m...
In this study, the vibration suppression of smart structure is performed by using piezoelectric p... more In this study, the vibration suppression of smart structure is performed by using piezoelectric patch structure. The smart structure consists of a beam, as a host structure, and piezoelectric patches, attached to the surface of the beam, as actuation and sensing elements. Two sources of instabilities, namely, the observer spillover and the control spillover, are considered in the current design of the controller based on a reduced order model of the large scale system.To design a controller, that will attenuate the vibration, the balance realization is used to select the reduced order model that is most controllable and observable. Eight state is selected for the reduced model in the present work.The sliding mode observer, which based on the equivalent control, is designed to estimate eight states of the reduced model where the state estimation error is proved bounded. By using the estimated state via sliding mode observer an optimal LQR controller is designed that attenuate the vib...
Electromechanical systems (EMS) may be considered as devices transforming electrical into mechani... more Electromechanical systems (EMS) may be considered as devices transforming electrical into mechanical energy. Every system that belongs to the electromechanical class can be decomposed in an electrical (ES) and a mechanical subsystem (MS). The motion control systems can be quite complicated because many different factors have to be considered in the design of electromechanical systems. These factors can be summarized as the nonlinearity, non-smoothness in its model, the uncertainty in system model parameters and non-satisfying matching condition.In this paper a new sliding mode control design approach for the EMS is proposed without neglecting the inductance in the electrical part or approximating the non-smooth perturbation. The first step in the proposed controller design consists of transforming the ES to a low pass filter (LPF) and then (the second step) designing a sliding mode controller (SMC) to the MS that will reject system model uncertainty and the effect of non-smooth dist...
This paper addresses the use of adaptive sliding mode control for the servo actuator system with ... more This paper addresses the use of adaptive sliding mode control for the servo actuator system with friction. The adaptive sliding mode control has several advantages over traditional sliding mode control method. Firstly, the magnitude of control effort is reduced to the minimal admissible level defined by the conditions for the sliding mode to exist. Secondly, the upper bounds of uncertainties are not required to be known in advance. Therefore, adaptive sliding mode control method can be effectively implemented. The numerical simulation via MATLAB 2014a for servo actuator system with friction is investigated to confirm the effectiveness of the proposed robust adaptive sliding mode control scheme. The results clarify, after comparing it with the results obtained by using classical sliding mode control, that the control efforts are reduced and the chattering amplitude is attenuated with preserving main features of the classical sliding mode control.
One of the most common control algorithms in process control is the Proportional-Integral-Derivat... more One of the most common control algorithms in process control is the Proportional-Integral-Derivative (PID) controller, which could be very efficient if well tuned. The aim of this paper is to discuss the optimal tuning of the PID controller using extremum seeking (ES). Two ES algorithms, Perturbation Based Extremum Seeking (PBES) and Sliding Mode Based Extremum Seeking (SMBES), will be used to tune the PID parameters by searching for the optimal parameters that minimize a certain performance index. The Continuous Stirred Tank Reactor (CSTR), with irreversible first-order reaction, has been considered as a case study. The two algorithms have been implemented with two choices of Performance-Index (PI), Integral Absolute Error (IAE) criteria, and a combination of IAE with the integral of absolute of control signal. With the later choice of PI, both the algorithms show an improvement in the performance over the Internal Mode Control (IMC) tuning method, with good control behavior. The c...
Applying automatic control on gantry cranes to move loads with minimal sway angle is considered a... more Applying automatic control on gantry cranes to move loads with minimal sway angle is considered as a challenge due to the crane system uncertain parameters and a robust automatic control is needed. In this paper a sliding mode controller is applied to overcome the crane system uncertainties and achieve the desired performance. Some labor is spent to transform the system to the regular form and an error function is written depending on the transformed variables then a switching function in terms of the error function is constructed and a sliding mode controller is designed to make the error function reach zero so the crane moves to the specified displacement with minimum sway angle. Stability analyses are provided to show that the system is stable under the control we proposed. Simulations are held by software to validate the effectiveness of our work and prove that the proposed control is successful in giving our system the preferred behavior then Results are discussed and some poin...
In this paper two invariant sets are derived for a second order nonlinear affine system uses a sl... more In this paper two invariant sets are derived for a second order nonlinear affine system uses a sliding mode controller. If the state started in these sets, it will not leave it for all future time. The invariant set is found to be function to the initial condition only, from which the state bound is estimated and used when determining the gain of the sliding mode controller. This step overcomes an arithmetic difficulty that consists of calculating suitable controller gain value that ensures the attractiveness of the switching manifold. Also, by using a differentiable form for the approximate signum function in sliding mode controller formula, the state will converge to a positively invariant set rather than the origin. The size of this set is found to be function to the parameters that can be chosen by the designer, thus, it enables us to control the size of the steady state error. The sliding mode controller is designed to the servo actuator system with friction where the derived i...
International Journal of Computer Applications, 2012
In recent years, the use of electronic throttle valve systems has been very popular in the automo... more In recent years, the use of electronic throttle valve systems has been very popular in the automotive industry. It is used to regulate the amount of air flow into the engine. Due to the existence of multiple nonsmooth nonlinearities, the controller design to the electronic throttle valve becomes difficult task. These nonlinearities including stick-slip friction, backlash, and a discontinuous nonlinear spring involved in the system. In the first part of this paper the electronic throttle valve system is presented first, and then the model is derived for each components of the throttle valve system. Later, the system dimension is reduced to two by ignoring the motor inductance at the end of this part of work. Actually this step enables us to design a nonlinear PID controller electronic throttle valve system. The simulation results, of applying a nonlinear PID controller to the electronic throttle valve system, show the effectiveness of the proposed controller in forcing the angle of the throttle valve to the desired opening angle in presence of nonlinearities and disturbances in throttle valve system model.
Mathematical Modelling of Engineering Problems, 2020
In this paper, a simple flatness condition for the two degree of freedom underactuated mechanical... more In this paper, a simple flatness condition for the two degree of freedom underactuated mechanical system has been derived. Differential geometry was used as a mathematical tool in the derivation of the flatness condition. The flatness condition has been found as a direct inner product between the covariant derivative of a vector field which annihilate the codistribution, that spanned by the force matrix and the force matrix itself. Several examples of underactuated mechanical systems are 2DOF systems, or mechanical systems underactuated by one control which can be reduced to 2DOF system. Systems that are classified as differentially flat have many useful features, which can be used in designing an effective controller for the nonlinear systems. The Translational Oscillator with Rotational Actuator (TORA) system is considered here as an example of a typical flat 2DOF underactuated mechanical system. The flat output is derived based on the obtained result here, and then a nonlinear controller is designed for a TORA system based on the flatness property, and using a Backstepping method to overcome the under actuation problem. The simulation results demonstrate the effectiveness of the proposed controller.
Iraqi Journal of Computer, Communication, Control and System Engineering, 2021
In this paper, we study the Sliding Mode Extremum Seeking (SMES) optimization method for a Heat E... more In this paper, we study the Sliding Mode Extremum Seeking (SMES) optimization method for a Heat Exchangers Network. The studied network is constructed from plate Heat Exchangers, in which several thermal sources are used to heat a common cold stream that is distributed between the several branches of the network. The considered optimization problem is the optimization of the thermal power gained from different hot sources. The control variables are the split ratios of the cold stream to the different heat exchangers. The dynamical model for general Heat Exchanger Network with (n) Heat Exchangers was driven and the special case of two Heat Exchangers in parallel was considered as a case study. The SMES algorithm was modified with an integral anti-windup scheme to constrain the search within the admissible region. The simulation results obtained by using Matlab program confirmed the effectiveness of the approach. Index Terms— Heat Exchangers Network, Sliding Mode Based Extremum Seekin...
International Journal on Advanced Science, Engineering and Information Technology, 2022
˜Al-œKhawarizmi engineering journal, 2015
One of the major components in an automobile engine is the throttle valve part. It is used to kee... more One of the major components in an automobile engine is the throttle valve part. It is used to keep up with emissions and fuel efficiency low. Design a control system to the throttle valve is newly common requirement trend in automotive technology. The non-smoothness nonlinearity in throttle valve model are due to the friction model and the nonlinear spring, the uncertainty in system parameters and non-satisfying the matching condition are the main obstacles when designing a throttle plate controller. In this work, the theory of the Integral Sliding Mode Control (ISMC) is utilized to design a robust controller for the Electronic Throttle Valve (ETV) system. From the first instant, the electronic throttle valve dynamics is represented by the nominal system model, this model is not affected by system parameters uncertainty and the non-smooth nonlinearities. This is a consequence of applying the integral sliding mode control. The ISMC consists of two part; the first is the nominal contr...
Journal of Engineering Science and Technology, 2013
A linear feedback controller is usually designed based on many approaches like poles placement, l... more A linear feedback controller is usually designed based on many approaches like poles placement, linear quadratic regulator and others. In this work the linear feedback controller is designed based on creating an output function named manifold function and then design the controller to regulate this function to zero level and keep it there for all future time. On the other hand the manifold function, is derived provided that the system dynamics is minimum phase with respect to it. This will ensure the asymptotic stability for the whole system. Furthermore, the manifold function zero level will divide the state space into two halves and keeps the state in one of them depending on its initial condition. This feature is helpful for the case of constrained states system. A linearized model for a container crane is utilized as a case study for the application of the manifold based controller. The simulation results showed the effectiveness of the manifold based approach in designing a lin...
In recent years, the use of electronic throttle valve systems has been very popular in the automo... more In recent years, the use of electronic throttle valve systems has been very popular in the automotive industry. It is used to regulate the amount of air flow into the engine. Due to the existence of multiple nonsmooth nonlinearities, the controller design to the electronic throttle valve becomes difficult task. These nonlinearities including stick–slip friction, backlash, and a discontinuous nonlinear spring involved in the system. In the first part of this paper the electronic throttle valve system is presented first, and then the model is derived for each components of the throttle valve system. Later, the system dimension is reduced to two by ignoring the motor inductance at the end of this part of work. Actually this step enables us to design a nonlinear PID controller electronic throttle valve system. The simulation results, of applying a nonlinear PID controller to the electronic throttle valve system, show the effectiveness of the proposed controller in forcing the angle of t...
A nonlinear PI controller for a system with a mismatched and unknown external disturbance is prop... more A nonlinear PI controller for a system with a mismatched and unknown external disturbance is proposed in the present paper. A Sigmoidal function is proposed to be used in the nonlinear integral element to attenuate the disturbance effect. Formally the controller forces the state to a positively invariant set around the origin. As an application, the nonlinear PI controller is used as a virtual controller for the upper subsystem in the frame of Backstepping control approach for the DC motor system. In this Backstepping controller design the restriction about the disturbance form in the upper system is relaxed. The results show the effectiveness of the nonlinear PI controller to attenuate the effect of unknown and varying disturbance torque and force the angular velocity to follow the desired reference. Finally a reduced order observer is designed to estimate the armature current used in the designed controller for the DC motor system.
The Journal of Engineering, 2015
Active Magnetic Bearings (AMBs) are progressively being implemented in a wide variety of applicat... more Active Magnetic Bearings (AMBs) are progressively being implemented in a wide variety of applications. Their exclusive appealing features make them suitable for solving traditional rotor-bearing problems using novel design approaches for rotating machinery. In this paper, a linearized uncertain model of AMBs is utilized to develop a nonlinear sliding mode controller based on Lyapunov function for the electromechanical system. The controller requires measurements of the rotor displacements and their derivatives. Since the control law is discontinuous, the proposed controller can achieve a finite time regulation but with the drawback of the chattering problem. To reduce the effect of this problem, the gain of the unite vector term is evaluated as a function to state variables. As a result the proposed discontinuous controller regulates the state to the origin in a finite time in spite of the uncertainty in system model and the presence of external disturbances. These results are demo...
This work presents nonlinear proportional feedback controller design for the active braking syste... more This work presents nonlinear proportional feedback controller design for the active braking system. The controller objective is to maximize the deceleration braking force by forcing the slip ratio to attain the maximum value, where a magic formula is utilized to model the friction force to slip ratio for various road conditions. The validity of the proposed controller is proved, first, based on Liapunov function approach taking into consideration the uncertainty in system model. Then, the simulation results using MATLAB/Simulink showed the effectiveness of the proposed nonlinear controller in reducing the vehicle velocity to the desired velocity (5 km/hr) in a minimal period of time in presence of model uncertainty and for various road conditions.
Al-Nahrain Journal for Engineering Sciences, 2018
In this paper, an Adaptive Sliding Mode Controller (ASMC) is designed and applied for a magnetic ... more In this paper, an Adaptive Sliding Mode Controller (ASMC) is designed and applied for a magnetic levitation system (Maglev) where a steel ball is desired to be stabilized at a desired position with existence of uncertainty in system model. Additionally, a sliding mode differentiator (SMD) is used for estimating the ball velocity since it’s needed for the controller to work properly. The designed controller and differentiator are applied practically to an experimental laboratory size magnetic levitation system and the results were plotted to show the behavior of the system under the effect of the designed controller. The experimental results reveal clearly the effectiveness and ability of the suggested controller in forcing the steel ball to follow various desired position.
2018 Third Scientific Conference of Electrical Engineering (SCEE), 2018
The main drawback of the classical sliding mode observer is the chattering problem which eliminat... more The main drawback of the classical sliding mode observer is the chattering problem which eliminated in the present via replacing the signum function with an approximation to get approximate classical sliding mode observer. When the signum function is replaced with an approximating one, the estimation error will not go to zero anymore, but it will go to the bounded region around the origin. In this paper, the bounded region is obtained and controlled by adjusting the parameters of the proposed observer. The DC motor system suffers from a perturbation vector, and unmeasured angular acceleration is utilized as an application to a nonlinear controller based on the proposed observer.
This paper deals with the problem of designing a robust controller for the electro-hydraulic posi... more This paper deals with the problem of designing a robust controller for the electro-hydraulic position servo system (EHPSS). The sliding mode control design methodology is utilized here to design a robust controller with respect to system parameters uncertainty. Because the relative degree of the mechanical sub-system with respect to hydraulic force is two, the switching function is constructed in two stages in order to reduce the relative degree to one. As a result of the proposed controller, the switching function reaches the zero level in a finite time, after that the state tracks the reference value asymptotically. The simulations result using MATLAB/ Simulink tools reveal the effectiveness and the robustness of the proposed control in forcing the position to track the reference value in spite of the uncertainty in system parameters. The uncertainty in hydraulic system model depends mainly on the variation on load mass (20 to 250 ). Namely, the robustness is tested for two load m...
In this study, the vibration suppression of smart structure is performed by using piezoelectric p... more In this study, the vibration suppression of smart structure is performed by using piezoelectric patch structure. The smart structure consists of a beam, as a host structure, and piezoelectric patches, attached to the surface of the beam, as actuation and sensing elements. Two sources of instabilities, namely, the observer spillover and the control spillover, are considered in the current design of the controller based on a reduced order model of the large scale system.To design a controller, that will attenuate the vibration, the balance realization is used to select the reduced order model that is most controllable and observable. Eight state is selected for the reduced model in the present work.The sliding mode observer, which based on the equivalent control, is designed to estimate eight states of the reduced model where the state estimation error is proved bounded. By using the estimated state via sliding mode observer an optimal LQR controller is designed that attenuate the vib...
Electromechanical systems (EMS) may be considered as devices transforming electrical into mechani... more Electromechanical systems (EMS) may be considered as devices transforming electrical into mechanical energy. Every system that belongs to the electromechanical class can be decomposed in an electrical (ES) and a mechanical subsystem (MS). The motion control systems can be quite complicated because many different factors have to be considered in the design of electromechanical systems. These factors can be summarized as the nonlinearity, non-smoothness in its model, the uncertainty in system model parameters and non-satisfying matching condition.In this paper a new sliding mode control design approach for the EMS is proposed without neglecting the inductance in the electrical part or approximating the non-smooth perturbation. The first step in the proposed controller design consists of transforming the ES to a low pass filter (LPF) and then (the second step) designing a sliding mode controller (SMC) to the MS that will reject system model uncertainty and the effect of non-smooth dist...
This paper addresses the use of adaptive sliding mode control for the servo actuator system with ... more This paper addresses the use of adaptive sliding mode control for the servo actuator system with friction. The adaptive sliding mode control has several advantages over traditional sliding mode control method. Firstly, the magnitude of control effort is reduced to the minimal admissible level defined by the conditions for the sliding mode to exist. Secondly, the upper bounds of uncertainties are not required to be known in advance. Therefore, adaptive sliding mode control method can be effectively implemented. The numerical simulation via MATLAB 2014a for servo actuator system with friction is investigated to confirm the effectiveness of the proposed robust adaptive sliding mode control scheme. The results clarify, after comparing it with the results obtained by using classical sliding mode control, that the control efforts are reduced and the chattering amplitude is attenuated with preserving main features of the classical sliding mode control.
One of the most common control algorithms in process control is the Proportional-Integral-Derivat... more One of the most common control algorithms in process control is the Proportional-Integral-Derivative (PID) controller, which could be very efficient if well tuned. The aim of this paper is to discuss the optimal tuning of the PID controller using extremum seeking (ES). Two ES algorithms, Perturbation Based Extremum Seeking (PBES) and Sliding Mode Based Extremum Seeking (SMBES), will be used to tune the PID parameters by searching for the optimal parameters that minimize a certain performance index. The Continuous Stirred Tank Reactor (CSTR), with irreversible first-order reaction, has been considered as a case study. The two algorithms have been implemented with two choices of Performance-Index (PI), Integral Absolute Error (IAE) criteria, and a combination of IAE with the integral of absolute of control signal. With the later choice of PI, both the algorithms show an improvement in the performance over the Internal Mode Control (IMC) tuning method, with good control behavior. The c...
Applying automatic control on gantry cranes to move loads with minimal sway angle is considered a... more Applying automatic control on gantry cranes to move loads with minimal sway angle is considered as a challenge due to the crane system uncertain parameters and a robust automatic control is needed. In this paper a sliding mode controller is applied to overcome the crane system uncertainties and achieve the desired performance. Some labor is spent to transform the system to the regular form and an error function is written depending on the transformed variables then a switching function in terms of the error function is constructed and a sliding mode controller is designed to make the error function reach zero so the crane moves to the specified displacement with minimum sway angle. Stability analyses are provided to show that the system is stable under the control we proposed. Simulations are held by software to validate the effectiveness of our work and prove that the proposed control is successful in giving our system the preferred behavior then Results are discussed and some poin...
In this paper two invariant sets are derived for a second order nonlinear affine system uses a sl... more In this paper two invariant sets are derived for a second order nonlinear affine system uses a sliding mode controller. If the state started in these sets, it will not leave it for all future time. The invariant set is found to be function to the initial condition only, from which the state bound is estimated and used when determining the gain of the sliding mode controller. This step overcomes an arithmetic difficulty that consists of calculating suitable controller gain value that ensures the attractiveness of the switching manifold. Also, by using a differentiable form for the approximate signum function in sliding mode controller formula, the state will converge to a positively invariant set rather than the origin. The size of this set is found to be function to the parameters that can be chosen by the designer, thus, it enables us to control the size of the steady state error. The sliding mode controller is designed to the servo actuator system with friction where the derived i...
International Journal of Computer Applications, 2012
In recent years, the use of electronic throttle valve systems has been very popular in the automo... more In recent years, the use of electronic throttle valve systems has been very popular in the automotive industry. It is used to regulate the amount of air flow into the engine. Due to the existence of multiple nonsmooth nonlinearities, the controller design to the electronic throttle valve becomes difficult task. These nonlinearities including stick-slip friction, backlash, and a discontinuous nonlinear spring involved in the system. In the first part of this paper the electronic throttle valve system is presented first, and then the model is derived for each components of the throttle valve system. Later, the system dimension is reduced to two by ignoring the motor inductance at the end of this part of work. Actually this step enables us to design a nonlinear PID controller electronic throttle valve system. The simulation results, of applying a nonlinear PID controller to the electronic throttle valve system, show the effectiveness of the proposed controller in forcing the angle of the throttle valve to the desired opening angle in presence of nonlinearities and disturbances in throttle valve system model.