Sharif Digital Repository

In [1] three theorems are presented which relate to the problem of stabilizing PID controller design for interval time-delay plants. We present a counterexample for these results  

Control Performance Assessment (CPA) and tuning of PID controllers are studied in this paper. We propose a framework for systematic analysis of the tradeoff between the structural complexity of the controller and its performance. As the measure of the controller performance, an LQG based index is used. The problem is augmented with an additional term which forces sparsity on the complexity of a decentralized PID controller. The desired complexity is controlled via a weighting parameter which determines the cost of each additional element (i.e., P, I, and D terms). The result is a decentralized multivariable PID controller in which the complexity of each loop controller is optimized such that... 

Utilization of Unified Power Flow Controllers (UPFCs) can be more beneficial in the restructured power systems due to their capabilities in increasing the transmission line capacities as well as shunt reactive compensation. So, these devices should be installed such that the most benefit can be gained. In this paper, the problem of optimal placement of UPFCs is solved using Mixed-Integer Non-Linear Programming (MINLP) method. Hence, the problem is completely formulated based on this method and is solved using available commercial solvers. The salient feature of this method is having potential to simultaneously determine the optimal location of multi UPFCs. Also, since a full AC Optimal Power... 

Application of fractional order PID (FOPID) controller to an automatic voltage regulator (AVR) is presented and studied in this paper. An FOPID is a PID whose derivative and integral orders are fractional numbers rather than integers. Design stage of such a controller consists of determining five parameters. This paper employs particle swarm optimization (PSO) algorithm to carry out the aforementioned design procedure. PSO is an advanced search procedure that has proved to have very high efficiency. A novel cost function is defined to facilitate the control strategy over both the time-domain and the frequency-domain specifications. Comparisons are made with a PID controller and it is shown... 

Control Performance Assessment (CPA) and tuning of PID controllers are studied in this paper. We propose a framework for systematic analysis of the tradeoff between the structural complexity of the controller and its performance. As the measure of the controller performance, an LQG based index is used. The problem is augmented with an additional term which forces sparsity on the complexity of a decentralized PID controller. The desired complexity is controlled via a weighting parameter which determines the cost of each additional element (i.e., P, I, and D terms). The result is a decentralized multivariable PID controller in which the complexity of each loop controller is optimized such that... 

In this paper, a restricted structure of PID controller is proposed for automobile gas turbine by considering a LQG cost function. So PID Controller coefficients are calculated by minimizing this cost function. One of the most important characteristics of this approach, its ability to design various structure PID controllers by solving optimization problem only for one time, moreover it can approximate main optimization problem by a repetitive Quadratic optimization Problem (QP). This approach is convex optimization and has an analytic solution; therefore its calculations are not complicated. In defined cost function, there are two weighting functions, control error and control action; they... 

In this paper we propose to control a bipedal robot in an unstable position by means of a PID controller that gains are turned by a fuzzy logic system. For that, a model of planar 3 linked segment consisting of limb, trunk and extended arms with fixed base is used. Fuzzy if-then rules are constructed based on human expert knowledge and biomechanics studies for tuning of PID's gain. For construction of tuning rules, we have developed an optical measuring system to record experimental data of balance keeping of a human in an unstable position. The control model is based on three sets of different global variables: (1) limb orientation and its derivative, (2) trunk/upper attitude and its... 

This paper proposes a novel method to designing an H∞ PID controller with robust stability and disturbance attenuation. This method uses particle swarm optimization algorithm to minimize a cost function subject to-norm to design robust performance PID controller. We propose two cost functions to design of a multiple-input, multiple-output (MIMO) and single-input, single-output (SISO) robust performance PID controller. We apply this method to a SISO flexible-link manipulator and a MIMO super maneuverable F18/HARV fighter aircraft system as two challenging examples to illustrate the design procedure and to verify performance of the proposed PID controller design methodology. It is shown with... 

The significant importance of micro-scaled devices in medicine, lab-on-a-chip, and etc resulted in a vast variety of researches. The idea behind the novel hydro magnetic micro-pump and flow controller is that ferromagnetic particles, mixed and dispersed in a carrier fluid, can be accumulated and retained at specific sites to form pistons in a micro-tube using some external magnetic field sources along the micro-tube. This external magnetic field is related to some solenoids, which are turned on and off alternatively. Depending upon dragging speed of these pistons, which itself is a function of switching time, this device can be used to either increase (pumping) or decrease (valving) the flow... 

The novel idea of the Hydromagnetic Micropump and Flow Controller (HMFC) is used in this paper to construct a laboratory setup capable of bidirectional pumping and controlling the flow in microtubes. A laboratory setup, which contains no moving parts, is integrated with a pressure-driven flow setup to make the presented HMFC device. The device operation is based on controllable motion of magnetic particles, added to the carrier fluid, caused by the magnetic field, produced by solenoids located just next to the microtube. The magnitude of these forces is proportional to the strength and gradient of magnetic field which, in turn, is related to the electrical current and arrangement of the... 

Inverse dynamics analysis as well as the generation of an optimal goal oriented human motion both lead to the problem of finding suitable activations of the redundant muscles involved. This paper employs an iterative feedback tuning approach to perform the forward dynamics simulation of the human musculoskeletal system during level walking. A modified form of the proportional-integral-derivative (PID) controller is proposed to stabilize the movement and provide tracking of problems of the desired lower extremity joint profiles. Controller parameters were determined iteratively using an optimization algorithm to minimize tracking errors during forward dynamics simulation. Static optimization... 

Demand response (DR) and flexible AC transmission system (FACTS) devices can be effectively used for congestion management in power transmission systems. However, demand response program (DRP) implementation can itself affect the optimum location of FACTS devices, which is one of the main issues in power system planning. This paper investigates the impact of DRPs on unified power flow controller (UPFC) placement. The harmony search algorithm is employed to determine the optimum locations and parameter setting of UPFC in a long-term framework. The optimization problem is solved with different objectives including generation and congestion cost reduction, as well as loss reduction. In this... 

Self-excited vibrations known as chatter are considered as the most detrimental issue in micro-turning processes. Occurring unpredictably, they adversely affect the tool life, productivity rate and surface quality of the machining processes. In this paper, a novel machining arm is modeled as a piezoelectric stacked rod which is subjected to a chatter force in the orthogonal micro-turning process. Due to the fact that machining processes are affected by various sources of uncertainties, H∞ robust control approach is used to suppress the chatter vibrations of the machining arm in the presence of tool wear and dynamic model parameter variations. Also, input control force of the system is... 

In this paper, a modified frequency control model is proposed, where the demand response (DR) control loop is added to the traditional load frequency control (LFC) model to improve the frequency regulation of the power system. One of the main obstacles for using DR in the frequency regulation is communication delay which exists in transferring data from control center to appliances. To overcome this issue, an adaptive delay compensator (ADC) is used in order to compensate the communication delay in the control loop. In this regard, a weighted combination of several vertex compensators, whose weights are updated according to the measured delay, is employed. Generating the phase lead is the... 

Increase of nonlinear loads in industries has resulted in high levels of harmonic currents and consequently harmonic voltages in power networks. Harmonics have several negative effects such as higher energy losses and equipment life reduction. To reduce the levels of harmonics in power networks, different methods of harmonic suppression have been employed. The basic idea in all of these methods is to prevent harmonics from flowing into a power network at customer sides and the point of common coupling (PCC). Due to the costs, none of the existing mitigating methods result in a harmonic-free power system. The remaining harmonic currents, which rotate in a power network according to the system... 

Fractional order PID controllers are suitable for almost all types of dynamic models. In this paper, a new adaptive fractional order PID controller using neural networks is introduced.The overall performance using the proposed adaptive fractional order PID controller is demonstrated through some examples. It is shown that the new controller scheme can give excellent performance and more robustness in comparison with the conventional controllers like GPC  

This paper evaluates the reliability impact of UPFC application in power system. The paper proposes a new reliability model for the UPFC which is capable of considering different operating states of UPFC. The model is then applied to a test system to study the reliability impacts of UPFC. The impacts of operating points of different states of the model on the system reliability are analyzed. The role of model parameters in reliability impacts of UPFC is analyzed through the sensitivity analysis. A comparative study is finally conducted to illustrate the applicability of the proposed model compare to that of existing UPFC reliability models. The abilities and deficiencies of the proposed... 

this paper presents two new methods for power flow calculation of power systems in presence of Dynamic Flow Controller (DFC), which is a new member of FACTS controllers. In first method A new steady state model of DFC is introduced for the implementation of the device in the conventional Newton-Raphson power flow algorithm. The impact of DFC on power flow is accommodated by adding new entries and modifying some existing ones in the linearized Jacobian equations of the same system without DFC. The focus of second method is on the discrete nature of the DFC and including its effects on power flow. This method is based on Nabavi model for FACTS devices. A case study on a power system located in... 

This paper probes the impact of utilizing an IPFC on the reliability indices of interconnected power systems. First, a concise presentation of IPFC and its structure are provided and the reliability model of two unequally-rated parallel transmission lines equipped with IPFC is then extracted. The assumed IPFC is composed from two parallel converting bridges associated with each line. Afterwards, based-on equivalent assisting unit approach, different commonly-used adequacy indices including the loss of load expectation (LOLE), loss of energy expectation (LOEE) and system minutes (SM) are calculated. A set of numerical analyses are conducted to illustrate the sensitivity of these indices with... 

This paper presents a single-phase phase-locked loop (PLL) system which is primarily free from the double-frequency ripples from which the conventional PLL system suffers. The proposed PLL is then extended to reject the harmonic components from the input signal and to estimate the phase-angle and frequency of the distorted input signal with no error. Three units of the proposed PLL can be used in three-phase power systems, such as FACTS and HVDC converters, to estimate the phase-angles of the individual phases with no double-frequency ripples and without sensitivity to the presence of harmonics and inter-harmonics. This makes the proposed PLL unique and desirable for applications which...