Authors:
Alexandra-Iulia Szedlak-Stinean
1
;
Radu-Emil Precup
1
and
Emil M. Petriu
2
Affiliations:
1
Politehnica University of Timisoara, Romania
;
2
University of Ottawa, Canada
Keyword(s):
Classical PID Controllers, Digital and Experimental Results, Flexible Drive Dynamics, Fuzzy Controllers, Mechatronics Application, Two-Degree-of-Freedom PID Controllers, Variable Moment of Inertia.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence
;
Computational Intelligence
;
Fuzzy Control
;
Fuzzy Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mechatronics Systems
;
Robotics and Automation
;
Soft Computing
Abstract:
The application with a discontinuously variable parameter (moment of inertia) discussed in this paper is
represented by an experimental setup, namely the Model 220 Industrial Plant Emulator (M220IPE), which
allows the testing of several control solutions by performing real-time experiments. This paper suggests a
simple state feedback control structure with three position controllers developed with the aid of linearized
mathematical models and particular features of the process. The control structures contain conventional
controllers (PID) and also advanced control solutions (Takagi-Sugeno PD+I fuzzy and two-degree-of-freedom
PID controllers). The aim of these control structures is to achieve good robustness, good disturbance
control behaviours regarding the model uncertainties and also to improve set-point responses. The proposed
control structures are validated by digital and experimental results obtained for three specific values of the
moment of inertia.