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1. Constrained Series PI, PID and PIDA Controller Design Inspired by Ziegler–Nichols

Author

Huba Mikulas, Bistak Pavol, Brieznik Jan, and Vrancic Damir

Subjects
performance portrait, multiple real dominant pole, constrained control, series pi, pid and pida controller, Electronics, TK7800-8360
Abstract

The present paper complements the results of several recent papers on higher-order (HO) controllers with automatic-reset. A modification of the two-step tuning of the constrained second-order derivative controllers based on integrator-plus-dead-time (IPDT) models is proposed. In the first step, the linear controller is designed using the multiple real dominant poles (MRDPs) method to avoid the slowdown of the closed-loop dynamics due to the presence of slow poles. In the second step, the smallest time constant of the numerator of the MRDP-optimal controller transfer function is selected as the automatic-reset time constant. The derived control method was tested on a thermal system for the filament disc dryer to demonstrate the deployment, tuning, use and impact of controllers with increasing derivative degree in practical applications. It is shown that the use of HO controllers is similar to the traditional hyper-reset controllers (i.e. series proportional-integral-derivative [PID] controllers) from the user’s point of view. However, the advantages are faster transient responses while maintaining sufficiently smooth input and output shapes of the process with a minimum number of monotonic intervals. The overall design can be seen as a generalisation and discretisation of the Ziegler and Nichols graphical tuning method. One of the main new features is the consideration of a constrained control signal, as is typical for a pulse width modulated (PWM) actuator. Such actuators are often used in speed-controlled electric drives and in power electronics, among other applications.

Published
2024
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3. Addendum to 'Seeking a Unique View to Control of Simple Systems'

Author

Huba, Mikulas, Hypiusová, M., Ťapák, P., Serbezov, A., Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zhang, Junjie James, Series Editor, Gonçalves, José Alexandre, editor, Braz-César, Manuel, editor, and Coelho, João Paulo, editor

Published
2021
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8. One Degree of Freedom Copter

Author

Ťapák, Peter, Huba, Mikuláš, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Moreno-Díaz, Roberto, editor, Pichler, Franz, editor, and Quesada-Arencibia, Alexis, editor

Published
2018
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9. Modifications of Model Free Control to FOTD Plants

Author

Huba, Mikuláš, Huba, Tomáš, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Moreno-Díaz, Roberto, editor, Pichler, Franz, editor, and Quesada-Arencibia, Alexis, editor

Published
2018
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16. Series PID Control With Higher-Order Derivatives for Processes Approximated by IPDT Models

Author

Huba, Mikulas, Vrancic, Damir, and Bistak, Pavol

Abstract

The article takes up the pioneering work that led to the development of mass-used industrial controllers known by the original names of automatic-reset and hyper-reset, and generalizes them to an open family of controllers with higher-order derivatives and low-pass filters of the required order. For space limitations, the controller order is limited to the maximum degree of derivatives $m=5$ . For the integrator plus dead time (IPDT) model, the tuning of the controller parameters and filter is performed by the method of multiple real dominant poles and using the equivalent filter delay. The proposed method is successfully tested on a limited controller output, where absolute stability can be demonstrated using the circle criterion. Compared with the SIMC design, illustrative examples verify applicability of derived controllers also by simulation of stable system with dominant first-order dynamics augmented with several shorter time constants and real-time temperature control. They confirm interesting properties of all the family members, acceleration of transients by increasing $m$ and show that the considered maximum $m=5$ need not be the final limit for practical application. Note to Practitioners—Every attempt to speed up transient responses ultimately leads to the need to respect the influence of control constraints. In connection with the use of parallel PI and PID controllers, the need arose for the use of various anti-windup circuits and conditioning techniques for their adjustment. The article offers an open family of controllers solving the problem more effectively by generalizing traditional automatic-reset controllers, also referred to in the literature as series PI and PID controllers. By expanding the automatic-reset with stabilizing controllers employing higher-order derivatives, the possibility of increasing the dynamics of the circuit even up to nearly-minimum-time control arises. The new solutions enable the achievement of higher dynamics of changes, excellent robustness and consideration of measurement noise attenuation without the need to deal additionally with special techniques eliminating negative impact of control signal limitations.

Published
2024
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17. Magnetic Levitation Remote Control Laboratory Based on Matlab and Websockets⁎⁎This work has been supported by the Grant APVV-21-0125 financed by the Slovak Research and Development Agency; the Grant KEGA 021STU-4-2024 financed by the Cultural and Educational Grant Agency of the Slovak Republic; and the Research Program P2-0001 and research project L2-3166 financed by the Slovenian Research and Innovation Agency.

Author

Bistak, Pavol, Huba, Mikulas, Drahos, Peter, Belai, Igor, and Vrancic, Damir

Abstract

This work proposes a novel architecture for constructing remote laboratories, employing modular building blocks: Matlab/Simulink software for control system design and simulation, WebSocket communication technology for continuous data exchange, and a front-end application developed using the Angular framework. To facilitate WebSocket communication on the Matlab server side, the MatlabWebSocket library is implemented. Beyond the Angular framework, interactivity within the remote laboratory is further enhanced through 3D visualization of the controlled system using a Three.js based library.

Published
2024
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18. Identification of First Order Plants by Relay Feedback with Non-symmetrical Oscillations

Author

Ťapák, Peter, Huba, Mikuláš, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Moreno-Díaz, Roberto, editor, Pichler, Franz, editor, and Quesada-Arencibia, Alexis, editor

Published
2015
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19. Constrained Pole Assignment Control for a 2nd Order Oscillatory System

Author

Huba, Mikuláš, Huba, Tomáš, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Moreno-Díaz, Roberto, editor, Pichler, Franz, editor, and Quesada-Arencibia, Alexis, editor

Published
2015
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20. Autonomous Paracopter Control Design

Author

Huba, Tomáš, Huba, Mikuláš, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Moreno-Díaz, Roberto, editor, Pichler, Franz, editor, and Quesada-Arencibia, Alexis, editor

Published
2015
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26. Relay Identification of IPDT Plant by Analyzing Nonsymmetrical Oscillations

Author

Huba, Mikuláš, Ťapák, Peter, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Sudan, Madhu, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Vardi, Moshe Y., Series editor, Weikum, Gerhard, Series editor, Moreno-Díaz, Roberto, editor, Pichler, Franz, editor, and Quesada-Arencibia, Alexis, editor

Published
2012
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28. Nonlinear Controllers for a Fluid Tank System

Author

Žilka, Vladimír, Halás, Miroslav, Huba, Mikuláš, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Sudan, Madhu, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Vardi, Moshe Y., Series editor, Weikum, Gerhard, Series editor, Moreno-Díaz, Roberto, editor, Pichler, Franz, editor, and Quesada-Arencibia, Alexis, editor

Published
2009
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29. Comparing Algebraic and Constrained Pole Assignment Controllers for a Thermal System

Author

Huba, Mikuláš, Jelenčiak, František, Ťapák, Peter, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Sudan, Madhu, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Vardi, Moshe Y., Series editor, Weikum, Gerhard, Series editor, Moreno-Díaz, Roberto, editor, Pichler, Franz, editor, and Quesada-Arencibia, Alexis, editor

Published
2009
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30. Constrained Pole Assignment Control

Author

Huba, Mikuláš, Başar, Tamer, editor, Åström, Karl Johan, editor, Chen, Han-Fu, editor, Helton, William, editor, Isidori, Alberto, editor, Kokotović, Petar V., editor, Kurzhanski, Alexander, editor, Poor, H. Vincent, editor, Soner, Mete, editor, Menini, Laura, editor, Zaccarian, Luca, editor, and Abdallah, Chaouki T., editor

Published
2006
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33. Strategic and Spatial Regulation Tools for Harmonizing Land Use Interests in the Carpathians – Experience from Slovakia

Author

Husar, Milan, Lamy, Sandra, Ondrejicka, Vladimir, and Huba, Mikulas

Abstract

Carpathian ecoregion is one of the last strongholds of biodiversity in Europe. The area spreads across several European countries and contains thriving populations of large carnivores and other species, while staying some of the least-fragmented areas in Europe. At the same time, it is under growing pressure to develop its infrastructure endangering this natural uniqueness. In this paper the pressures to develop the area are described in the light of the existing planning policies in Slovakia. We focus on one of the TransGREEN and ConnectGREEN project cross-border pilot areas located between Czech Republic and Slovakia ‘Beskydy-Kysuce’ where we discuss the pressures to develop the infrastructure and the measures to retain the fragmentation as low as possible. The paper discusses Slovak planning policies on national, regional and local levels. In its second part the focus is on examples of development in this pilot area demonstrating the growing pressure for more infrastructure being built improving the transport connection between Slovakia and Czech Republic. The measures to ease the conflicts between the interests of nature protection and green infrastructure, and the interests of developing the grey infrastructure in this area are presented. Lastly, we review the planning policies and tools in the Slovak national spatial planning system aimed at regulating the development considering all interests in the territory and managing this growth while keeping it in the lines of sustainable development, biodiversity protection and enhancing resilience of this area. The aim is to demonstrate in this pilot area the approach of Slovak planning policies and tools in the Slovak national spatial planning system leading to find the way how to anchor the regulation or adaptive measures so as to create a unified strategic framework for the Carpathian region with a set of recommendations to regulate a massive development in this unique area to avoid the conflicts between green and grey infrastructure.

Published
2022
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34. Robust Stability Analysis of Filtered PI and PID Controllers for IPDT Processes.

Author

Huba, Mikulas, Bistak, Pavol, and Vrancic, Damir

Subjects
*ROBUST stability analysis, *PID controllers, *TRANSFER functions, *NOISE measurement
Abstract

The paper discusses the stability and robustness of the proportional-integral (PI), proportional-integral-derivative (PID), and proportional-integral-derivative-accelerative (PIDA) controller for the integral-plus-dead-time (IPDT) plants. To enable the implementation and measurement of noise attenuation, binomial low-pass filters are added to the traditional design of controllers with ideal transfer functions, and the impact of the low-pass filters on the robust stability of the circuit is studied in detail. The proposed controller tuning, which integrates the suboptimal controller and filter design, is based on explicit tuning formulas derived by using the multiple real dominant pole (MRDP) method. It is shown that by combining derivative actions with possibly higher-order low-pass filters, it is possible to either accelerate the transients or increase the closed loop robustness and that the problem of defining the robust stability area should be addressed at the stage of determining the process model. In addition, if wishing to maintain the closed loop robustness of unfiltered PI control, while increasing the degree of the derivative components, one needs to increase the filtering properties of the low-pass filter used accordingly. Simple analytical relations for setting filtered PI, PID, and PIDA controllers with equivalent robustness are derived. [ABSTRACT FROM AUTHOR]

Published
2023
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