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Author Byron Lima; Ricardo Cajo; Victor Huilcapi; Wilton Agila
Title Modeling and comparative study of linear and nonlinear controllers for rotary inverted pendulum Type Conference Article
Year 2017 Publication Journal of Physics: Conference Series Abbreviated Journal
Volume 783 Issue Pages
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Abstract The rotary inverted pendulum (RIP) is a problem difficult to control, several studies have been conducted where different control techniques have been applied. Literature reports that, although problem is nonlinear, classical PID controllers presents appropriate performances when applied to the system. In this paper, a comparative study of the performances of linear and nonlinear PID structures is carried out. The control algorithms are evaluated in the RIP system, using indices of performance and power consumption, which allow the categorization of control strategies according to their performance. This article also presents the modeling system, which has been estimated some of the parameters involved in the RIP system, using computer-aided design tools (CAD) and experimental methods or techniques proposed by several authors attended. The results indicate a better performance of the nonlinear controller with an increase in the robustness and faster response than the linear controller
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Language English Summary Language English Original Title
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Call Number gtsi @ user @ Serial 69
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Author Ricardo Cajo; Wilton Agila
Title Evaluation of algorithms for linear and nonlinear PID control for Twin Rotor MIMO System Type Conference Article
Year 2015 Publication Computer Aided System Engineering (APCASE), 2015 Asia-Pacific Conference on, Quito, 2015 Abbreviated Journal
Volume Issue Pages 214-219
Keywords Twin Rotor MIMO System (TRMS); Proportional-Integral-Derivative (PID); Linear PID Controller; Nonlinear PID Controller; Nonlinear Observer
Abstract In this paper the linear and nonlinear PID control algorithms are analyzed and for a twin rotor MIMO system (TRMS), whose characteristic is not linear with two degrees of freedom and cross-links. The aim of this work is to stabilize the TRMS, to achieve a particular position and follow a trajectory in the shortest time. Mathematical modeling of helicopter model is simulated using MATLAB / Simulink, the two degrees of freedom are controlled both horizontally and vertically through the proposed controllers. Also nonlinear segmented observers for each degree of freedom are designed in order to measure statements required by the nonlinear controller. Followed, a comparative analysis of both algorithms is presented to evaluate their performance in the real TRMS.
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Publisher IEEE Place of Publication Editor
Language English Summary Language English Original Title
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Area Expedition Conference 2015 Asia-Pacific Conference on Computer Aided System Engineering
Notes Approved (up) no
Call Number cidis @ cidis @ Serial 36
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Author Wilton Agila; Ricardo Cajo; Douglas Plaza
Title Experts Agents in PEM Fuel Cell Control Type Conference Article
Year 2015 Publication 4ta International Conference on Renewable Energy Research and Applications Abbreviated Journal
Volume Issue Pages 896 - 900
Keywords s- PEM Fuel Cell; Expert Agent; Perceptive Agents; Acting Agent; Fuzzy Controller
Abstract In the control of the PEM (Proton Exchange Membrane) fuel cell, the existence of both deliberative and reactive processes that facilitate the tasks of control resulting from a wide range of operating scenarios and range of conditions it is required. The latter is essential to adjust its parameters to the multiplicity of circumstances that may occur in the operation of the PEM stack. In this context, the design and development of an expert-agents based architecture for autonomous control of the PEM stack in top working conditions is presented. The architecture integrates perception and control algorithms using sensory and context information. It is structured in a hierarchy of levels with different time window and level of abstraction. The monitoring model and autonomic control of PEM stack has been validated with different types of PEM stacks and operating conditions demonstrating high reliability in achieving the objective of the proposed energy efficiency. Dynamic control of the wetting of the membrane is a clear example.
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Publisher IEEE Place of Publication Palermo, Italy Editor
Language English Summary Language English Original Title
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Area Expedition Conference 2015 International Conference on Renewable Energy Research and Applications (ICRERA)
Notes Approved (up) no
Call Number cidis @ cidis @ Serial 46
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