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    Öğe
    Cascade Control Approach for a Cart Inverted Pendulum System Using Controller Synthesis Method
    (Ieee, 2018) Peker, Fuat; Kaya, Ibrahim; Cokmez, Erdal; Atic, Serdal
    Inverted pendulum is a basic benchmark in the field of control engineering. It is a well-known example of single input multi output (SIMO) systems. A commonly used type of the inverted pendulum systems is cart inverted pendulum which has a cascade structure inherently. In this paper, a cascade control approach based on controller synthesis method is used for controlling a cart inverted pendulum system. Controller synthesis technique is used to tune both inner and outer loops of the cascade control system. Simulation results are given to demonstrate the use of the proposed approach.
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    Öğe
    Fractional-order PI Controller Design for Integrating Processes Based on Gain and Phase Margin Specifications
    (Elsevier, 2018) Cokmez, Erdal; Atic, Serdal; Peker, Fuat; Kaya, Ibrahim
    Fractional-order PID controllers have been introduced as a general form of conventional PID controllers and gained considerable attention latterly due to the flexibility of two extra parameters (fractional integral order and fractional derivative order la) provided. Designing fractional controllers in the time domain has still difficulties. Moreover, it has been observed that the techniques based on gain and phase margins existing in the literature for integer-order systems are not completely applicable to the fractional-order systems. In this study, stability regions based on specified gain and phase margins for a fractional-order PI controller to control integrating processes with time delay have been obtained and visualized in the plane. Fractional integral order is assumed to vary in a range between 0.1 and 1.7. Depending on the values of the order and phase and gain margins, different stability regions have been obtained. To obtain stability regions, two stability boundaries have been used; RRB (Real Root Boundary) and CRB (Complex Root Boundary). Obtained stability regions can be used to design all stabilizing fractional-order PI controllers. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
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    Öğe
    Generalized Stability Boundary Locus for PI Controller Design for Controlling Integrating Processes with Dead Time
    (Ieee, 2017) Atic, Serdal; Kaya, Ibrahim
    This work represents a new approach for plotting generalized stability boundary loci to achieve all stabilizing PI controllers for integrating processes plus dead time. For this purpose, integrating processes with dead time are modeled by integrating plus first order plus dead time model (IFOPDT). Normalized form of the obtained IFOPDT model and PI controller transfer functions are used together for plotting the stability boundary loci plane. This allows achieving all stabilizing PI controllers from the generalized stability boundary loci plots for processes that can be modeled by an IFOPDT model. The approach eliminates the requirement of plotting the stability boundary locus again and again as the process transfer function changes where this is the case in the literature being followed so far. The effectiveness of the approach is shown by simulation examples.
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    Öğe
    PI Controller Design based on Generalized Stability Boundary Locus
    (Ieee, 2016) Kaya, Ibrahim; Atic, Serdal
    The paper introduces a generalized approach to identify all stabilizing PI controllers for processes with time delay. The approach depends on modeling higher order plant transfer functions by a first order plus dead time model. Then, the normalized form of the obtained model and controller transfer functions are used for plotting the stability boundary locus plane. After that, the all stabilizing values of tuning parameters for PI controllers are being calculated from the obtained plots. This approach brings the advantage of not needing to plot the stability boundary locus each time when the process transfer function changes, which is the case for the so far reported studies in the literature. Simulation examples are provided to illustrate the usefulness of the proposed approach.
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    Öğe
    PID Controller Design based on Generalized Stability Boundary Locus to Control Unstable Processes with Dead Time
    (Ieee, 2018) Atic, Serdal; Kaya, Ibrahim
    This paper proposes a method so that all PID controller tuning parameters, which are satisfying stability of any unstable time delay processes, can be calculated by forming the stability boundary loci. Processes having a higher order transfer function must first be modeled by an unstable first order plus dead time (UFOPDT) transfer function in order to apply the method. Later, UFOPDT process transfer function and the controller transfer function are converted into normalized forms to obtain the stability boundary locus in (KKc,KKc(T/T-i)), (KKc,KKc(T-d/T)) and (KKc(T/T-i),KKc(T-d/T)) planes for PID controller design. PID controller parameter values achieving stability of the control system can be determined by the obtained stability boundary loci. The advantage of the method given in this study compared with previous studies in this subject is to remove the need of re-plotting the stability boundary locus as the process transfer function changes. That is, the approach results in somehow generalized stability boundary loci for unstable plus time delay processes under a PID controller. Application of the method has been clarified with examples.
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    Öğe
    PID Controller Design for Controlling Integrating Processes with Dead Time using Generalized Stability Boundary Locus
    (Elsevier, 2018) Atic, Serdal; Cokmez, Erdal; Peker, Fuat; Kaya, Ibrahim
    This paper proposes a method so that all PID controller tuning parameters, which are satisfying stability of any integrating time delay processes, can be calculated by forming the stability boundary loci. Processes having a higher order transfer function must first be modeled by an integrating plus first order plus dead time (IFOPDT) transfer function in order to apply the method. Later, IFOPDT process transfer function and the controller transfer function are converted to normalized forms to obtain the stability boundary locus in (KKcT,KKc(T-2 / T-i)), (KKcT,KKcTd) and (KKc(T-2 / T-i),KKcTd) planes for PID controller design. PID controller parameter values achieving stability of the control system can be determined by the obtained stability boundary loci. The advantage of the method given in this study compared with previous studies in this subject is to remove the need of re-plotting the stability boundary locus as the process transfer function changes. That is, the approach results in somehow generalized stability boundary loci for integrating plus time delay processes under a PID controller. Application of the method has been clarified with examples. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.