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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, SerdalInverted 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.Öğe Cascade Controller Design using Controller Synthesis(Ieee, 2015) Kaya, Ibrahim; Nalbantoglu, MustafaIn the case of existence of disturbances in a classical single input single output feedback control system, the controller can take action after the disturbance makes the controlled variable move away from the desired value. On the other hand, a cascade control scheme will take an immediate corrective action by using an inner loop controller. In this paper, the use of controller synthesis to tune both the inner and outer loops of the cascade control system is given. Simulation examples are provided to illustrate the much improved closed loop responses of the proposed cascade control system when compared to some existing cascade control design methods.Öğe Cascade controller design via controller synthesis for load frequency control of electrical power systems(Tubitak Scientific & Technological Research Council Turkey, 2024) Guler, Yavuz; Nalbantoglu, Mustafa; Kaya, IbrahimThe regulation of tie -line electricity flow and frequency of electrical power systems (EPS) is crucial for ensuring their robustness to parameter changes and efficient management of disturbances. To this end, a novel cascade control design approach utilizing a serial Proportional -Integral -Derivative controller with a filter (PIDF) is proposed in this paper. The parameters of the controllers are derived analytically, and it is employed in both loops of the cascade control system to regulate the Load Frequency Control (LFC) of EPS. The implementation of PIDF controllers in both loops is utilized in the cascade control scheme for various power systems featuring different turbine topologies. This approach has been applied to single, and two -area power systems and has exhibited enhanced performance compared to other commonly referenced studies in the literature. To assess the effectiveness of the cascade control approach proposed performance metrics such as settling time, peak value (overshoot), and integral absolute error (IAE) value of frequency and tie -line power variations are utilized to gauge the system's response to a load perturbation. Additionally, the suggested cascade control technique and design process have undergone robustness testing with +/- 50% changes in system parameters to validate their reliability.Öğe Controller design for integrating processes with inverse response and dead time based on standard forms(Springer, 2018) Kaya, IbrahimIn chemical engineering, processes exhibiting an initial response to a step input change in the opposite direction of the final steady state can frequently be encountered. Processes exhibiting such characteristics are called inverse response processes and warrant a closer look. In addition, inverse response processes can include an integrator in their transfer function model. In the literature, there are only a few studies addressing control of integrating processes with inverse response. Existing design methods, usually, suggest the use of well-known proportional-integral-derivative (HD) controllers for the control of inverse response processes with an integrator. However, it has been proven by studies in the literature that PID controllers results in unsatisfactory closed-loop performances for integrating processes. Addition of inverse response makes the control of an integrating process more difficult to control. On the other hand, it has been shown that PI-PD controllers perform in very satisfactory closed-loop responses for a class of processes, including integrating processes as well. This paper gives the use of PI-PD controllers to improve the closed-loop performance of integrating processes with inverse response. Simulation examples are provided to illustrate the superiority of the proposed method over the existing ones.Öğe Fractional order PI-PD controller design for time delayed processes(Pergamon-Elsevier Science Ltd, 2024) Cokmez, Erdal; Kaya, IbrahimIn this study, a method for modifying the settings of fractional order PI-PD (FOPI-PD) controllers to handle time-delayed stable, unstable, and integrating processes is presented. The goal is to reduce the computational complexity associated with fractional controller design using analytical techniques. The approach involves updating the analytical weighted geometrical center (AWGC) method for tuning FOPI-PD controllers. The fractional integral and derivative orders are computed by minimizing the Integral of Squared Time Error (ISTE) using straightforward formulas. Additionally, there are analytical formulas provided for robustness characteristics such as maximum sensitivity (Ms), phase margin (PM), and gain margin (GM). The effectiveness of the technique is illustrated through unit-step responses under nominal, disturbed, and measurement situations. The method was evaluated using various metrics and an inverted pendulum mechanical system to demonstrate its industrial applicability. The results showed satisfactory outcomes in both performance and robustness.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, IbrahimFractional-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.Öğe Generalized Stability Boundary Locus for PI Controller Design for Controlling Integrating Processes with Dead Time(Ieee, 2017) Atic, Serdal; Kaya, IbrahimThis 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.Öğe I-PD Controller Design for Integrating Time Delay Processes Based on Optimum Analytical Formulas(Elsevier, 2018) Kaya, IbrahimIn industrial applications, it is possible to encounter processes that have an integrator in its transfer function. The most widely used controllers in the control of these processes are Proportional-Integral-Derivative (PID) controllers. However, it is well known that PID controllers do not perform well in controlling integrating processes. Hence, in this study, the use of I-PD controllers for controlling integrating processes has been given. Optimal and analytical tuning rules have been derived to identify tuning parameters of the I-PD controller. Simulation examples have been provided to show the use of the proposed optimal I-PD tuning formulas. Comparisons with existing PID and I-PD design methods to control integrating processes have been supplied to illustrate the closed loop performance of the proposed optimal I-PD design approach. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.Öğe Identification and real time control of an inverted pendulum using PI-PD controller(Ieee, 2017) Peker, Fuat; Kaya, Ibrahim[Abstract Not Available]Öğe Improved cascade control structure for enhanced performance(Elsevier Sci Ltd, 2007) Kaya, Ibrahim; Tan, Nusret; Atherton, Derek P.In conventional single feedback control, the corrective action for disturbances does not begin until the controlled variable deviates from the set point. In this case, a cascade control strategy can be used to improve the performance of a control system particularly in the presence of disturbances. In this paper, an improved cascade control structure and controller design based on standard forms, which was initially given by authors, is suggested to improve the performance of cascade control. Examples are given to illustrate the use of the proposed method and its superiority over some existing design methods. (C) 2006 Elsevier Ltd. All rights reserved.Öğe Integral-Proportional Derivative (I-PD) Controller Tuning for Pure Integrating Processes with Time Delay(Ieee, 2019) Peker, Fuat; Kaya, IbrahimAn Integral-Proportional Derivative (I-PD) controller is designed for pure integrating plus time delay processes. Simple and analytical rules that result in optimal I-PD controller parameters by minimizing a time weighted integral performance criterion (an error function) have been obtained. Integral of squared time(3) error ((ISTE)-E-3) performance index is used as the integral performance criterion. For minimization of the (ISTE)-E-3 criterion particle swarm optimization (PSO) technique is used. Optimal tuning rules are achieved by making use of curve fitting approach. The derived tuning rules are in terms of process parameters: gain and time delay. Effectiveness of the suggested method is shown by simulation examples. Also, comparisons are made to demonstrate the benefits of the suggested approach over existing PID and I-PD design methods.Öğe Integral-proportional derivative controller tuning rules obtained from optimum responses for set-point tracking of unstable processes with time delay(Sage Publications Ltd, 2023) Kaya, Ibrahim; Cokmez, ErdalThis paper introduces the design of integral-proportional derivative (I-PD) controllers for unstable first-order plus time-delay and integrating-unstable first-order plus time-delay processes. Minimization of the error based on integral performance criteria is performed to derive analytical rules using curve fitting techniques. Obtained analytical formulas may be used to determine the necessary tuning parameters of the I-PD controller from the known plant transfer function parameters. Advantages of the introduced tuning of I-PD controllers are shown by comparisons with other existing ones in terms of unit step responses, measurement noise, control signals, perturbations in plant transfer function parameters, and integral performance indices. Results have shown that some significant advantages have been achieved with the introduced tuning of I-PD controllers when compared to others in the literature.Öğe Integral-Proportional Derivative tuning for optimal closed loop responses to control integrating processes with inverse response(Sage Publications Ltd, 2020) Kaya, IbrahimThis paper provides optimum analytical tuning rules to determine tuning parameters of Integral-Proportional Derivative (I-PD) controllers for controlling integrating processes with inverse response and time delay. Integral performance criteria, such as ISTE (integral of squared time error), (ISTE)-E-2 (integral of squared time(2)error) and (ISTE)-E-3 (integral of squared time(3)error), are used to derive mentioned optimum tuning rules. The effectiveness of the proposed I-PD controller design method are shown by simulation examples. Comparisons with design methods existing in the literature, in terms of set point tracking and disturbance rejection capability, are performed to see the use of the proposed I-PD controller. Some performance measures are also given to evaluate the closed loop performances. It has been observed that the proposed I-PD controller has some important advantages over design methods used for comparison.Öğe Load Frequency Control of Single-Area Power System with PI-PD Controller Design for Performance Improvement(Springer Singapore Pte Ltd, 2023) Guler, Yavuz; Kaya, IbrahimLoad frequency control (LFC) is an important control problem as it determines the quality of power generation by controlling the system frequency and inter-area tie-line power. To maintain a good quality power supply, LFC must be robust against unknown external disturbances and parameter variations of the power system. Therefore, this paper presents the design of PI-PD controllers, which are robust against parameter changes and have good disturbance suppression capability, for load frequency control of a single-area single- or multi-source power system. PI-PD controller parameters were obtained by applying the weighted geometric center method to the stability boundary locus of the closed-loop control system. The approach was applied to both the inner and outer loops of the PI-PD control system structure, sequentially. Performance and robustness of the proposed PI-PD control system are evaluated using some well-known integral error criteria values, settling time, and peak value (overshoot) in the analysis of the power system with both nominal values and & PLUSMN; 50% changes in the system parameters. The simulation results show that the designed PI-PD controller effectively limits the effect of load disturbance and variations in system parameters.Öğe A New Analytical Method for Finding the Centroid of Stability Locus for Controlling Integrating Processes(Ieee, 2019) Alyoussef, Fadi; Kaya, IbrahimSeveral methods, which have been suggested for tuning PI controller parameters by obtaining the centroid of the stability boundary locus, can be found in the literature. However, all those methods rely on graphical plottings which are time consuming. Here, a new analytical approach is introduced to find centroid of the stability region for PI controllers to control time delay integrating processes. For this purpose, it is assumed that time delay integrating process can be modelled by integrating plus first order plus dead-time (IFOPDT) model. The suggested method cancels the necessity of plotting the stability region. Simulation examples were performed to ensure the efficiency of the suggested method.Öğe A Note on Relay Feedback Identification Under Static Load Disturbances(Korean Inst Electr Eng, 2015) Kaya, IbrahimObtaining the parameters for PID controllers based on limit cycle information for the process in a relay controlled feedback loop has become an accepted practical procedure. If the form of the plant transfer function is known, exact expressions for the limit cycle frequency and amplitude can be derived so that their measurements, assumed error free, can be used to calculate the true parameter value. In the literature, parameter estimation for an assumed form of the plant transfer function has generally been considered for disturbance free cases, except a recently published work of the author. In this paper additional simulation results are reported on exact parameter estimation from relay autotuning under static load disturbances.Öğe Optimal Analytical PI and PID Tuning Rules for Controlling Stable Processes with Inverse Response(Ieee, 2017) Kaya, Ibrahim; Cengiz, HayriyeIn industrial applications, it is possible to encounter processes that show an initial response in opposite to the final steady-state. Such processes involve difficulties to control them. Hence, researchers have recently started paying great attention to the control of such processes. This paper reports on deriving optimal tuning rules for controlling open loop stable processes with inverse response. Simple and optimal analytical tuning rules for PI and PID controllers have been derived based on integral performance criteria. Simulation examples have been given to show the usefulness of the proposed controller design method.Öğe Optimal design of I-PD controller for disturbance rejection of time delayed unstable and integrating-unstable processes(Taylor & Francis Ltd, 2024) Cokmez, Erdal; Kaya, IbrahimDisturbance rejection has always been a major phenomenon in control theory. Disturbances that arise in control of unstable or integrating unstable processes with time delay present considerable difficulties for classical PID controllers. This paper supplies analytical tuning rules, derived from optimum disturbance rejection responses to minimise the error signal according to several integral performance criteria to identify the tuning parameters of the I-PD controller. The provided analytical rules offer the advantage of calculating controller parameters without the necessity of employing an optimisation algorithm. This simplifies the tuning process and allows for a straightforward determination of the controller's parameters, making it more convenient and efficient for practical implementation in control systems. Comprehensive simulations were performed to validate the effectiveness of the proposed I-PD controller in terms of disturbance rejection responses, control signals, perturbation in process parameters, measurement noises, TV values, Ms values, and integral performance indicators. Overall, the outcomes demonstrate that the introduced method for the tuning of I-PD controllers offers notable advantages when compared to other tuning methods found in the literature.Öğe Optimal integral-proportional derivative controller design for input load disturbance rejection of time delay integrating processes(Sage Publications Ltd, 2023) Peker, Fuat; Kaya, IbrahimOne of the commonly encountered type of processes in industry is integrating systems. For this type of processes, tuning formulas to calculate optimally integral-proportional derivative controller parameters to reject input load disturbance, which is an important problem in process control, are presented here. Simple tuning formulas are provided to set the integral-proportional derivative controller parameters for rejection of input load disturbance of integrating plus first order plus dead time and double integrating plus first order plus dead time processes. Time-weighted integral performance indices are exploited to derive optimal formulas for input load disturbance rejection. Achieved formulas for integral-proportional derivative tuning contain only process transfer function parameters. To show benefits and usefulness of the suggested design approach, simulation examples are imparted. Furthermore, comparisons to some available design approaches are given to reveal the superior performance of the suggested design method. In addition, proposed design method is experimentally validated by controlling a cart position.Öğe Optimal Tuning of PI/PID Controllers for Integrating Processes with Inverse Response(Ieee, 2017) Kaya, Ibrahim; Cengiz, HayriyeProcesses showing an initial response that is opposite to the final steady-state are present in industrial applications. Control of such processes involves difficulties and recently researchers have started paying great attention to the control of such processes. This paper reports on deriving optimal tuning rules for controlling integrating processes with inverse response. Simple and optimal analytical formulae for PI controllers have been derived based on Integral performance criteria. Simulation examples have been given to demonstrate the usefulness of the suggested approach.
