Noriyuki Komine

Hybrid Controller for Swinging up Inverted Pendulum System

A hybrid controller for swinging up inverted pendulum system is proposed in this paper. The controller composes of two parts. The first part is the PD position control for swinging up the pendulum from the natural pendent position by moving the cart back and forth until the pendulum swings up around the upright position. The second part is a servo state feedback control designed by LQR which will be switched to stabilize the inverted pendulum in its upright position. The effectiveness and reliability of the proposed hybrid controller for swinging up inverted pendulum on cart are also shown by the experimental results

Hybrid controller for swinging up and stabilizing the inverted pendulum on cart

In this paper, a hybrid controller for swinging up and stabilizing an inverted pendulum on cart is presented. The energy control concept is employed to swing the inverted pendulum up to around the upright position within the assigned switching condition. After that, the stabilizing controller is then switched to stabilize the inverted pendulum at the upright position. The stabilizing controller is a linear servo state feedback controller designed by coefficient diagram method. The simulation results show that the designed hybrid controller can be mutually operated with acceptable efficiency.

I-PD and PD controllers designed by CRA for overhead crane system

An overhead crane system controlled by an I-PD controller incorporating with PD controller is presented in this paper. The characteristic ratio assignment method is employed to design the I-PD controller and the PD controller for controlling the position of trolley and for controlling the load swing angle of the overhead crane system, respectively. Using the concept of characteristic ratio assignment method, the speed of the step response can also be increased by using a design factor k. The simulation results show that the step response can reach to the desired position without overshoot and with small load swing angle. The slightly change of the step responses when changing the parameters of the overhead crane system are also shown. The simulation results also show that when the speed of the step response is increased, the load swing angle is large related to the speed increased while the disturbance effect rejection is fast.

PI controller design with feedforward by CDM for level processes

A second-order level process controlled by PI controller designed from coefficient diagram method (CDM) can meet the desired performances both in transient and steady-state response. However, the transient response generally still has long rise time. This paper presents an additional idea to improve the speed of the system response by including a feedforward controller (FFC) in the closed-loop system. The structure of the FFC is a phase lead structure with a parameter that can be varied greater than one. The faster step response of the controlled system can be obtained while the rejection speed of the effect due to constant output disturbance is not affected by the proposed FFC.

IMC-based PID controllers design for a two-links SCARA robot

The paper presents the design of PID controllers for a two-link SCARA robot based on internal model control (IMC) technique. For the model of the two-link SCARA robot which includes an integrator, IMC filter must be selected properly so that the designed IMC controllers can be approximated as PID controllers by using Maclaurin approximation. The simulation results verify the applicability and satisfied performance of the proposed control system.

Hybrid Controller for Inverted Pendulum System

In this paper, a hybrid controller designed for swinging up and stabilizing an inverted pendulum on cart system is presented. The controller composes of a PD controller and a sliding mode controller. The PD controller is implemented to control the position of the cart to swing up the pendulum from the natural pendent position to around the upright position, while the sliding mode controller is implemented to stabilize the inverted pendulum in the upright position. Root-locus method is applied to design the PD controller and LQR method is employed to design the sliding mode controller. The implementation results of the proposed hybrid controller are shown in this paper.

Simplified Design of PI Controller Based on CDM

This paper presents the simplified design of a PI controller for a higher-order plant by using the concept of plant model reduction and coefficient diagram method with less number of stability index gamma i. The higher-order plant model is first reduced to be a lower-order plant model by ignoring its non-dominant poles. Secondly, the PI controller is designed for the lower-order plant model by using coefficient diagram method with the appropriate values of stability index in order to obtain its system response without overshoot. Thirdly, the designed PI controller is used to control the original higher-order plant. The simulation results show that the PI controller designed from the lower-order plant model is sufficient for controlling the original higher-order plant with acceptable performance

Neural network based self-tuning control for overhead crane systems

This paper deals with a neural network based self-tuning controller for an overhead crane. The structure of the controller consists of two components. The first component is a basic controller called state feedback controller designed by Linear Quadratic Regulator (LQR) concept. The second component is an on-line performance tuner, which will tune the basic controller by using the neural network concept. The experimental result shows that the proposed controller can improve the speed of the crane movement toward to the desired position without the swinging of the load at the desired position.

High-capacity terahertz carrier generation using a modified add-drop filter for radio frequency identification

A new technique of terahertz (THz) frequency carrier generation for multi-channel radio frequency identification (RFID) use is proposed. The dense wavelength division multiplexing signals can be obtained by using a Gaussian pulse propagating within a modified add-drop filter known as a PANDA ring resonator. The THz device system can be made contributions to the promising applications, especially in high- speed switching, demultiplexing, and wavelength conversion of optical signals, in which the effect of THz control is also required and essential for the potential application to ultra-high speed wireless digital intercon- nects for computer chips with ultra-high clock rates. In principle, the high-density frequency (wavelength) can be generated and used to form the RFID; moreover, the tiny device system is another advantage, which can be constructed to incorporate the currently used system. The results obtained have shown that higher density and increasing chan- nel capacity can be obtained and are useful for the large demand for RFID applications.

CDM Based Servo State Feedback Controller with Minimum-order Observer for Crane System

In this paper, the design of servo state feedback controller with minimum-order observer by using the concept of coefficient diagram method (CDM) for crane system is presented. An integrator is augmented to the system so that the system will exhibit no steady-state error in the response to step input. In order to apply the CDM method, the mathematical model of the crane system must be firstly linearized and converted into controllable canonical form by transformation matrix. Then feedback gain matrix, integral gain and observer gain matrix in sense of CDM can be obtained. The satisfied performances of the crane system controlled by the proposed controller are shown in simulation results