2022 |
Walid, Ounis; Slaheddine, Najar; Mohamed, Aoun REAL TIME TUNEABLE ANALOGUE PID CONTROLLER REALIZATION Conférence 2022, (Cited by: 0). Résumé | Liens | BibTeX | Étiquettes: Analog realization, Continuous time systems, Controller realization, Controllers, Discretization issue, Discretizations, Electric control equipment, PID controllers, Proportional control systems, Real- time, Three term control systems, Tunable analog PID, Tunable controller, Tunables, Voltage dividers @conference{Walid2022798b,This paper proposes a real time tunable analogue PID controller realisation witch can be used as a conventional PID, an adaptative PID or an intelligent PID ‘iPID’. The integral and derivative of the PID input signal are continuous time signals and never sampled. This avoid discretization issues such as aliasing phenomena and the critical sampling period choice. The operative PID circuit part is totally analogue. Few digital potentiometers and digital switches are used. This allows to tune the parameters values of the controller and select PI, PD, PID configuration. The analogue circuit part is designed with a new original circuit architecture. A prototype of the circuit is implemented. Experimentation results show good similarity to the theoretical simulations. © 2022 IEEE. |
Walid, Ounis; Slaheddine, Najar; Mohamed, Aoun REAL TIME TUNEABLE ANALOGUE PID CONTROLLER REALIZATION Conférence 2022, (Cited by: 0). Résumé | Liens | BibTeX | Étiquettes: Analog realization, Continuous time systems, Controller realization, Controllers, Discretization issue, Discretizations, Electric control equipment, PID controllers, Proportional control systems, Real- time, Three term control systems, Tunable analog PID, Tunable controller, Tunables, Voltage dividers @conference{Walid2022798,This paper proposes a real time tunable analogue PID controller realisation witch can be used as a conventional PID, an adaptative PID or an intelligent PID ‘iPID’. The integral and derivative of the PID input signal are continuous time signals and never sampled. This avoid discretization issues such as aliasing phenomena and the critical sampling period choice. The operative PID circuit part is totally analogue. Few digital potentiometers and digital switches are used. This allows to tune the parameters values of the controller and select PI, PD, PID configuration. The analogue circuit part is designed with a new original circuit architecture. A prototype of the circuit is implemented. Experimentation results show good similarity to the theoretical simulations. © 2022 IEEE. |
2018 |
Walid, Mizouri; Slaheddine, Najar; Mohamed, Aoun; Lamjed, Bouabdallah Modelling, identification and control of a quadrotor UAV Conférence 2018, (Cited by: 6). Résumé | Liens | BibTeX | Étiquettes: Antennas, Attitude stabilisation, Estimated model, Experimental test, Identification (control systems), Model parameters, Models, PID controllers, Quad rotors, Quad-rotor UAV, Quadrotor unmanned aerial vehicles, Three term control systems, Unmanned aerial vehicles (UAV) @conference{Walid20181017b,In this paper mathematical model of quadrotor Unmanned Aerial Vehicle UAV was developed using Euler-Lagrange approach, then model parameters was identified using calculations and experimental tests. In order to validate the estimated model a PID controller for attitude stabilisation was designed and tested by several simulation and experimental step responses. Finally a flight test was successfully accomplished providing the adequacy of the model. © 2018 IEEE. |
Walid, Mizouri; Slaheddine, Najar; Mohamed, Aoun; Lamjed, Bouabdallah Modelling, identification and control of a quadrotor UAV Conférence 2018, (Cited by: 6). Résumé | Liens | BibTeX | Étiquettes: Antennas, Attitude stabilisation, Estimated model, Experimental test, Identification (control systems), Model parameters, Models, PID controllers, Quad rotors, Quad-rotor UAV, Quadrotor unmanned aerial vehicles, Three term control systems, Unmanned aerial vehicles (UAV) @conference{Walid20181017,In this paper mathematical model of quadrotor Unmanned Aerial Vehicle UAV was developed using Euler-Lagrange approach, then model parameters was identified using calculations and experimental tests. In order to validate the estimated model a PID controller for attitude stabilisation was designed and tested by several simulation and experimental step responses. Finally a flight test was successfully accomplished providing the adequacy of the model. © 2018 IEEE. |
2017 |
Guefrachi, Ayadi; Najar, Slaheddine; Amairi, Messaoud; Aoun, Mohamed Tuning of Fractional Complex Order PID Controller Conférence vol. 50, no. 1, 2017, (Cited by: 22; All Open Access, Bronze Open Access). Résumé | Liens | BibTeX | Étiquettes: Calculations, Complex order controllers, Controlled system robustness, Controllers, Delay control systems, Design, Electric control equipment, Fractional calculus, Frequency and time domains, Frequency domain analysis, Gain variations, Numeric optimization, Numerical methods, Numerical optimizations, Optimization, PID controllers, Proportional control systems, Robust control, Three term control systems, Time domain analysis @conference{Guefrachi201714563b,This paper deals with a new structure of Fractional Complex Order Controller (FCOC) with the form PIDx+iy, in which x and y are the real and imaginary parts of the derivative complex order, respectively. A tuning method for the Controller based on numerical optimization is presented to ensure the controlled system robustness toward gain variations and noise. This can be obtained by fulfilling five design requirements. The proposed design method is applied for the control of a Second Order Plus Time Delay resonant system. The effectiveness of the FCOC design method is checked through frequency and time domain analysis. © 2017 |
Yakoub, Z.; Amairi, M.; Chetoui, M.; Saidi, B.; Aoun, M. Model-free adaptive fractional order control of stable linear time-varying systems Article de journal Dans: ISA Transactions, vol. 67, p. 193 – 207, 2017, (Cited by: 22). Résumé | Liens | BibTeX | Étiquettes: Adaptive control systems, Calculations, Controllers, Fractional calculus, Fractional order control, Fractional pid controllers, Frequency characteristic, Frequency domain analysis, Linear time-varying systems, Model-free adaptive control, Numerical methods, Numerical optimizations, Optimization, Robustness (control systems), Selective filtering, Three term control systems, Time varying control systems @article{Yakoub2017193b,This paper presents a new model-free adaptive fractional order control approach for linear time-varying systems. An online algorithm is proposed to determine some frequency characteristics using a selective filtering and to design a fractional PID controller based on the numerical optimization of the frequency-domain criterion. When the system parameters are time-varying, the controller is updated to keep the same desired performances. The main advantage of the proposed approach is that the controller design depends only on the measured input and output signals of the process. The effectiveness of the proposed method is assessed through a numerical example. © 2017 ISA |
2015 |
Azaiez, Wiem; Chetoui, Manel; Aoun, Mohamed Analytic approach to design PID controller for stabilizing fractional systems with time delay Conférence 2015, (Cited by: 1). Résumé | Liens | BibTeX | Étiquettes: Controllers, dual-locus diagram, Electric control equipment, Fractional differentiation, Fractional systems, Graphical criteria, Optimal controller, PID controller design, PID controllers, Proportional control systems, Stability regions, Three term control systems, Time delay @conference{Azaiez2015b,The paper considers the problem of PID controller design for stabilizing fractional systems with time delay. An analytic approach developed for rational systems with time delay is extended for fractional systems with time delay. It consists in determining the stability regions in the PID controller parameters planes and choosing the optimal controller by analyzing the stability of the closed-loop corrected system using a graphical criterion, like the dual-locus diagram. The performances of the proposed approach are illustrated using two numerical examples. © 2015 IEEE. |
Saidi, B.; Amairi, M.; Najar, S.; Aoun, M. Bode shaping-based design methods of a fractional order PID controller for uncertain systems Article de journal Dans: Nonlinear Dynamics, vol. 80, no. 4, p. 1817 – 1838, 2015, (Cited by: 66). Résumé | Liens | BibTeX | Étiquettes: Algorithms, Carbon monoxide, Constrained optimization, Damping, Design, Electric control equipment, Fractional PID, Fractional-order PID controllers, Frequency bands, Frequency domain analysis, Frequency-domain design, Iso-damping property, Numerical methods, Numerical optimization algorithms, Numerical optimizations, Optimization, Proportional control systems, Robustness (control systems), Test benches, Three term control systems, Uncertain systems, Uncertainty @article{Saidi20151817b,This paper deals with robust fractional order PID controller design via numerical optimization. Three new frequency-domain design methods are proposed. They achieve good robustness to the variation of some parameters by maintaining the open-loop phase quasi-constant in a pre-specified frequency band, i.e., maintaining the iso-damping property of the controlled system. The two first methods are extensions of the well-known Monje-Vinagre et al. method for uncertain systems. They ameliorate the numerical optimization algorithm by imposing the open-loop phase to be flat in a frequency band not only around a single frequency. The third method is an interval-based design approach that simplifies the algorithm by reducing the constraints number and offers a more large frequency band with an iso-damping property. Several numerical examples are presented to show the efficiency of each proposed method and discuss the obtained results. Also, an application to the liquid carbon monoxide level control is presented. © 2014, Springer Science+Business Media Dordrecht. |
Saidi, B.; Amairi, M.; Najar, S.; Aoun, M. Multi-objective optimization based design of fractional PID controller Conférence 2015, (Cited by: 9). Résumé | Liens | BibTeX | Étiquettes: Closed loop systems, Closed-loop behavior, Design, Electric control equipment, Fractional PID, Fractional pid controllers, Fractional-order PID controllers, Frequency bands, Frequency domain analysis, Frequency domains, Frequency specifications, Iso-damping property, Multiobjective optimization, Numerical methods, Phase margins, Proportional control systems, Robustness (control systems), Specifications, Three term control systems @conference{Saidi2015d,This paper deals with robust fractional order PID controller design via numerical multi-objective optimization. The proposed interval-based design scheme uses frequency-domain specifications to ensure a desired closed-loop behavior. By maintaining the desired phase margin quasi-constant in a pre-specified frequency band, it guarantees more robustness to gain uncertainties. This leads to a closed-loop system with an interesting iso-damping property in a more large frequency band than other design methods. A numerical example is presented to show the efficiency of the proposed method and to discuss about the obtained results. © 2015 IEEE. |
Azaiez, Wiem; Chetoui, Manel; Aoun, Mohamed Analytic approach to design PID controller for stabilizing fractional systems with time delay Conférence 2015, (Cited by: 1). Résumé | Liens | BibTeX | Étiquettes: Controllers, dual-locus diagram, Electric control equipment, Fractional differentiation, Fractional systems, Graphical criteria, Optimal controller, PID controller design, PID controllers, Proportional control systems, Stability regions, Three term control systems, Time delay @conference{Azaiez2015,The paper considers the problem of PID controller design for stabilizing fractional systems with time delay. An analytic approach developed for rational systems with time delay is extended for fractional systems with time delay. It consists in determining the stability regions in the PID controller parameters planes and choosing the optimal controller by analyzing the stability of the closed-loop corrected system using a graphical criterion, like the dual-locus diagram. The performances of the proposed approach are illustrated using two numerical examples. © 2015 IEEE. |
2014 |
Saidi, B.; Amairi, M.; Najar, S.; Aoun, M. Min-Max optimization-based design of fractional PID controller Conférence 2014, (Cited by: 3). Résumé | Liens | BibTeX | Étiquettes: Algorithms, Automation, Calculations, Constrained optimization, Convergence of numerical methods, Design method, Disturbance rejection, Electric control equipment, Fractional calculus, Fractional pid controllers, Load disturbance rejection capabilities, Min-max optimization, Numerical methods, Optimization, Proportional control systems, Robustness (control systems), Simulation example, Stability margins, Three term control systems @conference{Saidi2014468b,This paper deals with a new design method of a fractional PID controller. The proposed method is based on a numerical constrained Min-Max optimization algorithm. Its main objective is the improvement of the transient response, the stability margin, the robustness and the load disturbance rejection capability. All these performances are tested through a simulation example. © 2014 IEEE. |
2011 |
Malti, Rachid; Aoun, Mohamed; Levron, Franois; Oustaloup, Alain Analytical computation of the ℋ 2-norm of fractional commensurate transfer functions Article de journal Dans: Automatica, vol. 47, no. 11, p. 2425 – 2432, 2011, (Cited by: 50). Résumé | Liens | BibTeX | Étiquettes: Analytical computations, Closed loop control systems, Differentiation (calculus), Finiteness condition, Fractional calculus, Function coefficients, General expression, Impulse response, Impulse response energy, Integral squared error, Performance indices, Rational functions, Rational transfer functions, Relative degrees, Three term control systems, Transfer functions @article{Malti20112425b,ℋ2-norm, or impulse response energy, of any fractional commensurate transfer function is computed analytically. A general expression depending on transfer function coefficients and differentiation orders is established. Then, more concise expressions are given for elementary fractional transfer functions. Unlike stable rational transfer functions, it is proven that the ℋ2-norm of stable fractional transfer functions may be infinite. Finiteness conditions are established in terms of transfer function relative degree. Moreover, it is proven that the ℋ2-norm of a fractional transfer function with a proper integrator of order less than 0.5 may be finite. The obtained results are used to evaluate the integral squared error of closed-loop control systems. © 2011 Elsevier Ltd. All rights reserved. |
Malti, Rachid; Aoun, Mohamed; Levron, Franois; Oustaloup, Alain Analytical computation of the ℋ 2-norm of fractional commensurate transfer functions Article de journal Dans: Automatica, vol. 47, no. 11, p. 2425 – 2432, 2011, (Cited by: 50). Résumé | Liens | BibTeX | Étiquettes: Analytical computations, Closed loop control systems, Differentiation (calculus), Finiteness condition, Fractional calculus, Function coefficients, General expression, Impulse response, Impulse response energy, Integral squared error, Performance indices, Rational functions, Rational transfer functions, Relative degrees, Three term control systems, Transfer functions @article{Malti20112425,ℋ2-norm, or impulse response energy, of any fractional commensurate transfer function is computed analytically. A general expression depending on transfer function coefficients and differentiation orders is established. Then, more concise expressions are given for elementary fractional transfer functions. Unlike stable rational transfer functions, it is proven that the ℋ2-norm of stable fractional transfer functions may be infinite. Finiteness conditions are established in terms of transfer function relative degree. Moreover, it is proven that the ℋ2-norm of a fractional transfer function with a proper integrator of order less than 0.5 may be finite. The obtained results are used to evaluate the integral squared error of closed-loop control systems. © 2011 Elsevier Ltd. All rights reserved. |