Effective control strategies are necessary for enhancing wind turbine efficiency and lifespan. The purpose of this paper is to control the rotational speed of a wind turbine by adjusting the pitch angle of the blades. Initially, a one-degree-of-freedom closed-loop controller is designed based on the complementary sensitivity function, followed by a PID and a Modified PID controller. Finally, their performance in tracking the desired rotational speed of the wind turbine, which includes step and sinusoidal signals, is compared. The 1DOF controller introduced oscillation, while the PID controller eliminated oscillation but exhibited steady-state error. To preserve the advantages of the PID controller and eliminate steady-state error, an integrator term (1/s) has been added to the controller. Consequently, the Modified PID controller has been designed. The results of the Modified PID controller show no steady-state error or peak overshoot percentage for step inputs. While, the PID and the one-degree-of-freedom closed-loop controller in tracking the step reference input result in steady-state errors of 1.464% and 0.497% and peak overshoot percentages of 23.688% and 84.389%, respectively. During the implementation of the one-degree-of-freedom closed-loop controller, significant oscillations occur while tracking the desired input. The oscillations occurring in the rotor speed can lead to increased fatigue in various wind turbine components, which is an undesirable outcome. However, no oscillations are observed in rotor speed with the PID and Modified PID controllers. Finally, according to the obtained results, the Modified PID controller demonstrates superior performance compared to the other controllers in tracking the desired rotor speed

In this paper, designing optimal PID controller using Modified particle swarm optimization is presented. The advantage of this new method compared to conventional methods of controller design is that it is not limited to a certain class of systems. In designing phase, sum of rising time, settling time, overshoot and integral of squared-error are minimized. There kind of particle swarm optimization algorithms such as ePSO, mPSO and sPSO are compared with other methods of optimization including Ant Colony. The results clearly show how superior the new proposed method is to the other methods. The proposed method differs from the other optimization algorithms in such a way that, the proposed algorithm does not need a velocity equation. The position of the particle is updated directly by extrapolating the current particle position with the global best particle position obtained so far.

In this paper, a satellite attitude control with observer-based Modified proportional-integral-derivative (PID) controller is studied in the presence of disturbance and uncertainty. First-order dynamic has been used to model the reaction wheel as control actuator with considering the practical limit of the maximum output torque. In observer method, saturation and windup are feedbacks to control algorithm to modify control signal. Control gains have been obtained by optimization method based on genetic evolutionary algorithm with penalty method and for the performance criterion of the absolute mean of the pointing error. To evaluate the performance, a comparison study has been done between Modified controller and classic controller versus control parameters, phase plane diagram, limit cycle, uncertainties, amplitude and frequency of external disturbance. To fair comparison, all conditions in optimization and initial values are selected identical for two controllers. Comparing results show better performance in the Modified controller, anti-windup, and avoid saturation. In the face of perturbations and limit cycle diagrams, the performance of the Modified controller is clearly comparable to that of a classical controller. In addition, the performance of the two controllers is studied versus moment of inertia, actuator model, disturbance frequency, disturbance amplitude, and maximum momentum uncertainties. The behavior of Modified controller is generally more appropriate and pointing accuracy is better. For example, control accuracy in Modified PID is about 15% better than classical algorithm under moment of inertia uncertainty.

The purpose of this paper is to design a fractional order PID (FOPID) controller base on stochastic algorithms for attitude control of quadrotor. The model is based on usage of Fractional calculus in the PID Controllers which can provide novel and higher performance extension for FOPID controllers. Here, the main goal is to design an optimal PID and FOPID controller using stochastic algorithms. Therefor two stochastic algorithms are used for optimal tuning of FOPID parameters. Genetic Algorithm (GA) and Particle Swarm Optimization are compared in minimizing the performance criteria formula which leads to a better performance in controlling of the plant. A quadrotor is installed on an experimental test stand includes of accelerometers, gyroscopes and microcontroller with one and three degrees of freedom to test the performance of PID controller. Kalman filter is used to reduce the noises by combination of accelerometer and gyroscope output. The result of the experiments in the paper shows that the quadrotor can perform desired motions successfully with the controller in the response of step input and while it is subjected to external disturbances.

In this paper, the performance of a single-axis attitude control with pulse-width pulse-frequency (PWPF) modulation is enhanced using a Modified proportional-integral-derivative (PID) controller for arigid satellite with on-off thruster actuators. For this purpose, the well-known observer-based PIDapproach is utilized. The on-off thruster actuator is modeled with a constant delay followed by asecond-order binomial transfer function. The modulator update frequency is limited to 40 Hz as an inputto the on-off thruster actuators. In this study, the design criteria of pointing accuracy, overshoot of theattitude response, fuel consumption, and the number of thruster firings are considered for a step externaldisturbance (with different values). The parameters of the observer-based PID controller are tuned using parametric search method. Simulation results show that the fuel consumption and settling time of theobserver-based approach are considerably decreased with respect to those of PID controller with PWPFmodulator. Moreover, the overshoot of the observer-based approach is omitted. Finally, the robustnessof the observer-based Modified PID controller is investigated in presence of uncertainties in satellitemoment of inertia and thrust level of on-off actuators.

Background and purpose: Primary immune-deficiencies (PID) are associated with a wide range of clinical disorders along with variable symptoms. The aim of this study was to evaluate and improve our knowledge regarding PID from patients that were referred to Booali Sina Hospital.Materials and methods: We evaluated all of PID`s that were referred to Booali Sina Hospital from their data records. Demography, clinical and laboratory data were recorded and then analyzed.Results: In the duration of 3 years, we had 10 patients with PID (7 males and 3 females). Of these cases, 5 had hum oral (50%), 1case had phagocytic (10%), 3 cases had cellular (30%) and 1 case had hyper IgE syndrome (10%). Many of them had respiratory and otitis media infections, while a few patients had adenitis, gastroenteritis, liver abscesses, bleedings and malignancy.Conclusion: PID is a diverse disorder that involves different immune systems. Knowledge from patient’s clinical symptoms and consideration in their differential diagnosis can be helpful in early diagnosis and an effective treatment.

Background: Primary Immunodeficiencys (PID) are severe disorders of immune system leads to high morbidity and mortality. Special investigation has been performed for improving the knowledge about PID and organizing registry of these patients. 10 warning signs of PID in native language are used in education programs for pediatric, immunologist and other specialists. The Objective of the study was to educate and increase awareness of PID diagnosis and treatment, also to detect primary immune deficiency in patients with suspicion on immune abnormalities.Methods: Three years study was performed with children and adult patients with severe and repeated infections from the different regions of Azerbaijan Republic. Research based on the recommendation of JMF. Data from the patient records were analyzed in relation to age, gender, type of infections and complications.Findings: 240 patients, children and adults, with repeated and severe infections were suspected on PID and examined during 2010-2012 years. The PID registry was from 2011 and now total 13 clinical immunologists and 4 lab staff are working on PID in the medical centers in Baku. The number of patients being followed is 45, number of patients identified with PID is 28 and 7 patients genetically confirmed and regularreceive IVIG treatment. 17 patient have unspecified diagnose of PID. Patients died in this period were 12. There were published special brochure with algorithm of PID diagnosis and textbook on PID for students and residents.Conclusion: Still there are many undiagnosed immune compromised patients in Azerbaijan. Despite the PID educational program and practical seminars, the investigation of PID in patients is not routinely, most of patients not treated by immunologists and we have no patients received BMT.