The purpose of this paper, is to investigate and provide robust PID control for flexible satellite considering thruster actuator dynamics. The flexibility of the satellite causes a change in the dynamics of the entire satellite. During the maneuver, stochastic disturbance torque and system inertia uncertainty are applied to the satellite. The thruster is an actuator used to execute control commands using a PWPF modulator optimized by a genetic metaheuristic algorithm Optimization of thruster and robust PID controller coefficients are other innovations of this paper. By adding angular velocity and control torque constraints, the designed robust control first performs well; And secondly, it is robust to internal and external uncertainties.

The issue of position/force control of collaborative robotic systems moving a payload is proposed in this paper. The proposed approach must be able to maintain the orientation/position of the payload on the reference trajectory while applying a limited force to the object through the robot's end-effector. With this in mind, linear/nonlinear PID control schemes have been proposed to achieve accurate and robust tracking performance. Lyapunov's stability analysis is utilized to confirm the stability of the controlled system. It proves that the controlled system is stable, while the object’s orientation/position tracking errors are uniformly ultimately bounded (UUB) in any bounded region of state space. It also presents some conditions for proper selection of the linear/nonlinear PID controllers’ gains in the form of two theorems. The proposed controllers apply to two coordinated 3DOF robotic arms that carry a payload. The simulation results tested two types of trajectories, including simple and complex paths. The results are also compared to those of a strong state-of-the-art approximator, the Chebyshev Neural Network (CNN).

Successful implementation of active control technology requires an appropriate control algorithm to calculate the adaptive control force required by the actuators. Smart structures represent a new engineering approach that integrates the actions of digital sensors, actuators and control circuit elements into a single control system that can respond adaptively to environmental stochastic changes in a useful manner. The mathematical model of the system is an estimation of its actual dynamic behavior. In general, this difference can have a significant effect on the performance and stability of the control system. One of the important issues in active control algorithms is the evaluation of the control system's robustness to model uncertainties and the actuator saturation. In this paper, a Developed Robust Proportional Integral Derivative controller with uncertainties in the structural stiffness parameter, the sensing noise and saturation windup of the saturation is introduced. the PID control force is obtained in such a way that the infinity norm of the closed loop system transfer function from disturbance inputs to target outputs becomes minimal. By considering the parametric uncertainty in the structural stiffness parameters and multiplicative unstructured uncertainty and the windup phenomenon in the actuator model and existence of noise in the velocity sensor, PID control scheme has been developed in the form of state space. The PID control gains by taking advantage of the H∞,mixed sensitivity minimization criterion, are obtained simultaneously by considering the effects of all vibration modes of the building in such a way that the infinity norm of the closed loop transfer function from exogenous inputs to the controlled outputs becomes minimal. To demonstrate the robust performance and stability of the proposed algorithm, the results of numerical simulations on a 4-story structure equipped with an active tuned mass damper are used. The obtained results show the robust performance and stability of the proposed robust PID control scheme in comparison with conventional PID and linear quadratic regulator (LQR) control algorithms, both in time and frequency domains. According to the mean values of performance indices, in average 11 and 7% more reduction in J1, 7 and 5% in J2 and 10 and 6% in J3 in the proposed robust PID in comparison with the LQR and common PID for three models subjected to far field selected earthquake records. And in average 17 and 10% more reduction in J1, 12 and 8% in J2 and 11 and 8% in J3 in the proposed robust PID in comparison with the LQR and common PID for three models subjected to near field selected earthquake records. And J4 which related to amount of control effort, for the proposed robust PID, LQR and conventional PID are 1. 3e-2, 9. 1e-3 and 7. 9e-3 in average for the three models subjected to far field and 4e-2, 2. 4e-2 and 2. 7e-2 subjected to near field selected earthquake records. The obtained results show the robust performance and stability of the proposed controller in the presence of structural stiffness uncertainties, actuator saturation and measurement noise.

For a two-input two-output distillation column with heavy interactions and long dead times, a two-by-two PI/PID controller is designed.The design objectives are good setpoint regulation and appropriate load disturbance rejection. The constraints are on degree of robust stability, control e ort as well as peaks of the maximum singular value of sensitivity and complementary sensitivity matrices. As this set of design objectives and constraints is often conicting, a more exible control structure, a two-degree-of-freedom scheme, is proposed. The design problem is formulated as a constrained optimization problem and is solved by a powerful random-search optimization technique, the so-called vector-based swarm optimization. Next, the performance of the proposed method in controlling a Wood and Berry distillation column is evaluated and compared with that of several well-known design techniques. Because of using a exible control structure, a powerful optimization algorithm and a comprehensive set of design requirements, the proposed control strategy performs well in coping with conicting design objectives.

This research proposes a robust fuzzy adaptive fractional-order proportional-integral-derivative (PID) controller for an active suspension system of a quarter-car model. For this, the research first designed the PID controller using chassis acceleration and relative displacement. Next, it utilized the chain derivative rule and the gradient descent mechanism to formulate adaptation rules based on integral sliding surfaces. In the next step, the control parameters were regulated by employing a fuzzy system comprising the product inference engine, singleton fuzzifier, and center average defuzzifier. Eventually, the optimum gains of the proposed controller were determined by running a multi-objective material generation algorithm (MOMGA). Simulation results implied the superiority of the proposed controller over other controllers in handling road irregularities.

In multi-objective optimization problems, multiple objectives must be optimized simultaneously. One approach involves designing a dedicated controller for each objective and then combining them using appropriate weighting functions to achieve an optimal overall response. Industrial systems often exhibit uncertainties due to modeling inaccuracies or variations in system parameters. This paper presents the design of two robust controllers, a PID controller and a neuro-fuzzy controller, to meet the requirements of strong stability and performance in an anti-lock braking system (ABS). The ABS, a fourth-order, nonlinear, and multivariable system, is decomposed into four single-input-single-output (SISO) subsystems via decentralized control. Two novel methods for controller blending and weight function design are introduced. The first method designs a weight function for the system error using the PID controller, and another for the system error using the neuro-fuzzy controller, both under robust stability constraints. The second employs a flowchart-based synthesis of low-pass and high-pass filters that simultaneously satisfy three key performance criteria: steady-state error, maximum overshoot, and settling time. Simulation results demonstrate that first approach delivers superior performance on both dry and slippery road surfaces.

In this paper, a robust fuzzy PID controller which is called online fuzzy PID (OFPID), for frequency control of an islanded micro grid is proposed. The proposed controller strategy is such that the fuzzy PID coefficients are automatically adjusted by fuzzy set theory at each time. To improve the performance of the proposed controller, the proposed improved differential evolution (IDE) algorithm which has suitable convergence speed in nonlinear functions optimization is used to optimal tune of its parameters including coefficients, membership functions, fuzzy rules weight and rules in three stages. To robust controller design in different operation points, the OFPID controller parameters is optimized by considering the uncertainties on some micro grid component parameters. The motivation for the proposed this control strategy is combination of fuzzy theory feature and IDE optimization algorithm to reduce control efforts and find better fuzzy system to achieve robust performance of micro grid frequency control. The test micro grid, is composed of distributed generation units such as diesel generators, photovoltaic, fuel cells with electrolyzer and wind turbine, as well as energy storage units such as flywheel and battery. In order to get closer to the frequency response of real micro grid, nonlinear factors on the distributed generation and energy storage sources have been considered. Simulation results by applying different disturbances show the good performance of the proposed OFPID controller than the optimized PID and classical fuzzy PID controllers.

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.

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.

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.