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All Journal IAES International Journal of Robotics and Automation (IJRA)
Ibrahim, Mazree
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Automotive Engineering Electrical & Electronics Engineering

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Comparative insights into nonlinear PID-based controller design approaches for industrial applications Syed Salim, Syed Najib; Rahmat, Mohd Fua’ad; Abdullah, Lokman; Shamsudin, Shamsul Anuar; Kamaludin, Khairun Najmi; Ibrahim, Mazree
IAES International Journal of Robotics and Automation (IJRA) Vol 14, No 2: June 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v14i2.pp191-203

Abstract

Proportional-integral-derivative (PID) controllers are established in manufacturing due to their simple design, robustness, and wide-ranging industrial applications. However, traditional PID controllers often struggle with the complexity and nonlinearity behaviors inherent in many control systems. As a result, ongoing and future research is focused on developing more stable PID controllers that function efficiently without heavily depending on exact mathematical models, by fine-tuning controller parameters. This study explores several PID-based controllers, including non-linear PID (N-PID), multi-rate non-linear PID (MN-PID), and self-regulating nonlinear PID (SN-PID), assessing and contrasting their performance. The efficacy and robustness of these control mechanisms are substantiated through comparative analyses with the sliding mode control technique, employing experimental data from a pneumatic actuator system to assess performance across varying load scenarios. SN-PID outperforms sliding mode controller (SMC) by 90.97% and PID by 89.90%, followed by MN-PID (85.58% over SMC, 83.86% over PID) and N-PID (78.08% over SMC, 75.49% over PID), while PID offers only 10.63% improvement over SMC. These findings provide valuable insights and recommendations for enhancing controller performance. These insights aim to guide control engineers in selecting the most appropriate N-PID design strategy for specific applications, ultimately improving system performance and operational efficiency in industrial environments.
Co-Authors Abdullah, Lokman Kamaludin, Khairun Najmi Rahmat, Mohd Fua’ad Shamsudin, Shamsul Anuar Syed Salim, Syed Najib