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All Journal International Journal of Electrical and Computer Engineering TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics Indonesian Journal of Electrical Engineering and Computer Science
M. F. Rahmat
Universiti Teknologi Malaysia
Computer Science & IT Electrical & Electronics Engineering

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Enhanced self-regulation nonlinear PID for industrial pneumatic actuator S. N S. Salim; M. F. Rahmat; L. Abdullah; S. A. Shamsudin; M. Zainon; A. F. M. Amin
International Journal of Electrical and Computer Engineering (IJECE) Vol 9, No 4: August 2019
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (801.693 KB) | DOI: 10.11591/ijece.v9i4.pp3015-3024

Abstract

The present article describes the improvement of Self-regulation Nonlinear PID (SN-PID) controller. A new function is introduced to improve the system performance in terms of transient without affecting the steady state performance. It is used to optimize the nonlinear function available on this controller.  The signal error is reprocessed through this function, and the result is used to tune the nonlinear function of the controller. Furthermore, the presence of the dead zone on the proportional valve is solved using Dead Zone Compensator (DZC). Simulations and experiments were carried out on the pneumatic positioning system. Comparisons between the existing methods were examined and successfully demonstrated.
Optimization of Modified Sliding Mode Controller for an Electro-hydraulic Actuator System with Mismatched Disturbance Siti Marhainis Othman; M. F. Rahmat; S. M. Rozali; Zulfatman Has; A. F. Z. Abidin
International Journal of Electrical and Computer Engineering (IJECE) Vol 8, No 4: August 2018
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (621.833 KB) | DOI: 10.11591/ijece.v8i4.pp2148-2156

Abstract

This paper presents the design of the modified sliding mode controller (MSMC) for the purpose of tracking the nonlinear system with mismatched disturbance. Provided that the performance of the designed controller depends on the value of control parameters, gravitational search algorithm (GSA), and particle swarm optimization (PSO) techniques are used to optimize these parameters in order to achieve a predefined system’s performance. In respect of system’s performance, it is evaluated based on the tracking error present between reference inputs transferred to the system and the system output. This is followed by verification of the efficiency of the designed controller in simulation environment under various values, with and without the inclusion of external disturbance. It can be seen from the simulation results that the MSMC with PSO exhibits a better performance in comparison to the performance of the similar controller with GSA in terms of output response and tracking error.
Pneumatic positioning control system using constrained model predictive controller: Experimental repeatability test Siti Fatimah Sulaiman; M. F. Rahmat; Ahmad Athif Faudzi; Khairuddin Osman; S. I. Samsudin; A. F. Z. Abidin; Noor Asyikin Sulaiman
International Journal of Electrical and Computer Engineering (IJECE) Vol 11, No 5: October 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v11i5.pp3913-3923

Abstract

Most of the controllers that were proposed to control the pneumatic positioning system did not consider the limitations or constraints of the system in their algorithms. Non-compliance with the prescribed system constraints may damage the pneumatic components and adversely affect its positioning accuracy, especially when the system is controlled in real-time environment. Model predictive controller (MPC) is one of the predictive controllers that is able to consider the constraint of the system in its algorithm. Therefore, constrained MPC (CMPC) was proposed in this study to improve the accuracy of pneumatic positioning system while considering the constraints of the system. The mathematical model of pneumatic system was determined by system identification technique and the control signal to the valves were considered as the constraints of the pneumatic system when developing the controller. In order to verify the accuracy and reliability of CMPC, repetitive experiments on the CMPC strategy was implemented. The existing predictive controller, that was used to control the pneumatic system such as predictive functional control (PFC), was also compared. The experimental results revealed that CMPC effectively improved the position accuracy of the pneumatic system compared to PFC strategy. However, CMPC not capable to provide a fast response as PFC.
A new technique to reduce overshoot in pneumatic positioning system Siti Fatimah Sulaiman; M. F. Rahmat; A. A. M. Faudzi; Khairuddin Osman
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 17, No 5: October 2019
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v17i5.12807

Abstract

This paper presents a new approach for improving the performance of the pneumatic positioning system by incorporating a nonlinear gain function with observer system. System identification technique has been employed to represent the pneumatic system, while a model predictive control (MPC) with the observer system has been employed as the main controller to control the positioning of the system. The nonlinear gain function has been incorporated with the control strategy to compensate nonlinearities and uncertainties inherent in the parameters of the system. Unconstrained and constrained cases of control signals have been considered in this study. Simulation based on Matlab/Simulink indicated a reduction in overshoot of the system response for both cases due to additional nonlinear gain function in the strategy. Furthermore, remarkable enhancement was observed in effectiveness of this function while incorporated in constrained case, when this new strategy successfully improved the transient response in the pneumatic positioning system.
Optimization of PID for industrial electro-hydraulic actuator using PSOGSA Mohammed Maged Abdullah Alqadasi; Siti Marhainis Othman; M. F. Rahmat; Fahisal Abdullah
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 17, No 5: October 2019
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v17i5.12808

Abstract

The Electro-hydraulic actuator (EHA) systems known to be extremely nonlinear due to its dynamic characteristics and these existing nonlinearities and uncertainties yield to the constraint in the control of EHA system, which influences the position tracking accuracy and affect the occurrences of leakage and friction in the system. The purpose of this work is to develop the mathematical model for the industrial electrohydraulic actuator, then to design a controller by proportional-integral-derivative (PID) and optimize the parameters using Particle Swarm Optimization - Gravitational Search Algorithm (PSOGSA). A few controllers such as conventional PID (CPID) and model reference adaptive control (MRAC) designed for comparison. The performance of PID, PID-PSOGSA and modern controller MRAC will be compared in order to determine the most efficient controller. Despite all controllers are capable to provide good performance, PID-PSOGSA control methods generate good response compared to PID and MRAC in term of positioning.
Decentralized proportional-integral control with carbon addition for wastewater treatment plant M. H. Husin; M. F. Rahmat; N. A. Wahab
Bulletin of Electrical Engineering and Informatics Vol 9, No 6: December 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v9i6.2170

Abstract

Two main challenges in activated sludge wastewater treatment plant (WWTP) are cost and effluent quality, which has forced the wastewater treatment operator to find an alternative to improve the existing control strategy. The Benchmark Simulation Model No. 1 (BSM1) is applied as operational settings for this study. In BSM1, the standard control variables are the internal recirculation flow rate and the oxygen transfer rate. To improve the existing control strategy of BSM1, three alternative control handles are proposed, which are the individual aeration intensity control, carbon source addition and combination of both. The effect of each control handles in terms of the effluent violation, effluent quality, aeration cost, and total operational cost index are examined. The simulation result has shown that the individual control of aeration intensity improved the effluent quality index, and reduced the aeration, pumping, and total operational cost index when compared to the standard BSM1 control handle. Nonetheless, the addition of a fixed external carbon source has shown a significantly improved effluent quality with a lower number of total nitrogen violations as compared to the standard BSM1 control handles. Thus, the proposed control handles may be beneficial if applied in a real WWTP.
Data-driven adaptive predictive control for an activated sludge process Mashitah C. Razali; Norhaliza Abdul Wahab; Syahira Ibrahim; Azavitra Zainal; M. F. Rahmat; Ramon Vilanova
Bulletin of Electrical Engineering and Informatics Vol 9, No 5: October 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v9i5.2257

Abstract

Data-driven control requires no information of the mathematical model of the controlled process. This paper proposes the direct identification of controller parameters of activated sludge process. This class of data-driven control calculates the predictive controller parameters directly using subspace identification technique. By updating input-output data using receding window mechanism, the adaptive strategy can be achieved. The robustness test and stability analysis of direct adaptive model predictive control are discussed to realize the effectiveness of this adaptive control scheme. The applicability of the controller algorithm to adapt into varying kinetic parameters and operating conditions is evaluated. Simulation results show that by a proper and effective excitation of direct identification of controller parameters, the convergence and stability of the implicit predictive model can be achieved.
Enhancement in pneumatic positioning system using nonlinear gain constrained model predictive controller: experimental validation Siti Fatimah Sulaiman; M. F. Rahmat; Ahmad Athif Faudzi; Khairuddin Osman; N. H. Sunar
Indonesian Journal of Electrical Engineering and Computer Science Vol 23, No 3: September 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v23.i3.pp1385-1397

Abstract

The issues of inaccurate positioning control have made an industrial use of pneumatic actuator remains restricted to certain applications only. Non-compliance with system limits and properly control the operating system may also degrade the performance of pneumatic positioning systems. This study proposed a new approach to enhance pneumatic positioning system while considering the constraints of system. Firstly, a mathematical model that represented the pneumatic system was determined by system identification approach. Secondly, model predictive controller (MPC) was developed as a primary controller to control the pneumatic positioning system, which took into account the constraints of the system. Next, to enhance the performance of the overall system, nonlinear gain function was incorporated within the MPC algorithm. Finally, the performances were compared with other control methods such as constrained MPC (CMPC), proportional-integral (PI), and predictive functional control with observer (PFC-O). The validation based on real-time experimental results for 100 mm positioning control revealed that the incorporation of nonlinear gain within the MPC algorithm improved 21.03% and 2.69% of the speed response given by CMPC and PFC-O, and reduced 100% of the overshoot given by CMPC and PI controller; thus, providing fast and accurate pneumatic positioning control system.
Co-Authors A. A. M. Faudzi A. F. M. Amin A. F. Z. Abidin Ahmad Athif Faudzi Azavitra Zainal Fahisal Abdullah Khairuddin Osman L. Abdullah M. H. Husin M. Zainon Mashitah C. Razali Mohammed Maged Abdullah Alqadasi N. A. Wahab N. H. Sunar Noor Asyikin Sulaiman Norhaliza Abdul Wahab Ramon Vilanova S. A. Shamsudin S. I. Samsudin S. M. Rozali S. N S. Salim Siti Fatimah Sulaiman Siti Marhainis Othman Syahira Ibrahim Zulfatman Zulfatman