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Kim Seng Chia
Universiti Tun Hussein Onn Malaysia

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Ziegler-Nichols Based Proportional-Integral-Derivative Controller for a Line Tracking Robot Kim Seng Chia
Indonesian Journal of Electrical Engineering and Computer Science Vol 9, No 1: January 2018
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v9.i1.pp221-226

Abstract

Line tracking robots have been widely implemented in various applications. Among various control strategies, a proportional-integral-derivative (PID) algorithm has been widely proposed to optimize the performance of a line tracking robot. However, the motivation of using a PID controller, instead of a proportional (P) or a proportional-integral (PI) controller, in a line tracking task has seldom been discussed. Particularly, the use of a systematic tuning approach e.g. closed loop Ziegler Nichols rule to optimize the parameters of a PID controller has rarely been investigated. Thus, this paper investigates the performance of P, PI, and PID controllers in a line tracking task, and the ability of Ziegler Nichols rule to optimize the parameters of the P, PI, and PID controllers. First, the ultimate gain value, Ku and ultimate period of oscillation, Pu were estimated using a proposed approach. Second, the values of KP, KI and KD were estimated using the Ziegler Nichols formulae. The performance of a differential wheeled robot in the line tracking task was evaluated using three different speeds. Results indicate that the Ziegler Nichols rule coupled with the proposed method is able to identify the parameters of the P, PI, and PID controllers systematically in the line tracking task. Findings indicate that the mobile robot coupled with a proportional controller achieved the best performance compared to PI and PID controllers in the line tracking process when the estimated initial parameters were used.
Artificial neural network and partial least square in predicting blood hemoglobin using near-infrared spectrum Mohd Nazrul Effendy Mohd Idrus; Kim Seng Chia
Indonesian Journal of Electrical Engineering and Computer Science Vol 16, No 2: November 2019
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v16.i2.pp701-708

Abstract

Predictive models is crucial in near-infrared (NIR) spectroscopic analysis. Partial least square - artificial neural network (PLS-ANN) is a hybrid method that may improve the performance of prediction in NIR spectroscopic analysis. This study investigates the advantage of PLS-ANN over the well-known modelling in spectroscopy analysis that is partial least square (PLS) and artificial neural network (ANN). The results show that ANN that coupled with first order SG derivatives achieved the best prediction with root mean square error of prediction (RMSEP) of 0.3517 gd/L and coefficient of determination ( ) of 0.9849 followed by PLS-ANN with RMSEP of 0.4368 gd/L and  of 0.9787, and PLS with RMSEP of 0.4669 gd/L and  of 0.9727. This suggests that the spectrum information may unable to be totally represented by the first few latent variables of PLS and a nonlinear model is crucial to model these nonlinear information in NIR spectroscopic analysis.
Co-Authors Mohd Nazrul Effendy Mohd Idrus