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All Journal IAES International Journal of Robotics and Automation (IJRA) Sinergi
Abdullah, Lokman
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Automotive Engineering Civil Engineering, Building, Construction & Architecture Control & Systems Engineering Electrical & Electronics Engineering Engineering Industrial & Manufacturing 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.
Real-time Unmanned Surface Robot (USR) for river quality monitoring systemm Mohd Aras, Mohd Shahrieel; Ponusamy, Pavitrah; Md Nawawi, Mohamad Riduwan; Zohedi, Fauzal Naim; Bahar, Mohd Bazli; Abdullah, Lokman; Khamis, Alias; Rizman, Zairi Ismael
SINERGI Vol 30, No 1 (2026)
Publisher : Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/sinergi.2026.1.001

Abstract

A real-time Unmanned Surface Robot (USR) for river water quality monitoring system is a technology that employs a small autonomous boat outfitted with sensors and other monitoring equipment to gather and transmit data on various water quality parameters like pH, temperature and total dissolved solids sensors in rivers and other bodies of water. The USR can traverse the river, gather information or data at specific points or designated locations, as well as continuously monitor a specific stretch of river at all times. The data or information was sent in real time to a central monitoring station, where it was analyzed and used to identify potential water quality problems. Initially, the USR was designed using SolidWorks software, and its structural performance was the main focus of the investigation and examination of the design.  This USR was then created and manufactured.  The entire USR system could help detect and mitigate pollution and other environmental problems, as well as offer useful information for managing water resources. Next, to determine the overall performance of the USR, five experiments and autopilot accuracy tests were performed. Finally, this study also verified and validated the accuracy of water quality monitoring sensors. 
Co-Authors Alias Khamis, Alias Bahar, Mohd Bazli Ibrahim, Mazree Kamaludin, Khairun Najmi Md Nawawi, Mohamad Riduwan Mohd Shahrieel Mohd Aras, Mohd Shahrieel Ponusamy, Pavitrah Rahmat, Mohd Fua’ad Rizman, Zairi Ismael Shamsudin, Shamsul Anuar Syed Salim, Syed Najib Zohedi, Fauzal Naim