Muhammad Faisal ¹, Mohsin Jamil ¹, Qasim Awais ², Usman Rashid ¹, Muhammad Sami Syed Omer Gilani ¹, Yasar Ayaz ¹, Muhammad Nasir Khan ³

Affiliations
1 Department of Robotics and Artificial Intelligence, School of Mechanical and Manufacturing Engineering, National University of Sciences and Technology, H-12 Main Campus, Islamabad, PK
2 University of Central Punjab, Lahore, PK
3 University of Lahore, PK

Abstract

In this paper, we have investigated the performance of Iterative Linear Quadratic Regulator (ILQR) on trolley position of 3DOF crane. In ILQR, we select optimum parameters Q and R automatically instead of hit and trial method. Algorithm chooses the parameters Q and R which results in minimum trolley’s settling time of the jib system. A number of simulations have carried out using Matlab/Simulink. The results show that the optimized LQR results reduce settling time of trolley along with smaller overshoot with less rise time.

Keywords

Iterative Linear Quadratic Regulator (ILQR), Proportional Integral Derivative (PID), Three Degree of Freedom (3DOF)

Full Text

   

Arbab Aimal Khan ¹, Mohsin Jamil ¹, Syed Omer Gilani ¹, Qasim Awais ¹

Affiliations
1 School of Mechanical and Manufacturing Engineering (SMME), National University of Sciences and Technology (NUST), H-12 Main Campus, Islamabad, PK

Abstract

This paper presents a methodology to design robust predictive controller for the balancing of an inverted pendulum. The inverted pendulum is one of the most difficult control problem in which the pendulum needs to be balanced against the cart, which moves only in two directions to the left or to the right. A new robust controller is designed to balance the pendulum and produces results which are more effective and fast. A Model Predictive Control (MPC) and PID control strategies are applied for controlling the system equations of the inverted pendulum model and are analyzed and compared. The results of controllers implemented in MATLAB shows that both the strategies are able to control the system but robust model predictive control strategy gives better response as compared to conventional PID controller.

Keywords

Controller, Inverted Pendulum (IP), Model Predictive Control (MPC), Proportional Integral Derivative (PID).

Full Text

   

Shahab Shahid Khawaja ¹, Mohsin Jamil ¹, Qasim Awais ², Umer Asgher ¹, Yasar Ayaz ¹

Affiliations
1 Department of Robotics and Artificial Intelligence, School of Mechanical and Manufacturing Engineering, National University of Sciences and Technology, H-12 Main Campus, Islamabad, PK
2 University of Central Punjab, Lahore, PK

Abstract

With the depletion of fossil fuel, the world is shifting towards the sources of alternate energy, but a major impediment in their utilization is their inter-connection with the grid. This paper builds on the model of a grid-connected converter which is used to interface the different alternate energy sources using matlab/simulink as simulation software. The classical control techniques proportional/proportional integral (P/PI) are applied on the model of the two-level grid-connected converter with LCL filter. The overall structure of the system is based upon the inner-loop capacitor current and outerloop controller feedback. These parameters are varied and their effect is investigated in the presence of utility harmonics. The limitations and performance of the system with the variation in gain values is studied so that optimal gains can be identified.

Keywords

Grid-Connected Converters, Micro-grid, Total Harmonic Distortion

Full Text