The proportional-integral-derivative (PID) controllers have experienced series of structural modifications and improvements. Example of such modifications are set-point weighting and fractional ordering. While the former is to achieve two-degree-of-freedom (2DOF) ability of set-point tracking and disturbance rejection, the latter is to ensure smooth control action. Therefore, this paper reviews various forms of PID controllers and provides a comparative analysis of 2DOF PID and 2DOF fractional order PID (FOPID) controllers. The paper also discusses the conversion of one PID form to another. For the comparative analysis of the various controllers, a class of unstable systems are considered. Simulation result shows that in most cases the conversion from one form to another does not significantly affect the performance of the system. It is also observed that the 2DOF controllers (2DOF PID and 2DOF FOPID) improved significantly the performance of the ordinary PID controllers.
A new method for computation of positive realizations of given transfer matrices of fractional linear continuous-time linear systems is proposed. Necessary and sufficient conditions for the existence of positive realizations of transfer matrices are given. A procedure for computation of the positive realizations is proposed and illustrated by examples.
The recently proposed q-rung orthopair fuzzy set (q-ROFS) characterized by a membership degree and a non-membership degree is powerful tool for handling uncertainty and vagueness. This paper proposes the concept of q-rung orthopair linguistic set (q-ROLS) by combining the linguistic term sets with q-ROFSs. Thereafter, we investigate multi-attribute group decision making (MAGDM) with q-rung orthopair linguistic information. To aggregate q-rung orthopair linguistic numbers ( q-ROLNs), we extend the Heronian mean (HM) to q-ROLSs and propose a family of q-rung orthopair linguistic Heronian mean operators, such as the q-rung orthopair linguistic Heronian mean (q-ROLHM) operator, the q-rung orthopair linguistic weighted Heronian mean (q-ROLWHM) operator, the q-rung orthopair linguistic geometric Heronian mean (q-ROLGHM) operator and the q-rung orthopair linguistic weighted geometric Heronian mean (q-ROLWGHM) operator. Some desirable properties and special cases of the proposed operators are discussed. Further, we develop a novel approach to MAGDM within q-rung orthopair linguistic context based on the proposed operators. A numerical instance is provided to demonstrate the effectiveness and superiorities of the proposed method.
An ideal observability subspace expression is stated for bilinear abstract system with bounded operator in Hilbert spaces. The case of finite dimentional space is also treated. However, it’s noticed that the state ideal observability can never be fulfilled within an infinite dimensional phase space in the case of scalar output. The case of bilinear discrete-time system with delays in observation is also described. To illustrate this work some examples are presented.
Abstract An autonomous mobile robot is a robot which can move and act autonomously without the help of human assistance. Navigation problem of mobile robot in unknown environment is an interesting research area. This is a problem of deducing a path for the robot from its initial position to a given goal position without collision with the obstacles. Different methods such as fuzzy logic, neural networks etc. are used to find collision free path for mobile robot. This paper examines behavior of path planning of mobile robot using three activation functions of wavelet neural network i.e. Mexican Hat, Gaussian and Morlet wavelet functions by MATLAB. The simulation result shows that WNN has faster learning speed with respect to traditional artificial neural network.
Abstract A hyperjerk system is a dynamical system, which is modelled by an nth order ordinary differential equation with n ⩾ 4 describing the time evolution of a single scalar variable. Equivalently, using a chain of integrators, a hyperjerk system can be modelled as a system of n first order ordinary differential equations with n ⩾ 4. In this research work, a 4-D novel hyperchaotic hyperjerk system has been proposed, and its qualitative properties have been detailed. The Lyapunov exponents of the novel hyperjerk system are obtained as L1 = 0.1448, L2 = 0.0328, L3 = 0 and L4 = −1.1294. The Kaplan-Yorke dimension of the novel hyperjerk system is obtained as DKY= 3.1573. Next, an adaptive backstepping controller is designed to stabilize the novel hyperjerk chaotic system with three unknown parameters. Moreover, an adaptive backstepping controller is designed to achieve global hyperchaos synchronization of the identical novel hyperjerk systems with three unknown parameters. Finally, an electronic circuit realization of the novel jerk chaotic system using SPICE is presented in detail to confirm the feasibility of the theoretical hyperjerk model.