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Start date: 2025Subject: search.filters.subject.PI control

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    Decentralised and Centralised Fixed Structure H∞ Robust Loop Shaping for the MIMO Microsurgical Manipulation Based on PSOGSA
    (2026-01-01)
    Kaitwanidvilai, Somyot
    ;
    Konghuayrob, Poom
    ;
    Aoyama, Hisayuki
    This paper presents decentralised and centralised fixed-structure H∞ robust control methods optimised by the Particle Swarm Optimisation and Gravitational Search Algorithm (PSOGSA) for a coupled multi-input multi-output (MIMO) microsurgical manipulator. The design framework explicitly considers uncertainties and disturbance constraints. Conventional H∞ loop-shaping controllers are typically of high order, complex, and difficult to implement in practice. To address this limitation, Proportional-Integral-Derivative (PID)-structured decentralised and centralised H∞ controllers are proposed, providing compact structures while retaining robustness. The novelty of this work lies in embedding H∞ robustness criteria into practical PID-based frameworks, bridging the gap between theoretical robust design and experimental implementation in microsurgical applications. The proposed controllers are evaluated against a reduced-order H∞ controller derived from Hankel norm approximation and a Ziegler–Nichols tuned PID controller, using both simulation and experimental studies. Results demonstrate that the proposed controllers achieve improved stability margins (0.449–0.521 compared with 0.436 for the reduced-order design), maintain low root-mean-square errors (≈0.067–0.089) and remain robust under voltage disturbances where conventional PID control fails. These findings confirm the contribution of a practical and efficient robust control strategy for enhancing the precision and reliability of microsurgical manipulators.
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    Auto-tuned Active Filter Design for Lighting System in Buildings
    (2025-01-01)
    Phannil, Natthanon
    ;
    Bunjongjit, Sulee
    ;
    Ananwattanaporn, Santipont
    The lighting system is a continuously used energy system found in all buildings. This system is highly complex as it includes various types such as incandescent bulbs, fluorescent tubes, HID lamps, and LEDs. These types of loads consist of many electronic components and are significant sources of Auto-Tuned Active Filter signals. These harmonic signals directly affect protective devices and electronic equipment in the building's electrical system. Therefore, reducing the harmonic signals generated by the lighting system is crucial for buildings. Generally, harmonic reduction can be achieved by installing one of three types of filters: active, passive, and hybrid. This research presents the design of an auto-tuned active filter using the MATLAB Simulink and tests it using four lighting load cases. The designed circuit can effectively reduce harmonic signals while also improving the energy efficiency of the building.