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    Item type:Publication,
    Self-balancing Robot Control Using Fractional-Order PID Controller
    (2019-01-01)
    Kankhunthodl, K.
    ;
    Kongratana, V.
    ;
    Numsomran, A.
    ;
    Tipsuwanporn, V.
    This paper presents a two-wheeled robot control that can balance upright on its own by controlling the angular speed of the motor to keep the robot upright using measured data from the gyroscope sensor. The aim of this study is to demonstrate the design of fractional-order PID controller (FOPID) that has more controllability and the ability to adjust outperform traditional PID controller. The design of optimal FOPID controller based on integer-order PID parameters are explained and validated its performance compared with the traditional PID controller using Matlab simulation. As well as the real system experiment is implemented on Raspberry Pi using IIR filters cascaded second-order section form II. The study revealed the appropriate concept of implementation of FOPID on the real system.
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    High performance electronically tunable log-domain current-mode PID controller
    (2018-02-01)
    Prommee, Pipat
    ;
    Angkeaw, Krit
    This research proposes a log-domain P (proportional) I (integral) D (derivative) controller whereby the bias currents are arbitrarily applied to the P, I and D components for independent or simultaneous electronic tuning and the subsequent improved response. In the study, the initial P, I and D circuits were individually realized using 17, 13 and 21 bipolar transistors, and the final PID controller required 62 bipolar transistors including the biasing circuits and a multiple-output current buffer. The proposed PID controller was operational on a dual power supply of ±1.5 V, with the wide-range tunability up to three decades without the circuit topology alteration. Additionally, simulations were carried out with the individual P, I, D circuits and PID controller to verify the performance (i.e. tunability and the response time) and the simulation results compared with the existing PID schemes. Importantly, the simulation results of the PID controller are in good agreement with the theoretical PID functions.