Benjanarasuth, Taworn

Preferred name

Alternative Name

Benjanarasuth, T.

Main Affiliation

School of Engineering

taworn.be@kmitl.ac.th

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CDM based servo state feedback controller with minimum-order observer for crane system
(2006-12-01)
Puwan, Santi
;
Nundrakwang, Songmoung
;
Benjanarasuth, Taworn
;
Ngamwiwit, Jongkol
;
Komine, Noriyuki
In this paper, the design of servo state feedback controller with minimum-order observer by using the concept of Coefficient Diagram Method (CDM) for crane system is presented. An Integrator is augmented to the system so that the system will exhibit no steady-state error in the response to step input. In order to apply the CDM method, the mathematical model of the crane system must be firstly linearlized and converted into controllable canonical form by transformation matrix. Then feedback gain matrix, integral gain and observer gain matrix in sense of CDM can be obtained. The satisfied performances of the crane system controlled by the proposed controller are shown in simulation results. © 2006 IEEE.
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Hybrid controller for swinging up inverted pendulum system
(2005-12-01)
Nundrakwang, Songmoung
;
Benjanarasuth, Taworn
;
Ngamwiwit, Jongkol
;
Komine, Noriyuki
A hybrid controller for swinging up inverted pendulum system is proposed in this paper. The controller composes of two parts. The first part is the PD position control for swinging up the pendulum from the natural pendent position by moving the cart back and forth until the pendulum swings up around the upright position. The second part is a servo state feedback control designed by LQR which will be switched to stabilize the inverted pendulum in its upright position. The effectiveness and reliability of the proposed hybrid controller for swinging up inverted pendulum on cart are also shown by the experimental results. © 2005 IEEE.
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PI controller design with feedforward by CDM for level processes
(2000-12-01)
Kumpanya, Danupon
;
Benjanarasuth, Taworn
;
Ngamwiwit, Jongkol
;
Komine, Noriyuki
A second-order level process controlled by PI controller designed from coefficient diagram method (CDM) will meet the desired performances both in transient and steady-sate response. However, the transient response generally still has long rise time. This paper presents an additional idea to improve the speed of the system response by including a feedforward controller (FFC) in the closed-loop system. The structure of the FFC is a phase lead structure with a parameter that can be varied greater than one. The faster step response of the controlled system can be obtained while the rejection speed of the effect due to constant output disturbance is not affected by the proposed FFC.
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I-PD and PD controllers designed by CRA for overhead crane system
(2007-12-01)
Sridokbuap, Wanlop
;
Nundrakwang, Songmoung
;
Benjanarasuth, Taworn
;
Ngamwiwit, Jongkol
;
Komine, Noriyuki
An overhead crane system controlled by an I-PD controller incorporating with PD controller is presented in this paper. The characteristic ratio assignment method is employed to design the I-PD controller and the PD controller for controlling the position of trolley and for controlling the load swing angle of the overhead crane system, respectively. Using the concept of characteristic ratio assignment method, the speed of the step response can also be increased by using a design factor k. The simulation results show that the step response can reach to the desired position without overshoot and with small load swing angle. The slightly change of the step responses when changing the parameters of the overhead crane system are also shown. The simulation results also show that when the speed of the step response is increased, the load swing angle is large related to the speed increased while the disturbance effect rejection is fast. © ICROS.
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Swinging-up and stabilizing control of inverted pendulum on cart system by hybrid controller
(2009-01-01)
Asa, Ekachai
;
Benjanarasuth, Taworn
;
Komine, Noriyuki
In this paper, a hybrid controller designed for swinging-up and stabilizing an inverted pendulum on cart system is presented. The energy control concept is employed for moving the cart back and forth until the total energy of kinetic energy and potential energy are changed enough to swing the inverted pendulum up to around the upright position within the ranges of pendulum angle and angular velocity specified in the switching condition. After that, the stabilizing controller is switched to stabilize the inverted pendulum at the upright position. The stabilizing controller is a linear servo state feedback controller designed by coefficient diagram method. The simulation and experimental results in swinging-up the pendulum from its pendant position to around the position within a limited travel of the cart without pre-assigned cart's position and stabilizing the inverted pendulum on cart are also shown for comparison.
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Multivariable control of overhead crane system by CRA method
(2008-12-01)
Nundrakwang, Songmoung
;
Benjanarasuth, Taworn
;
Ngamwiwit, Jongkol
;
Komine, Noriyuki
In this paper, three controllers, namely I-PD, PD and I-P controllers designed by CRA method for simultaneously controlling the trolley position, load-swing angle and hoisting rope length of the overhead crane system is proposed. The non-linear model of the crane system is first approximated to be three transfer functions in accordance with the trolley position, load-swing angle and hoisting rope length respectively. Then, the corresponding parameters of the I-PD, PD and I-P controllers are designed independently based on the appropriate values of generalized time constant and characteristic ratios. The implementation results show the good performances of the overhead crane system controlled by these controllers. The speed adjustment effects and fast rejection of the disturbance effect occurred at the input force of the trolley are also shown by the experimental results. © 2008 SICE.
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Derivative state constrained optimal H2 integral servo controller with a prescribed degree of stability
(2005-12-01)
Komine, Noriyuki
;
Benjanarasuth, Taworn
;
Ngamwiwit, Jongkol
In this paper, the derivative state constrained optimal H<inf>2</inf> integral servo controller is presented based on the optimal H<inf>2</inf> control problem with a prescribed degree of stability to reduce under damped responses of the controlled linear systems. The proposed servo controller stabilizes the controlled system with a prescribed degree of stability such that its output tracks a step reference input in an optimal H<inf>2</inf> control sense. It is shown that the derivative state constrained optimal H<inf>2</inf> integral servo problems with a prescribed degree of stability can be reduced to the standard optimal H<inf>2</inf> control problem. The application of the proposed method is illustrated by a simulation example of the crane model system to show its effectiveness. ©2005 IEEE.
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New tuning formulas for two-degree of freedom PID controllers and the application to level control systems
(2007-01-01)
Benjanarasuth, Taworn
;
Ngamwiwit, Jongkol
;
Komine, Noriyuki
;
Ochiai, Yasuzumi
This paper presents novel tuning formulas for two-degree of freedom PID-family controllers. The structure of the proposed control system consists of a plant or process to be controlled, P or PI or PID controllers and a pre-filter. The tuning formulas are derived based on the CDM design method by solving CDM algebraic equations obtained from the known controllers' structures and the approximated plant model based on the experimental test. The proposed formulas are summarized in the tuning table and can be used easily. To apply the tuning rules, the plant or process is firstly tested to find the values of critical gain and critical period experimentally in the same manner as Ziegler-Nichols' second method. The parameters of P, PI or PID controller and the associated pre-filter are then obtained by substituting those values in the formulas. The experiments in controlling the level process with long pipeline controlled by the controllers tuned by the proposed rules and the well-known Ziegler-Nichols' formulas are conducted and compared. The proposed control systems result in responses with shorter settling time and considerably smaller or no overshoot. Overall, the proposed formulas are well applicable despite their simplicity.
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Hybrid controller for swinging up and stabilizing the inverted pendulum on cart
(2008-12-01)
Asa, Ekachai
;
Benjanarasuth, Taworn
;
Ngamwiwit, Jongkol
;
Komine, Noriyuki
In this paper, a hybrid controller for swinging up and stabilizing an inverted pendulum on cart is presented. The energy control concept is employed to swing the inverted pendulum up to around the upright position within the assigned switching condition. After that, the stabilizing controller is then switched to stabilize the inverted pendulum at the upright position. The stabilizing controller is a linear servo state feedback controller designed by Coefficient Diagram Method. The simulation results show that the designed hybrid controller can be mutually operated with acceptable efficiency.
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Optimal H2 controller design with derivative state constraints for torsional vibration system
(2009-01-01)
Komine, Noriyuki
;
Boksuwan, Sungwan
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Benjanarasuth, Taworn
;
Ngamwiwit, Jongkol
The powerful derivative state constrained H<inf>2</inf> optimal is presented in order to reduce vibration in oscillatory system with a constant disturbance will be considered. It is shown that the derivative state constrained optimal H<inf>2</inf> integral problems can be reduced to the standard optimal H<inf>2</inf> control. In this paper, the derivative state constrained optimal H<inf>2</inf> integral controller is presented based on the optimal H<inf>2</inf> control problem to control underdamped responses of the linear systems. And the simulation results show that the proposed method is also effectiveness to reduce the damping for the torsional vibration based on two-inertia system.

Benjanarasuth, Taworn

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