MARC details
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05357ntm a2200373 i 4500 |
| 003 - CONTROL NUMBER IDENTIFIER |
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MY-KuUP |
| 005 - DATE AND TIME OF LATEST TRANSACTION |
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20251125105727.0 |
| 006 - FIXED-LENGTH DATA ELEMENTS--ADDITIONAL MATERIAL CHARACTERISTICS |
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| 007 - PHYSICAL DESCRIPTION FIXED FIELD--GENERAL INFORMATION |
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ta |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION |
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201012t2 2 M a|||fram|| 000 0 eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER |
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| International Standard Book Number |
THE0008902(Local) |
| Qualifying information |
hardback |
| 040 ## - CATALOGING SOURCE |
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| Original cataloging agency |
UMP |
| Language of cataloging |
eng |
| Transcribing agency |
UMP |
| Description conventions |
rda |
| 090 ## - LOCALLY ASSIGNED LC-TYPE CALL NUMBER (OCLC); LOCAL CALL NUMBER (RLIN) |
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| Classification number (OCLC) (R) ; Classification number, CALL (RLIN) (NR) |
FTKEE .S25 2019 r Thesis |
| 100 0# - MAIN ENTRY--PERSONAL NAME |
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| Personal name |
Nor Sakinah Abdul Shukor, |
| Relator term |
author. |
| 245 10 - TITLE STATEMENT |
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| Title |
Safe experimentation dynamics algorithm for data-driven PID controller of a class of underactuated systems / |
| Statement of responsibility, etc. |
Nor Sakinah Abdul Shukor |
| 264 #1 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE |
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| Place of production, publication, distribution, manufacture |
Kuantan, Pahang : |
| Name of producer, publisher, distributor, manufacturer |
UMP, |
| Date of production, publication, distribution, manufacture, or copyright notice |
2019 |
| 264 #4 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE |
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| Date of production, publication, distribution, manufacture, or copyright notice |
© 2019 |
| 300 ## - PHYSICAL DESCRIPTION |
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| Extent |
xiv, 88 pages : |
| Other physical details |
illustrations (some color) ; |
| Dimensions |
30 cm. + |
| Accompanying material |
1 CD-ROM |
| 336 ## - CONTENT TYPE |
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| Content type term |
text |
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rdacontent |
| 336 ## - CONTENT TYPE |
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| Content type term |
text |
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rdacontent |
| 337 ## - MEDIA TYPE |
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| Media type term |
unmediated |
| Source |
rdamedia |
| 337 ## - MEDIA TYPE |
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| Media type term |
computer |
| Source |
rdamedia |
| 338 ## - CARRIER TYPE |
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volume |
| Source |
rdacarrier |
| 338 ## - CARRIER TYPE |
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| Carrier type term |
computer disc |
| Source |
rdacarrier |
| 347 ## - DIGITAL FILE CHARACTERISTICS |
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| File type |
text file |
| Encoding format |
PDF |
| Source |
rda |
| 500 ## - GENERAL NOTE |
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| General note |
Faculty of Electrical and Electronic Engineering Technology |
| 502 ## - DISSERTATION NOTE |
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| Dissertation note |
Thesis (Master of Science) -- Universiti Malaysia Pahang – 2019 |
| 504 ## - BIBLIOGRAPHY, ETC. NOTE |
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| Bibliography, etc. note |
Includes bibliographical references |
| 520 3# - SUMMARY, ETC. |
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| Summary, etc. |
In recent decades, various control strategies for underactuated mechanical systems (UMS) have been widely reported which are derived from the systems’ model. Due to the problem of the unmodeled dynamics, there is a significant disparity between the theory of control and its actual applications, which makes the model-based controller difficult to apply. In recent years, control researchers have been switching to the method of data-driven control in order to eliminate this disparity. The control performance of this method is independent of the plant’s model accuracy to attain the control objective. This is because its controller’s design is founded only on the input-output (I/O) data measurement of the actual plants. In the industry, the proportional-integral-derivative (PID) controller is the control method that has been widely implemented because of its simplicity, the fact that it is more understandable and more reliable to be used for industrial purposes. So far, the tuning methods used for data-driven PID for the underactuated systems are mostly based on the multi-agent-based optimization, which means that the design requires substantial computation time and make it not practical for on-line tuning applications. Therefore, it is necessary to develop a tuning strategy that requires less computation time. Previously, a stochastic approximation based method such as the norm-limited simultaneous perturbation stochastic approximation (NL-SPSA) and global NL-SPSA (G-NL-SPSA) have shown successful results as tools for the data-driven PID tuning. Notably, the SPSA and GSPSA based methods only produced the optimal design parameter at the final iteration while it may keep a better design parameter during the tuning process if it has a memory feature. Hence, a memory-based optimization tool has good potential to retain the optimal design parameter during the PID tuning process. This can overcome the existing memory-based algorithms such as random search (RS) and simulated annealing (SA) which currently produce less control accuracy due to the local minimum problem. Motivated by the limitations of the current methods, there is an advantage to using safe experimentation dynamics (SED) as a tool for optimization. SED offers memory-based features and effectiveness to perform with lesser computation time to overcome a range of optimization problems, even for high-dimensional parameter tuning. Moreover, other than the memory-based feature, SED algorithm has fewer design parameters to be addressed and the independence of the gain sequence in the tuning process. Previously, SED algorithm has been applied in to control scheme of wind farm to optimize the total power production but has yet to be applied in PID tuning. Therefore, it is good to study the effectiveness of SED in PID tuning. In this study, the efficiency of the proposed approach is tested by applying the PID controller tuning to the slosh control system, double-pendulum-type overhead crane (DPTOC) control system and multi-input-multi-output (MIMO) crane control system. The performance was evaluated using numerical examples in terms of tracking performance and control input energy. Thirty trials have been performed to evaluate the SED, norm limited SPSA (NL-SPSA), global norm limited SPSA (G-NL-SPSA), and RS algorithms in each example. Next, when the pre-stated termination condition is fitted, each method is evaluated based on the statistical analysis involving the objective function, the total norm of the error and total norm of the input. Then, the rise time, settling time, and percentage of overshoot of the one best trial out of the 30 trials were observed for each method. In the DPTOC control system, we also present the examples with disturbance. The performance comparison was made only between the SED based method and G-NL-SPSA based method. In addition, the average percentage of the control objective improvement retrieved from the 30 trials for each method was also observed. |
| 610 20 - SUBJECT ADDED ENTRY--CORPORATE NAME |
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| Corporate name or jurisdiction name as entry element |
Faculty of Electrical and Electronic Engineering Technology |
| General subdivision |
Dissertations |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Universities and colleges |
| General subdivision |
Disertations |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Theses |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) |
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| Source of classification or shelving scheme |
Library of Congress Classification |
| Koha item type |
Thesis |