Relevant bibliographies by topics / PID controller cascaded filter

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  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'PID controller cascaded filter'

Author: Grafiati
Published: 3 June 2025
Last updated: 19 July 2025

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Journal articles on the topic "PID controller cascaded filter"

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Mabu, Sarif B., D. V. Ashok Kumar, and M. Venu Gopala Rao. "Disturbance rejection using IMC Tuned PID controller with improved filter." Indonesian Journal of Electrical Engineering and Computer Science 20, no. 3 (2020): 1261–70. https://doi.org/10.11591/ijeecs.v20.i3.pp1261-1270.

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IMC-PID controllers supply exceptional set point tracking but slow disturbance refutation, because of introduction of slow process pole introduced by the conventional filter. Disturbance rejection is important in many industrial applications over set point tracking. An enhanced IMC filter cascaded with PID controller with internal model control tuning system (IMC-PID) is presented right now for efficient disruption rejection and reliable first order process operation with time delay (FOPTD). The optional filter does away with the sluggish dominant pole. The present learning shows that the recommended IMC filter provide excellent trouble rejection irrespective of where the trouble enters the procedure and provide highquality robustness to duplicate deviation in surroundings of accepting in difference with other method cited in the text. Reenactment study was led to show the feasibility of the suggested approach on processes with different   ratios by measuring the controller parameters while retaining the same robustness as regards maximal sensitivity. His efficiency of the closed loops was assessed utilizing integral error parameters. Viz. ISE, ITAE, IAE. The recommended filter provides excellent response pro lag dominant processes.
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P.R., Hemavathy, Mohamed Shuaib Y, and S. K. Lakshmanaprabu. "Internal model controller based PID with fractional filter design for a nonlinear process." International Journal of Electrical and Computer Engineering (IJECE) 10, no. 1 (2020): 243. http://dx.doi.org/10.11591/ijece.v10i1.pp243-254.

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In this paper, an Internal model Controller (IMC) based PID with fractional filter for a first order plus time delay process is proposed. The structure of the controller has two parts, one is integer PID controller part cascaded with fractional filter. The proposed controller has two tuning factors λ, filter time constant and a, fractional order of the filter. In this work, the two factors are decided in order to obtain low Integral Time Absolute Error (ITAE). The effectiveness of the proposed controller is studied by considering a non linear (hopper tank) process. The experimental set up is fabricated in the laboratory and then data driven model is developed from the experimental data. The non linear process model is linearised using piecewise linearization and two linear regions are obtained. At each operating point, linear first order plus dead time model is obtained and the controller is designed for the same. To show the practical applicability, the proposed controller is implemented for the proposed experimental laboratory prototype.
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Hemavathy, P. R., Shuaib Y. Mohamed, and K. Lakshmanaprabu S. "Internal model controller based PID with fractional filter design for a nonlinear process." International Journal of Electrical and Computer Engineering (IJECE) 10, no. 1 (2020): 243–54. https://doi.org/10.11591/ijece.v10i1.pp243-254.

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In this paper, an Internal model Controller (IMC) based PID with fractional filter for a first order plus time delay process is proposed. The structure of the controller has two parts, one is integer PID controller part cascaded with fractional filter. The proposed controller has two tuning factors λ, filter time constant and a, fractional order of the filter. In this work, the two factors are decided in order to obtain low Integral Time Absolute Error (ITAE). The effectiveness of the proposed controller is studied by considering a non linear (hopper tank) process. The experimental set up is fabricated in the laboratory and then data driven model is developed from the experimental data. The non linear process model is linearised using piecewise linearization and two linear regions are obtained. At each operating point, linear first order plus dead time model is obtained and the controller is designed for the same. To show the practical applicability, the proposed controller is implemented for the proposed experimental laboratory prototype.
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Mabu Sarif, B., D. V. Ashok Kumar, and M. Venu Gopala Rao. "Disturbance rejection using IMC tuned PID controller with improved filter." Indonesian Journal of Electrical Engineering and Computer Science 20, no. 3 (2020): 1261. http://dx.doi.org/10.11591/ijeecs.v20.i3.pp1261-1270.

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<p>IMC-PID controllers supply exceptional set point tracking but slow<br />disturbance refutation, because of introduction of slow process pole<br />introduced by the conventional filter. Disturbance rejection is important in<br />many industrial applications over set point tracking. An enhanced IMC filter<br />cascaded with PID controller with Internal Model Control Tuning System<br />(IMC-PID) is presented right now for efficient disruption rejection and<br />reliable first order process operation with time delay (FOPTD). The optional<br />filter does away with the sluggish dominant pole. The present learning shows<br />that the recommended IMC filter provide excellent trouble rejection<br />irrespective of where the trouble enters the procedure and provide high-<br />quality robustness to duplicate deviation in surroundings of accepting in<br />difference with other method cited in the text. Reenactment study was led to<br />show the feasibility of the suggested approach on processes with different 0/r ratios by measuring the controller parameters while retaining the same<br />robustness as regards maximal sensitivity. His efficiency of the closed loops<br />was assessed utilizing integral error parameters. Viz. ISE, ITAE, IAE. The<br />recommended filter provides excellent response pro lag dominant processes.</p>
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Mishra, Debayani, Manoj Kumar Maharana, and Anurekha Nayak. "Frequency amelioration of an interconnected microgrid system." Open Engineering 12, no. 1 (2022): 349–58. http://dx.doi.org/10.1515/eng-2022-0038.

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Abstract This article validates the operational effectiveness of a fuzzy-based multistage cascaded proportional integral derivative fractional filter (PIDFN) controller which enhances the frequency regulation of an interconnected islanded microgrid system. The effect of the ambiguous nature of renewable energy resources and test cases concerning different load variations are applied to verify the robustness of the proposed controller. The superiority of the proposed controller upon proportional-integral-derivative (PID), fractional-order PID (FOPID), and Fuzzy FOPID controller in minimizing frequency alteration has been verified through MATLAB/SIMULINK environment.
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Li, Xiaoyu, Xiangye Zeng, Jingyi Wang, Qi Li, Baoshuo Fan, and Qi Zeng. "Analysis of Unmanned Surface Vehicles Heading KF-Based PI-(1+PI) Controller Using Improved Spider Wasp Optimizer." Drones 9, no. 5 (2025): 326. https://doi.org/10.3390/drones9050326.

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This paper proposes a Kalman filter-based cascaded PI-(1+PI) controller, optimized using an Improved Spider Wasp Optimizer (ISWO), to address the challenges of USV heading control in dynamic marine environments. Traditional PID controllers struggle with nonlinearities and noise in USV systems while existing metaheuristic algorithms face limitations in balancing exploration and exploitation. To overcome these issues, the ISWO integrates dynamic adaptive grouping, perturbation dimension-symmetric distance optimization, and nonlinear time-varying weights, enhancing convergence speed and optimization accuracy. A transfer function model of the USV heading system is established using voyage data, with ISWO optimizing its parameters, achieving a 5.67% reduction in mean squared error (MSE) compared to the original Spider Wasp Optimizer and outperforming classical algorithms like Arithmetic Optimization Algorithm (AOA), Crayfish Optimization Algorithm (COA), and Marine Predators Algorithm (MPA). The proposed KF-PI(1+PI) controller incorporates a Kalman filter to suppress noise and a cascaded structure to improve gain and response speed, reducing integrated time absolute error (ITAE) by 84% relative to traditional PID controllers. The hardware-in-the-loop simulation experiments further validate the proposed controller’s robustness. The study demonstrates that ISWO-optimized control systems significantly enhance USV navigation precision and adaptability, offering a viable solution for autonomous marine operations.
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Zafar, Farhan, Suheel Abdullah Malik, Tayyab Ali, et al. "Metaheuristic Optimization Algorithm Based Cascaded Control Schemes for Nonlinear Ball and Balancer System." Processes 12, no. 2 (2024): 291. http://dx.doi.org/10.3390/pr12020291.

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The ball and balancer system is a popular research platform for studying underactuated mechanical systems and developing control algorithms. It is a well-known two-dimensional balancing problem that has been addressed by a variety of controllers. This research work proposes two controllers that are proportional integral derivative-second derivative-proportional integrator (PIDD2-PI) controller and tilt integral derivative with filter (TID-F) controller in a multivariate, electromechanical, and nonlinear under-actuated ball and balancer system. Integral Time Absolute Error (ITAE) is an objective function used for designing controllers because of its ability to be more sensitive to overshooting as well as reduced settling time and steady-state error. As part of the analysis, four metaheuristic optimization algorithms are compared in the optimization of proposed control strategies for cascaded control of the ball and balancer system. The algorithms are the Grey Wolf optimization algorithm (GWO), Cuckoo Search algorithm (CSA), Gradient Base Optimization (GBO), and Whale Optimization Algorithm (WOA). The effectiveness of proposed controllers PIDD2-PI and TID-F is investigated to be better in terms of transient time response than proportional integral derivative (PID), proportional integral-derivative (PI-D), proportional integral-proportional derivative (PI-PD) and proportional integral derivative-second derivative-proportional derivative (PIDD2-PD). Moreover, these two proposed controllers have also been compared with recently published work. During the analysis, it is shown that the proposed control strategies exhibit significantly greater robustness and dynamic responsiveness compared to other structural controllers. The proposed controller WOA-PIDD2-PI reduced the 73.38% settling time and 88.16% rise time compared to classical PID. The other proposed controller GWO-TID-F reduced 58.06% the settling time and 26.96% rise time compared to classical PID. These results show that proposed controllers are particularly distinguished in terms of rise time, settling time, maximum overshoot, and set-point tracking.
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Nguyen, To Duc. "Controlling two -wheeled self -balancing robot moving on inclined plane." Science and Technology Development Journal 20, K3 (2017): 45–52. http://dx.doi.org/10.32508/stdj.v20ik3.1091.

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This research not only describes the design and implementation of two - wheeled self - balancing robot, but also shows how to simulate the platform in Simulink Matlab using Proportional–Integral–Derivative (PID) cascade control rule, then compares it with reality platform. A Kalman filter is used for state reconstruction in the final implementation. A cascaded PID control algorithm was proposed to combine the balancing and movement. The movement of the robot is controlled by using a distance controller that use rotary encoder sensor to measure its traveled distance. Besides the robot is able to move forward, backward, turning and reach the desired angle position by calculating the body's tilt angle. The experiment shows that the robot is likely to climb up slope with upon 25 degrees. Last but not least, this research also shows how to control the robot by using smartphone and C# form on laptop.
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Laksono, Heru Dibyo, Novizon Novizon, Melda Latif, Eko Amri Gunawan, and Reri Afrianita. "Sistem Pengatur Tegangan Otomatis : Analisa Peralihan Dengan Pengendali Tunggal Dan Kaskade." JURNAL AMPLIFIER : JURNAL ILMIAH BIDANG TEKNIK ELEKTRO DAN KOMPUTER 11, no. 2 (2021): 28–35. http://dx.doi.org/10.33369/jamplifier.v11i2.19133.

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This journal describes the design and analysis of the response of a single controller and cascade direct current type of Automatic Voltage Regulator (AVR) system. The direct current AVR system is represented form of a transfer function. For single and cascade controllers, it is designed using a parallel architecture using MATLAB software with predetermined design criteria. The types of controllers used consist of Proportional Differential (PD), Proportional Integral (PI), Proportional Integral Differential (PID), Proportional Differential with First Order Filters in the Differential Section (PDF) and Proportional Integral Differentials with First Order Filters in the Differential Section(PIDF). For the transition analysis, the observed parameters consist of rise time, peak time, steady state time, maximum pass value and peak value. The results of the analysis show that the controllers that meet the design criteria are Proportional Differential (PD) controllers and Proportional Differential controllers with First Order Filters in Differential Sections (PDF) for single controllers and cascade controllers. For a single controller, the value of the Proportional constant (Kp) is 0.6280 and the value of the Differential constant (KD) is 0.1710 for the Proportional Differential (PD) controller. Proportional constant value (Kp) is 0.6130, Differential constant value (KD) is 0.1710 and filter constant value (Tf) is 0.0009 for Proportional Differential controller with First Order Filter in Differential Section (PDF). Cascade controllers and Proportional Differential (PD) controllers, the Proportional constant (Kp) is 1.7300 and the Differential constant (KD) is 0.0242 for the inner circle (C2). Outer ring controller (C1), the proportional constant (Kp) is 179,000 and the Differential constant (KD) is 2.4600. Cascade controllers and Proportional Differential controller types with First Order Filters in the Differential Section (PDF), the Proportional constant (Kp) value is 1.5900, the Differential constant (KD) value is 0.0246, the filter constant value (Tf) is 0.0018 for the inner circumference (C2 ). For the outer ring controller (C1), the Proportional constant (Kp) value is 134,0000, the Differential constant (KD) value is 2.2900 and the filter constant value (Tf) is 0.00008.
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Hasinah Binti Johari, Siti Nur, Mohd Hezri Fazalul Rahiman, Najidah Hambali, Ramli Adnan, and Mazidah Tajjudin. "Design of IMC-PID controller with fractional-order filter for steam distillation essential oil extraction process." Indonesian Journal of Electrical Engineering and Computer Science 21, no. 2 (2021): 801. http://dx.doi.org/10.11591/ijeecs.v21.i2.pp801-810.

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<p>Essential oils are one of the industry's major compounds, particularly in the pharmaceutical, perfume and food sectors. They were acquired using several methods such as steam distillation. In this method, heat from the steam will release the aromatic molecule at their specific boiling points. Thus, it is important to regulate the steam temperature at the correct level to get the perfect composition of the yield. Many studies have shown that essential oil is volatile and sensitive to excess heat. In order to maintain the desired steam temperature, this study proposed an internal model control (IMC) based PID with fractional-order filter as a controller for this system. IMC is a model-based control structure that can handle parameter variations and load disturbance very well. With the inverse model imposed in the loop, IMC can gain a perfect tracking control as well. The implementation of a fractional-order filter cascaded to the PID controller may enhance the system robustness to process gain with its iso-damping properties. This study was conducted by simulation using MATLAB R2018. The step response of the closed-loop system has been evaluated with varying filter parameters depending on the desired phase margin of the open-loop reference model. <em></em></p>
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Dissertations / Theses on the topic "PID controller cascaded filter"

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Falk, Olson Gustaf. "Power Electronic Stages for a TFPMSM in Wave Power Applications." Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-194201.

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Direct drive wave energy conversion systems have been identified as a potentially major contributor to the world’s energy demands, forecasting shares of up to 25 % of the energy mix. Anders Hagnestål conducts research at the Royal Institute of Technology where a novel linear transverse flux permanent magnet generator is developed. This concept machine is particularly well-suited for the pertaining operating conditions in marine environments, producing large forces at low speeds with outstandingly low resistive losses. However, it exhibits severe magnetic saturation and draws unsymmetrical phase currents at nominal operation. In addition, it possesses a low power factor. All in all, this places stern requirements on the power electronic system and control algorithms. The aim of this thesis has been to design a functioning power conditioning system that connects the machine to the electric grid. For this purpose, a three-phase two-level voltage source converter is proposed to be back-to-back connected with two-level single-phase voltage source converters (active rectifiers) interfacing each and every machine phase. It is shown that the intermediate DC link can be maintained at a constant voltage with restricted ripple while feeding power at unity power factor to the grid by appropriately sizing the DC capacitor and adopting a feedback linearization control scheme. The phase currents can be controlled effectively by means of a cascaded gain-scheduled PID controller. By including a low-pass filter the iron losses in the machine may be suppressed even at lower switching frequencies. A constrained cost optimization indicates that the converter consequently can reach 99.1 % efficiency. Finally, with this thesis as a background, it is suggested that the thermal stresses on the selected semiconductor modules and the iron losses of the machine are evaluated to further improve the design. If higher efficiency of the active rectifiers is strived for, more complex converter topologies could be considered.<br>Direktdrivna vågenergiomvandlingssystem har utpekats som en potentiellt starkt bidragande resurs för att tillgodose världens efterfrågan på energi med andelar på uppemot 25 % av energimixen förutspådda. Anders Hagnestål bedriver forskning och utveckling av en ny typ av linjär permanentmagnetiserad transversalflödesmaskin vid Kungliga Tekniska Högskolan. Konceptmaskinen är särskilt väl lämpad för de rådande marina förhållandena genom att kunna producera stora krafter vid låga hastigheter med utomordentligt låga resistiva förluster. Maskinen går emellertid i kraftig magnetisk mättnad och drar asymmetriska strömmar vid nominell drift. Dessutom är effektfaktorn låg i jämförelse med standardmaskiner. Alltsomallt inför detta hårda krav på det effektelektroniska systemet och kontrollalgoritmerna. Målet med detta examensarbete har varit att designa ett funktionellt effektkonditioneringssystem som sammanfogar maskinen med det angränsande elektriska nätet. För att åstadkomma detta föreslås att en tvånivås-trefasomriktare kopplas rygg-mot-rygg till tvånivås-enfasomvandlare (aktiva likriktare) som i sin tur är kopplade till varje maskinfas. Med den här konfigurationen visas det att spänningen på den mellanliggande DC-länken kan hållas konstant med begränsat rippel, alltmedan effekt tillförs nätet vid effektfaktor ett genom att dimensionera DC-kondensatorn på rätt sätt och använda en kontrollag baserad på exakt linjärisering. Maskinens fasströmmar kan kontrolleras effektivt med hjälp av en kaskadkopplad PID-regulator med schemalagda förstärkningsfaktorer. Genom att inkludera ett lågpassfilter förväntas det att järnförlusterna i maskinen kan begränsas även vid lägre switchfrekvenser. Genom att lösa ett kostnadsoptimeringsproblem visas det att den resulterande aktiva likriktaren kan uppnå en verkningsgrad på 99.1 %. Slutligen, med det här examensarbetet som grund, föreslås det att den termiska stressen på de valda halvledarkomponentsmodulerna och järnförlusterna i maskinen utvärderas för att ytterligare förbättra designen. Om högre verkningsgrad eftersträvas hos de aktiva likriktarna kan mer komplicerade omvandlartopologier övervägas.
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Book chapters on the topic "PID controller cascaded filter"

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Deeb, Moayad Ali, and Manoj Kumar Debnath. "Optimal LFC of Multi-area Interconnected System Applying PI-PID Cascaded Controller." In Lecture Notes in Electrical Engineering. Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-7076-3_6.

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Javvaji, Hemalatha, and Basavaraja Banakara. "Closed-Loop Control of Cascaded H-Bridge Multilevel Inverter Using Fractional Order—PID Controller." In Advances in Intelligent Systems and Computing. Springer Singapore, 2022. http://dx.doi.org/10.1007/978-981-16-7330-6_49.

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Mahto, Tarkeshwar, P. R. Thakura, and T. Ghose. "Wind–Diesel-Based Isolated Hybrid Power Systems with Cascaded PID Controller for Load Frequency Control." In Advances in Smart Grid Automation and Industry 4.0. Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-15-7675-1_33.

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Gorripotu, Tulasichandra Sekhar, Rabindra Kumar Sahu, and Sidhartha Panda. "DE Optimized PID Controller with Derivative Filter for AGC of Interconnected Restructured Power System." In Advances in Intelligent Systems and Computing. Springer India, 2015. http://dx.doi.org/10.1007/978-81-322-2731-1_37.

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Ranganayakulu, R., and G. Uday Bhaskar Babu. "A Comparative Analysis of Fractional Filter PID Controller for Integrating Processes with Time Delay." In Lecture Notes in Electrical Engineering. Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-15-8439-8_23.

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Jana, Subrata, and Benjamin A. Shimray. "CDM-Based PID Controller with Filter Design for Performance Improvement of Two-Mass Drive System." In International Conference on Intelligent Computing and Smart Communication 2019. Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-15-0633-8_90.

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Kanasottu, Anil Naik, Srikanth Pullabhatla, and Venkata Reddy Mettu. "IMC Design Based Optimal Tuning of a PID-Filter Governor Controller for Hydro Power Plant." In Communications in Computer and Information Science. Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-20499-9_6.

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Kumar, Vivek, R. Ranganayakulu, G. Uday Bhaskar Babu, and Palash Dahake. "Robust IMC-Based Integer and Fractional Filter PID Controller Design for Non-minimum Phase Systems." In Lecture Notes in Electrical Engineering. Springer Nature Singapore, 2024. http://dx.doi.org/10.1007/978-981-99-6855-8_8.

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Chaturvedi, Mayank, and Pradeep K. Juneja. "Effect of Variation in Filter Coefficients for Different PID Controller Structures on Performance of SOPDT Process." In Lecture Notes in Electrical Engineering. Springer India, 2016. http://dx.doi.org/10.1007/978-81-322-3589-7_27.

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Kalyan, Ch Naga Sai, and Surender Reddy Salkuti. "A Cascaded (1 + PI)-PID Controller for the Improvement in Load Frequency Control of the Diversified Interconnected Power System." In Lecture Notes in Electrical Engineering. Springer Nature Switzerland, 2025. https://doi.org/10.1007/978-3-031-94276-1_24.

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Conference papers on the topic "PID controller cascaded filter"

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Serebryakov, Mikhail. "Modelling and Simulation of Quadrocopter Control Using Cascaded Pid Controller in Matlab." In 2025 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM). IEEE, 2025. https://doi.org/10.1109/icieam65163.2025.11028372.

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Golla, Siva Ganesh, and B. T. Krishna. "Design of Improved Fractional Filter Based IMC-PID Controller for SOPTD Process Using ISE Minimisation." In 2024 International Conference of Adisutjipto on Aerospace Electrical Engineering and Informatics (ICAAEEI). IEEE, 2024. https://doi.org/10.1109/icaaeei63658.2024.10899180.

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Pereira, René D. O., Clauson S. do N. Rios, Juan P. R. Moreira, et al. "Active structural control of floating offshore wind turbine based on PID controller and resonant filter*." In 2024 IEEE Energy Conversion Congress and Exposition (ECCE). IEEE, 2024. https://doi.org/10.1109/ecce55643.2024.10861156.

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Ng, K. H., C. F. Yeong, E. L. M. Su, and A. R. Husain. "Current sensorless control of a PMDC motor using Kalman filter and cascaded PID controller." In 2012 4th International Conference on Intelligent & Advanced Systems (ICIAS). IEEE, 2012. http://dx.doi.org/10.1109/icias.2012.6306068.

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A, Adithya, Amjad Shaik, and RAMBABU CHIKATI. "Performance Evaluation of Various Fractional Order Control Strategies on a Proton Exchange Membrane Fuel Cell." In SAENIS TTTMS Thermal Management Systems Conference. SAE International, 2024. http://dx.doi.org/10.4271/2024-28-0094.

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&lt;div class="section abstract"&gt;&lt;div class="htmlview paragraph"&gt;Proton exchange membrane (PEM) fuel cells are one potential green energy option for fuel cells, which are becoming more popular in the energy production industry. Despite the fact that it continues to draw a lot of interest, many obstacles, such as enhancing performance, boosting durability and reducing cost are impeding the fuel cells commercialization. Air/hydrogen feed has an impact on the fuel cell performance; as a result, the cathode side of the fuel cell supply manifold pressure must be regulated. Substantial power is used when operating at maximum load, and fuel cells may experience oxygen starvation due to inadequate air. Maintaining a quick and adequate air concentration in the fuel cell cathode is essential to avoiding oxygen starvation and maximizing durability. In this paper, to solve the issues of oxygen starvation in a PEM fuel cell, various fractional order control strategies are developed, and comparative analysis is done to maintain the supply manifold pressure based on error analysis and control effort. The transfer function model of a PEM fuel cell is considered and various fractional order control strategies are designed for the control of supply manifold pressure in the fuel cell. Based on simulation using MATLAB/SIMULINK software, it is observed that fractional order PID controller yields enhanced performance when compared to other fractional order controller design techniques such as fractional filter cascaded with integer order PI/PID and fractional order PI controllers.&lt;/div&gt;&lt;/div&gt;
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Simalatsar, Alena, Monia Guidi, and Thierry Buclin. "Cascaded PID controller for anaesthesia delivery." In 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). IEEE, 2016. http://dx.doi.org/10.1109/embc.2016.7590757.

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Shamsuzzoha, M., and Moonyong Lee. "IMC Based Control System Design of PID Cascaded Filter." In 2006 SICE-ICASE International Joint Conference. IEEE, 2006. http://dx.doi.org/10.1109/sice.2006.314652.

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Du, Fei, and Jinsheng Sun. "An AQM scheme based on Adaptive Weight Cascaded PID controller." In 2012 10th World Congress on Intelligent Control and Automation (WCICA 2012). IEEE, 2012. http://dx.doi.org/10.1109/wcica.2012.6358356.

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Pratama, Derry, Eko Henfri Binugroho, and Fernando Ardilla. "Movement control of two wheels balancing robot using cascaded PID controller." In 2015 International Electronics Symposium (IES). IEEE, 2015. http://dx.doi.org/10.1109/elecsym.2015.7380821.

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Fan, Changyuan, Hui Ju, and Baoqiang Wang. "A Kalman Filter Based PID Controller for Stochastic Systems." In 2006 International Conference on Communications, Circuits and Systems. IEEE, 2006. http://dx.doi.org/10.1109/icccas.2006.285082.

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