20.500.12556/DKUM-66212 Optimized PID position control of a nonlinear system based on correlating the velocity with position error We examined a design approach for a PID controller for a nonlinear ball and beam system. Main objective of our research was to establish a nonmodel-based control system, which would also not be dependent on a specific ball and beam hardware setup. The proposed PID controller setup is based on a cascaded configuration of an inner PID ball velocity control loop and an outer proportional ball position control loop. The effectiveness of the proposed controller setup was first presented in simulation environment in comparison to a hardware dependent PD cascaded controller, along with a more comprehensive study on possible design approach for optimal PID controller parameters in relation to main functionality of the controller setup. Experimental real-time control results were then obtained on a laboratory setup of the ball and beam system on which PD cascaded controller could not be applied without parallel system model processing. position control nonlinear system position error krmiljenje pozicije nelinearni sistem napaka v pozicioniranju true false true Angleški jezik Slovenski jezik Znanstveno delo 2017-06-15 08:38:00 2017-06-15 08:38:58 2022-07-10 03:06:55 2021-05-15 03:34:45 2015 0 0 str. 1-11 Letn. 2015 2015 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 1024-123X 681.5 12769113 18501398 10.1155/2015/796057 1024-123X URN:SI:UM:DK:Z7IAJOJJ Mathematical_Problems_in_Engineering_2015_Muskinja,_Riznar_Optimized_PID_Position_Control_of_a_Nonlinear_System_Based_on_Correlating_the.pdf Mathematical_Problems_in_Engineering_2015_Muskinja,_Riznar_Optimized_PID_Position_Control_of_a_Nonlinear_System_Based_on_Correlating_the.pdf 1 15FDF0F9F5D68EA30EBA726579C062C4 e94b25dc73a0b0106f348cffa76a088343ed682a72ddca46912eb0a8ca56eaec 3f513042-7c0e-11eb-bb7a-00155d0001ca https://dk.um.si/Dokument.php?lang=slv&id=112569 http://www.hindawi.com/journals/mpe/2015/796057/ 1 https://dk.um.si/Dokument.php?lang=slv&id=112568 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0