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Article Details

Copyright Statement: This is an open access article licensed under a Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, even commercially as long as the original work is properly cited.

On the Improved Nonlinear Tracking Differentiator based Nonlinear PID Controller Design

Author 1: Ibraheem Kasim Ibraheem
Author 2: Wameedh Riyadh Abdul-Adheem

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Digital Object Identifier (DOI) : 10.14569/IJACSA.2016.071032

Article Published in International Journal of Advanced Computer Science and Applications(IJACSA), Volume 7 Issue 10, 2016.

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Abstract: This paper presents a new improved nonlinear tracking differentiator (INTD) with hyperbolic tangent function in the state-space system. The stability and convergence of the INTD are thoroughly investigated and proved. Through the error analysis, the proposed INTD can extract differentiation of any piecewise smooth nonlinear signal to reach a high accuracy. The improved tracking differentiator (INTD) has the required filtering features and can cope with the nonlinearities caused by the noise. Through simulations, the INTD is implemented as a signal’s derivative generator for the closed-loop feedback control system with a nonlinear PID controller for the nonlinear Mass-Spring-Damper system and showed that it could achieve the signal tracking and differentiation faster with a minimum mean square error.

Keywords: Nonlinear tracking differentiator; PID; Nonlinear mass-spring-damper; Lyapunov theory; Measurement noise

Ibraheem Kasim Ibraheem and Wameedh Riyadh Abdul-Adheem, “On the Improved Nonlinear Tracking Differentiator based Nonlinear PID Controller Design” International Journal of Advanced Computer Science and Applications(IJACSA), 7(10), 2016. http://dx.doi.org/10.14569/IJACSA.2016.071032

@article{Ibraheem2016,
title = {On the Improved Nonlinear Tracking Differentiator based Nonlinear PID Controller Design},
journal = {International Journal of Advanced Computer Science and Applications},
doi = {10.14569/IJACSA.2016.071032},
url = {http://dx.doi.org/10.14569/IJACSA.2016.071032},
year = {2016},
publisher = {The Science and Information Organization},
volume = {7},
number = {10},
author = {Ibraheem Kasim Ibraheem and Wameedh Riyadh Abdul-Adheem}
}


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