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    A comparative study on PI-PD controller design using stability region centroid methods for unstable, integrating and resonant systems with time delay
    (Sage Publications Ltd, 2024) Irgan, Hilal; Menak, Ramazan; Tan, Nusret
    In this paper, controller tuning methods based on stability region centroid methods reported in the literature are used to design PI-PD controllers for unstable, integrating and resonant systems with time delay. By analyzing the stability boundary locus (SBL) for the PD controller, which is utilized in the inner loop of this structure, the controller parameters are obtained using three methods which are the Weighted Geometric Center (WGC), Centroid of Convex Stability Region (CCSR), and Stability Triangle Approach (STA). These techniques were applied analytically, step by step. For the closed loop transfer function obtained in the inner loop of the controlled system, these three methods were utilized to design the PI controller in the outer loop, individually. Unit step responses of the controlled system, using PI-PD gains determined by each method, have been obtained. Furthermore, a disturbance of a certain time and amplitude was added to the systems to test the disturbance rejection behavior and the robustness performance of the methods. Perturbed responses were obtained through changing the model parameters at a certain rate. Time domain performance metrics were analyzed to compare the responses. The simulations were evaluated using settling time, rise time, and percentage overshoot as the assessment criteria. As a result of this study, the effectiveness of three methods, namely WGC, CCSR, and STA, in controller design for unstable, integrating, and resonant time-delay systems has been demonstrated. In addition, a comparison of time domain performance metrics is presented for the nominal and perturbed systems. Based on these comparisons, it is concluded that the methods outperform each other only in some time response performance measures. The presented results showed the advantages of these methods over each other in terms of some performance criteria. The contribution of this study to the literature is the comparative analysis of these three analytical methods.
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    Computation of All Robustly Stabilizing PID Controllers Based on H-? Robust Stability Condition
    (IEEE-Inst Electrical Electronics Engineers Inc, 2024) Menak, Ramazan; Tan, Nusret
    In this paper, the computation of all robustly stabilizing Proportional-Integral-Derivative (PID) controllers for Single-Input-Single-Output (SISO) Linear Time Invariant (LTI) systems with/without time delay and unstructured uncertainty is presented. The study proposes a graphical technique to plot the regions of all robustly stabilizing PID controllers that satisfy the H-infinity based robust stability condition. These regions are formed by the Real Root Boundary (RRB), the Complex Root Boundary (CRB), and the Infinite Root Boundary (IRB), which represent the transitions of the roots of the characteristic equation from the left half-plane to the right half-plane (or vice versa), based on Hurwitz stability criteria. The regions are depicted in the (k(i)-k(d)), (k(p)- k(i)), and (k(p)- k(d)) 2-D planes for fixed values of k(p), k(d), and k(i), respectively. The methodology is detailed step by step and demonstrated through various examples. Additionally, stability analyses are visually performed using Nyquist envelopes and uncertainty discs.
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    Design of Robust Integer/Fractional Order PID Controller Based on Bode's Ideal Transfer Function and H-Infinity Robust Performance Condition
    (Institute of Electrical and Electronics Engineers Inc., 2023) Menak, Ramazan; Tan, Nusret
    In this paper, we proposed a new fitness function that is minimized by optimization algorithms to tune the parameters of the integer/fractional order PID (proportional-integral-derivative) controllers. The fitness function has been designed by combining H-robust performance condition constraint and Bode's ideal transfer function as a reference model. Two weighting functions have been used for robust performance condition; multiplicative uncertainty weighting function as a fixed parameters structure, and performance weighting function both as a fixed parameters structure, and optimized adjustable parameters structure. The parameters of the Bode's ideal transfer function are selected based on desired time response specifications. The particle swarm optimization (PSO) algorithm has been used as an optimization tool to minimize the proposed fitness function to tune the parameters of integer/fractional order PID controllers. The parameters of the controllers are obtained for the given second-order transfer function system as an example. The performance of the systems with obtained controllers has been compared in terms of the reference tracking ability, disturbance rejection capability, and robustness performance against parameter changes in the system. The simulation results have revealed that the proposed fitness function can be used with the aim to tune the parameters of the robust fixed structure controllers such as integer/fractional order PIDs by using any optimization algorithm while retaining the H-robust performance condition. © 2023 IEEE.
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    Elektrikli Araçlarda Batarya Yönetim Sistemleri Üzerine Bir Derleme Çalışması
    (2021) Menak, Ramazan; Karadağ, Teoman; Altuğ, Mehmet; Tan, Nusret
    Küresel ısınma, fosil yakıtların çevreye verdiği zararlar ve sera gazı emisyonları ile ilgili endişeler nedeniyle elektrikli araçlar gün geçtikçe içten yanmalı motorlu araçların yerini almaktadır. Elektrikli araçlar için ana enerji kaynağı olan bataryaların, sürüş güvenliği için belirli bir çalışma sağlamak adına bazı sınırlamaları vardır. Batarya yönetim sistemleri (BYS’ler), bu sınırlamaların üstesinden gelmek, bataryayı korumak ve elektrikli araç için daha güvenilir sürüş sağlamak adına önemli bir rol oynamaktadır. Bu makalede BYS ve BYS’nin alt konuları olan bataryayı izleme, batarya güvenliği, araç iç-dış haberleşmesi, hücre dengelenmesi, durum kestirimleri, termal yönetimi ve topolojileri alanındaki çalışmalar derlenmiştir. Bu tür konularla ilgili yöntemlerin, avantaj-dezavantajları ve nitel faktörler açısından karşılaştırmaları yapılmıştır. Elektrikli araçlar geleceğin ulaşım aracı olacağı ve ülkemizde yerli üretime geçildiği için, elektrikli araçlar konusunda Türkçe literatürünün geliştirilmesi ve akademik çalışmaların yapılması gerektiği yazarlar tarafından düşünülmektedir. Yazarlar, bu çalışmanın Türkçe literatürüne katkı sağlayacağını ve batarya yönetim sistemi alanında çalışan tasarımcılara, araştırmacılara, üreticilere ve şirketlere bakış açısı kazandıracağını düşünmektedir.