Papers by Najidah Hambali
Student Performance Classification using Support Vector Machine (SVM) with Polynomical Kernel on Online Student Activities
Journal of Electrical & Electronic Systems Research
Implementation of PRBS & RGS Perturbation Input Signals on Steam Temperature: Model Estimation and PID Control
Implementation of PRBS & RGS Perturbation Input Signals on Steam Temperature: Model Estimation and PID Control
2023 19th IEEE International Colloquium on Signal Processing & Its Applications (CSPA)
Nonlinear Modelling for Steam Temperature of Distillation Column: A Comparison between PRBS and MPRS Perturbation Signals
2018 IEEE Conference on Systems, Process and Control (ICSPC)
Nowadays, countless research efforts have been reported for distillation column on nonlinear mode... more Nowadays, countless research efforts have been reported for distillation column on nonlinear modelling. Several studies have shown the importance of appropriate perturbation signal for the nonlinear system applications. This study focuses on a nonlinear modelling for steam temperature using Pseudo Random Binary Signal (PRBS) and Multi-level Pseudo Random Sequence (MPRS) perturbation signals. A Binary Particle Swarm Optimisation (BPSO) algorithm was utilised in the model structure selection for polynomial Nonlinear Auto-Regressive with eXogenous (NARX) input for Steam Distillation Pilot Plant (SDPP). Three model’s selection criteria were examined; Akaike Information Criterion (AIC), Model Descriptor Length (MDL), and Final Prediction Error (FPE). The performance analysis included output model analysis and model validation of the nonlinear model. The results demonstrated fewer number of input and output lags and lesser amount of output model parameter using MPRS perturbation signal compared with PRBS. Model validation showed high R-squared and low MSE for both signals’ application.
Various PID controller tuning for air temperature oven system
2014 IEEE International Conference on Smart Instrumentation, Measurement and Applications (ICSIMA), 2014
ABSTRACT
Indonesian Journal of Electrical Engineering and Computer Science, 2021
Essential oils are one of the industry's major compounds, particularly in the pharmaceutical,... more 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...
Time-varying water temperature modelling of steam distillation pilot plant using NARX-based binary particle swarm optimisation structure selection / Najidah Hambali … [et al.]
Many studies in current years has concentrated on both linear and nonlinear modelling in the real... more Many studies in current years has concentrated on both linear and nonlinear modelling in the real nonlinear system applications. This study reports a nonlinear modelling for a time-varying process of water temperature by utilising a Binary Particle Swarm Optimisation (BPSO) algorithm based on Nonlinear Auto-Regressive with eXogenous input (NARX) structure. The model structure selection of polynomial NARX has been concentrated on BPSO algorithm for system identification of Steam Distillation Pilot Plant (SDPP). Several model’s selection criteria such as Akaike Information Criterion (AIC), Model Descriptor Length (MDL), and Final Prediction Error (FPE) were investigated. The results demonstrated that all criterion models were considered valid and accurate representations of the system. The accuracy was evaluated by the high R-squared, small MSE value and passed all the correlation and histogram tests.
Performance Comparison of Perturbation Signals for Time-Varying Water Temperature Modeling Using NARX-Based BPSO
Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018, 2019
There is an increasing concern on the perturbation signal analysis on nonlinear modeling for nonl... more There is an increasing concern on the perturbation signal analysis on nonlinear modeling for nonlinear systems. Several studies have shown the importance of suitable perturbation signal for the real nonlinear system applications. This study systematically reviews the performance comparison for nonlinear modeling using two perturbation signals, namely as Pseudo Random Binary Signal (PRBS) and Multi-level Pseudo Random Sequence (MPRS) for a time-varying water temperature of Steam Distillation Pilot Plant (SDPP). A Binary Particle Swarm Optimization (BPSO) algorithm was utilized in the model structure selection for polynomial Nonlinear Auto-Regressive with eXogenous (NARX) input. Three model’s selection criteria were examined; Akaike Information Criterion (AIC), Model Descriptor Length (MDL), and Final Prediction Error (FPE) for performance analysis that included model validation. The results presented lesser number of input and output lags, also fewer output model parameters for MPRS perturbation signal. Further analysis of the nonlinear model has demonstrated high R-squared and low MSE for model validation for both models using PRBS and MPRS perturbation signals.
Investigating Effects of Pre-Processing Variation on Time-Varying Steam Temperature of Distillation Column
2019 IEEE 7th Conference on Systems, Process and Control (ICSPC), 2019
The system identification involves the preprocessing technique which separates the dataset into t... more The system identification involves the preprocessing technique which separates the dataset into two parts; training set and testing set to estimate and validate the model respectively. The main aim of this study is to investigate the effects of pre-processing techniques on the steam temperature of the distillation column. Magnitude scaling, block division and interleaving methods were implemented for steam temperature. Two perturbation input signals, of Pseudo Random Binary Signal (PRBS) and Multi-level Pseudo Random Sequence (MPRS) were employed for Steam Distillation Pilot Plant's (SDPP). The analysis was made based on the fitness and Correlation Violations (CRV) values from the combinations of pre-processing methods. The results of this study indicated that the interleaving technique presented a significant good reduction of CRV for PRBS (39 to 47 CRVs) and MPRS (23 to 30 CRVs) together with low fitness for all the criterion models.
Process controllability for flow control system using Ziegler-Nichols (ZN), Cohen-Coon (CC) and Chien-Hrones-Reswick (CHR) tuning methods
2014 IEEE International Conference on Smart Instrumentation, Measurement and Applications (ICSIMA), 2014
The controllability of the process depends on the values need to be chosen for the proportional, ... more The controllability of the process depends on the values need to be chosen for the proportional, integral and derivative constants. The value of proportional, integral and derivative can be estimated using various tuning method. The purpose of this study is to compare the performance of various proportional, integral and derivative controller tuning methods for flow control system. A Tangent Method and Reformulation Tangent Method were compared in this paper to perform the open-loop test. From the open-loop test, the value of response rate, dead time and time constant were obtained. The controller parameters from open-loop test were used in tuning rule to get the optimum value of proportional, integral and derivative gains. The tuning methods used in this paper were Ziegler-Nichols, Cohen-Coon and Chien-Hrones-Reswick. Performance comparison and analysis of the three proportional, integral and derivative tuning were based on percent overshoot, settling time, rise time and integral absolute error. The fine tuning technique has used to improve the result which the value of proportional and integral gains were tuned. The result showed that Ziegler-Nichols and Chien-Hrones-Reswick tuning methods provided better performance compared to CC tuning method.
Journal of Fundamental and Applied Sciences, 2018
This study investigates the effects of pre the fitness by utilizing a Binary Particle Swarm struc... more This study investigates the effects of pre the fitness by utilizing a Binary Particle Swarm structure selection of polynomial NARX has been focused on time-varying water temperature modelling of Steam Distillation Pilot Plant (SDPP). Magnitude scaling, block division technique while various swarm sizes, maximum been combined for BPSO parameter adjustment. The combination of interleaving and magnitude scaling techniques demonstrate the best minimum correlation violations (CRV) and fitness. Subsequently, higher swarm size slightly and initial random seed alterations had parameter adjustment.
A review on nonlinear modeling for steam distillation system and its significance
2016 IEEE 12th International Colloquium on Signal Processing & Its Applications (CSPA), 2016
This paper focuses on a system identification review for distillation column. A recent developmen... more This paper focuses on a system identification review for distillation column. A recent developments and approaches explored by reseachers demonstrated the improvement and efficiency of linear and nonlinear modeling. Numerous investigation on the modeling of distillation column including essential oil extraction application have attracted much attention. Much research in recent years has focused on both linear and nonlinear modeling for distillation column. Although both models improves performance of the system, a comparative assessment revealed greater achievement of the nonlinear model for distillation column compared to the linear model. The significance of various input signals and the performance have been highlighted for the nonlinear system.
Performance comparison between LQR and PID controllers for an inverted pendulum system
AIP Conference Proceedings, 2008
The objective of this paper is to compare the time specification performance between two conventi... more The objective of this paper is to compare the time specification performance between two conventional controllers for an inverted pendulum system. The goal is to determine which control strategy delivers better performance with respect to pendulum's angle and cart's position. The ...
Vibration control of flexible joint manipulator using input shaping with PD-type Fuzzy Logic Control
2009 IEEE International Symposium on Industrial Electronics, 2009
Abstract This paper presents investigations into the development of input shaping with proportion... more Abstract This paper presents investigations into the development of input shaping with proportional-derivative (PD)-type fuzzy logic control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD-type fuzzy logic controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate input shaper control schemes for vibration reduction of the flexible joint system. The positive zero-vibration-derivative-derivative ( ...
Process controllability for air temperature oven system using open-loop Reformulated Tangent Method
2013 IEEE International Conference on Smart Instrumentation, Measurement and Applications (ICSIMA), 2013
ABSTRACT This paper presents the effect of various control tuning methods to the controllability ... more ABSTRACT This paper presents the effect of various control tuning methods to the controllability of air temperature oven system. The simplest open loop test on actual plant has been performed using a Reformulated Tangent Method (RTM). Three PID tuning rules namely Ziegler Nichols (Z-N), Cohen Coon (C-C), and Chien, Hrones & Reswick (CHR) are used in this work. The plant is connected to Distributed Control System (DCS). The performance of these control tuning rules are evaluated in term of their closed loop characteristics such as percent overshoot (% OS), settling time (Ts), rise time (Tr) and integral absolute error (IAE). The results of this study showed that Cohen-Coon tuning method give best performance to the controllability of air temperature oven system as compared to the other rules.
2010 3rd International Conference on Information Management, Innovation Management and Industrial Engineering, 2010
Using the temperature calibration instrument, the purpose of this paper is to design the uncertai... more Using the temperature calibration instrument, the purpose of this paper is to design the uncertainty calculation system. The test was conducted using Resistance Temperature Detector (RTD) sensor, transmitter, and repeated for three times. The data acquisition (DAQ) card is used to interface the temperature instrument and the computer. In order to determine the uncertainty of the temperature measurement, graphical user interface (GUI) software has been developed in Visual Basic(VB) programming language. The developed software shows that the uncertainty of the temperature transmitter measurement can be calculated by interfacing the instrument to the computer through DAQ card. The study focuses on manual temperature measurement and concentrates only on RTD temperature sensor. The results provide the confidence limits of five-point calibration of temperature transmitter that could improve the teaching techniques using computer-based system of the temperature measurement.
Investigations of NCTF with input shaping for sway control of a double-pendulum-type overhead crane
2010 2nd International Conference on Advanced Computer Control, 2010
Abstract This paper presents investigations into the development of hybrid control schemes for tr... more Abstract This paper presents investigations into the development of hybrid control schemes for trajectory tracking and anti-swaying control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, initially nominal characteristics following trajectory following (NCTF) is developed for position control of cart movement. The controller design, which is comprised ...
2009 Innovative Technologies in Intelligent Systems and Industrial Applications, 2009
This paper presents investigations into the development of input shaping with optimal state feedb... more This paper presents investigations into the development of input shaping with optimal state feedback for trajectory tracking and vibration control of a flexible joint manipulator. A single-link flexible joint manipulator is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, a linear-quadratic regulator (LQR) controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate input shaper control schemes for vibration reduction of the flexible joint system. The positive zerovibration-derivative-derivative (ZVDD) and new modified specified negative amplitude zero-vibration-derivativederivative (SNA-ZVDD) input shapers are then designed based on the properties of the system for vibration control. The new SNA-ZVDD is proposed to improve the robustness capability while increasing the speed of the system response. Simulation results of the response of the flexible joint manipulator with the controllers are presented in time and frequency domains. The performances of the LQR with input shaping control schemes are examined in terms of input tracking capability, level of vibration reduction, robustness and time response specifications. A comparative assessment of the positive ZVDD and modified SNA-ZVDD shapers to the hybrid system performance is presented and discussed. I. INTRODUCTION The control issue of the flexible joint is to design the controller so that link of robot can reach a desired position or track a prescribed trajectory precisely with minimum vibration to the link. In order to achieve these objectives, various methods using different technique have been proposed. Yim [1], Oh and Lee [2] proposed adaptive output-feedback controller based on a backstepping design. This technique is proposed to deal with parametric uncertainty in flexible joint. The relevant work also been done by Ghorbel et al. [3]. Lin and Yuan [4] and Spong et al.
Investigations of feed-forward techniques for anti-sway control of 3-D gantry crane system
2009 IEEE Symposium on Industrial Electronics & Applications, 2009
Abstract This paper presents investigations into the development of feed-forward control schemes ... more Abstract This paper presents investigations into the development of feed-forward control schemes for anti-swaying control of a gantry crane system. A nonlinear 3-D gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. An unshaped bang-bang force input is used to determine the characteristic parameters of the system for design and evaluation of the feed-forward control techniques. Feed-forward control schemes based on input shaping and filtering ...
Active sway control of a lab-scale rotary crane system
2010 The 2nd International Conference on Computer and Automation Engineering (ICCAE), 2010
Abstract This paper presents investigations of sway feedback control approaches for a rotary cran... more Abstract This paper presents investigations of sway feedback control approaches for a rotary crane system with disturbance effect in the dynamic system. Proportional-Derivative (PD) controller and Proportional-Derivative (PD)-type Fuzzy Logic controller are the techniques used in this investigation to actively control the sway of rotary crane system. A lab-scale rotary crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. A complete analysis of simulation results for each technique ...
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Papers by Najidah Hambali