Papers by NURUL ADILLA mohd subha
Hybrid MPC-P controller for the core power control system at TRIGA reactor
Journal of Process Control
Controllability Analysis of Convergence on Water Distribution System Architecture with Fault Using Cellular Automata Sequence
Lecture notes in electrical engineering, Aug 11, 2022
Studies in Control and System Automation
Penerbit UTM Press, Oct 30, 2019
Model predictive and fuzzy logic controllers for reactor power control at Reaktor TRIGA PUSPATI
IOP Conference Series: Materials Science and Engineering, 2022
The Reaktor TRIGA PUSPATI (RTP) rely extensively on a core power control system for control react... more The Reaktor TRIGA PUSPATI (RTP) rely extensively on a core power control system for control reactivity to fulfilment the fundamental safety function for a nuclear reactor. It is technically challenging to operate within tight multiple parameter constraints and keep the core power output stable. At present, the power tracking performance of the system could be considered unsatisfactory which produces a relatively long settling time and high control effort. Hence, a study of a model predictive control (MPC) strategy by integrating the current Power Change Rate Constraint (PCRC) using fuzzy logic which is part of the core power control design is conducted. In this paper, the MPC design based on mathematical models of the reactor core included point kinetics model, thermal-hydraulic model, reactivity model and dynamic rod position model help to enhance core power control. The power tracking performance of the proposed control method and previous Feedback Control Algorithm-Fuzzy PCRC is ...
Model Predictive Control for Induction Motor Fed by 5-Level Cascaded H-Bridge Inverter
Lecture Notes in Electrical Engineering, 2022
Modelling Electrophysiological Data in Persistent Atrial Fibrillation Studies Using the Evolution of 3-Dimensional Dominant Frequency Mapping
Communications in Computer and Information Science, 2017
The dominant frequency (DF) of atrial electrogram was claimed by researchers as to be correlated ... more The dominant frequency (DF) of atrial electrogram was claimed by researchers as to be correlated to the electrical activation of the atrial fibrillation (AF). By assessing the DF of AF data of 5 patients with persistent AF, this paper presented some AF signal analysis done to study the performance of the raw data, which is the data without QRS-T subtraction, data with QRS-T subtraction and rectification. The resultant data were mapped in 3-dimensional shapes of respective patients left atrium (LA), showing the DF activity changes during 21 s data recorded. The maps are useful for further analysis to justify which of the mentioned signal processing step is more reliable and also to study the relation between particular sites on the LA with the source (sites) of activation of AF.
A Particle Swarm Optimization Based Predictive Controller for Delay Compensation in Networked Control Systems
Communications in Computer and Information Science, 2017
This paper addresses transmission delays problem in network control systems. Network-induced dela... more This paper addresses transmission delays problem in network control systems. Network-induced delay is an inherent constraint in NCS implementation that could lead to system degradation and destabilization. A particle swarm optimization (PSO) tuning algorithm was adopted to optimally tune the parameters of Generalized Predictive Controller (GPC) to solve networked-induced delay problem. Furthermore, a modified PSO-GPC was designed by replacing the standard GPC objective function with an Integral Time Squared Error (ITSE) performance index in the GPC controller design. A particle swarm optimization based PI controller in the Smith predictor structure is designed to compare the performances of the original PSO-GPC and the modified PSO-GPC. The results show that the modified PSO-GPC performed better than the PSO-GPC in terms of transient response and enhanced NCS performance in the occurrence of network delays.
Educational paltform using low-cost technologies for control subject
Optimal formation control of multiple quadrotors based on particle swarm optimization
This paper presents the optimal formation control for a group of quadrotors based on particle swa... more This paper presents the optimal formation control for a group of quadrotors based on particle swarm optimization (PSO) algorithm. This is motivated by the conventional approaches that still involve a certain degree of trial and error approach which may not give the optimal performance. The parameter optimization using PSO utilizes the linear quadrotor model obtained from feedback linearization technique. Simulations are conducted on the parameter optimization, followed by implementation of the optimal parameters for formation control of multiple quadrotors. The results show the effectiveness of the proposed technique.
The control of quadrotor helicopter in a hover condition has always been a great challenge for co... more The control of quadrotor helicopter in a hover condition has always been a great challenge for control engineers and researchers. Various algorithms have been developed to control this type of helicopter due to its high nonlinearities. This paper presents the dynamic model of quadrotor helicopter together with backstepping-based nonlinear control design which stabilizes the system. In order to verify the feasibility of the proposed controller, extensive simulations are performed using Matlab Simulink software. Here, the proper method to configure the solver options of the model design to provide an efficient and accurate simulation performance is presented. Through simulation test by using the dynamic model of a four degree of freedom quadrotor helicopter, the proposed approach can effectively perform stabilization and trajectory tracking. Besides, the simulation results indicate that the proposed design techniques can stabilize the quadrotor helicopter with better performance as co...
Logical Consensus-based Control for Water Distribution System with Physical Faults
2020 IEEE 10th International Conference on System Engineering and Technology (ICSET), 2020
This paper proposes a consensus-based control strategy for a Water Distribution System (WDS) whic... more This paper proposes a consensus-based control strategy for a Water Distribution System (WDS) which enables the system to continuously supply the demand minimizing the impact of faulty equipment within the WDS facilities. The convergence in the control system is achieved by utilizing the concept of cellular automata. Simulation of the system using MATLAB shows the effectiveness of the proposed method with convergence time is achieved on the 7th step. The method proposed in this work is scalable and applicable to any large scale of WDS configurations.
This paper discusses the external consensus problem for non-identical networked multi-agent syste... more This paper discusses the external consensus problem for non-identical networked multi-agent systems (NMAS) with network data loss, considering uniform consecutive data losses (CDL) induced by long periods of transmission failure. A gain error ratio (GER) formula is proposed to determine the appropriate value of coupling gain between agents in order to minimize the computed prediction error caused by the prediction process. Consequently, the consensus performance with prediction control strategy can be improved. The effectiveness of the proposed formula is demonstrated through simulation.
This paper discusses the design of a consensus tracking algorithm with the practical implementati... more This paper discusses the design of a consensus tracking algorithm with the practical implementation of solving distributed altitude and attitude tracking of multiple quadrotors. In contrast to most of the existing works that consider a leader agent that is non-cooperative, this paper proposes an algorithm that allows the leader agent to receive feedback from a subset of the followers. Firstly, the feedback linearization technique is utilized on the nonlinear quadrotor dynamics which yield a simple linear system. Then, the proposed consensus tracking algorithm is designed and employed to the resulting linear system to achieve consensus tracking on altitude and attitudes via local interaction between neighbours. Results obtained show that the proposed consensus tracking for a group of quadrotors can improve connectivity preservation as compared to the non-cooperative leader in the presence of an obstacle. Based on the formulation of the controller, the methodology can be easily adapte...
Semi-Global Leader-Follower Consensus of Linear Multi-Agent System Via Time-varying Gain
2020 IEEE 10th International Conference on System Engineering and Technology (ICSET), 2020
Commonly, solution for consensus problem with input saturation constraints utilizes a low-gain fe... more Commonly, solution for consensus problem with input saturation constraints utilizes a low-gain feedback approach. However, limited work has been done on the effects of weighted coupling gain. Hence, this paper studies the effect of a time-varying coupling gain on the convergence time of leader-follower consensus on both cooperative and noncooperative leader. The input of each agent is subjected to saturation. Weighted based time-varying gain are developed and applied for cooperative leader connection and noncooperative leader connection. The weighted gain is determined by the errors between the leader and follower tracking difference calculated via computer simulation. The results show that the proposed time-varying gain algorithm reaches consensus for both cooperative and non-cooperative leaders whereas low-gain was unstable.
2018 IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS), 2018
A multiple process control system testbed which represents Water Distribution System (WDS) consis... more A multiple process control system testbed which represents Water Distribution System (WDS) consist of multiple water tanks, sensors, actuators, controllers and data acquisition modules is constructed. This testbed is specifically designed for experimental testing of the designed control algorithm and measurement of controller performance. A TCP/IP and serial communication are used for transmission of the control signals and sensors measurement. These communication channels are used to ensure for easy future modification and enhancement as a Network Multi-Agent System (NMAS) using Ethernet and Wi-Fi. The result of System Identification of the testbed is presented using ARX model.
A multipronged core power control strategy for Reaktor TRIGA PUSPATI
IOP Conference Series: Materials Science and Engineering, 2021
At present, the power tracking performance of nuclear Reaktor TRIGA PUSPATI (RTP) is considered u... more At present, the power tracking performance of nuclear Reaktor TRIGA PUSPATI (RTP) is considered unsatisfactory performance due to relatively long settling time during transient and a chattering noise during steady-state power output. Application of the conventional Feedback Control Algorithm (FCA) as a power control technique is proven to be inadequate to keep the core power output stable and within tight multiple parameter constraints for the safety demand of the RTP. Hence, the present study proposed a multipronged core power control strategy improvement through manipulation of the current Control Rod Selection Algorithm (CRSA), Control Rod Speed Design (CRSD), and Power Change Rate Constraint (PCRC) which are part of the core power control design. In this paper, the profiling and analysis of the multipronged core power control strategy are presented. The model for core power control consists of mathematical models of the reactor core, FCA controller, and a series of multipronged ...
Mechanical Systems and Signal Processing, 2019
This paper proposes a Model Reference Command Shaping (MRCS) approach for an effective vibration ... more This paper proposes a Model Reference Command Shaping (MRCS) approach for an effective vibration and oscillation control of multimode flexible systems. The proposed MRCS is designed based on a reference model and avoids the need for measurement or estimation of several modes of frequency and damping ratio as in the case of other input shaping and command shaping approaches. To test the effectiveness and robustness, the designed MRCS is implemented for oscillation control of a double-pendulum overhead crane. Simulations on a nonlinear crane model and experiments using a laboratory overhead crane are carried out under two cases, without and with payload hoisting. Without a prior knowledge of the system frequency and damping ratio, the MRCS is shown to provide the highest reductions in the overall hook and payload oscillations when compared to the multimode Zero Vibration and Zero Vibration Derivative shapers designed based on the Average Travel Length approach. In addition, the MRCS is more robust towards changes in the frequency during payload hoisting and changes in the payload mass. It is envisaged that the proposed method can be useful in designing effective vibration control of multimode flexible systems.
International Journal of Engineering, 2018
The number of breakthrough pathogenic activity in water distribution network system is constantly... more The number of breakthrough pathogenic activity in water distribution network system is constantly increasing day by day especially at level of consumption. Bacterial growth or survival rate often relates to acidity and alkalinity of water. Sudden changes in pH value and temperature indicates a possibility of present bacterial contaminant in aqueous environment. The observation of pH-and temperaturebased for tap water supply samples in Pasir Gudang regions therefore was determined. On the basis of the findings, the observed pH value was compared to the recommended range for pH tap and drinking water, which is between 6.5-8.5. A significant spread can be seen among the measured parameters within the range of pH and temperature at 6.00 to 8.65 and 19.20 to 32.00 °C, respectively. There is a statistically significant difference between each sampling regions based on the measured pH value (4,145 = 44.79, < 0.05) determined by one-way ANOVA. The pH value and temperature evidence a significant effects by the location of tap water samples near industrial regions. There also appears to be a negative Pearson correlation between the two water parameters in four out of five regions.
Jurnal Teknologi, 2011
Dalam kajian ini, pengawal masukan tunggal logik kabur (SIFLC) direka bentuk dan dilaksanakan ke ... more Dalam kajian ini, pengawal masukan tunggal logik kabur (SIFLC) direka bentuk dan dilaksanakan ke atas sistem VVS–400 dari Instrutek, Larvik, Norway. VVS–400 ini dimodelkan menggunakan struktur model ARX dan model kotak hitam untuk menerbitkan anggaran model matematik bagi sistem tersebut. Reka bentuk SIFLC menawarkan pengurangan yang signifikan dalam peraturan yang digunakan serta memudahkan proses mengawal parameter kawalan. Untuk mengesahkan keberkesanannya, kaedah pendekatan ini disimulasikan dengan anggaran model matematik bagi sistem VVS–400. Anggaran model matematik ini boleh di terbitkan menggunakan perisian pengenalpastian sistem di dalam Matlab. SIFLC telah memberikan beberapa kebaikan dan pembaikan prestasi jika dibandingkan dengan pengawal logik kabur (CFLC) kerana memerlukan peraturan yang mudah serta usaha yang sangat minimum ketika mengawal parameter kawalan. Ini dapat memendekkan masa pengkomputeran untuk menyelesaikan algoritma pengawal. Dalam simulasi, persamaan SIF...
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Papers by NURUL ADILLA mohd subha