This document provides an introduction to programmable logic controllers (PLCs). It discusses the common structure of controller-plant systems, including both continuous-time and discrete-time structures. Controllers are classified into four main types: 1) classical/traditional controllers like PID, 2) modern controllers using state feedback and estimation, 3) computational intelligence controllers using techniques like fuzzy logic and neural networks, and 4) ON-OFF controllers which have only two positions like PLCs and microcontrollers. Finally, some reference books on PLCs are listed.
This document provides an introduction to programmable logic controllers (PLCs). It discusses the common structure of controller-plant systems, including both continuous-time and discrete-time structures. Controllers are classified into four main types: 1) classical/traditional controllers like PID, 2) modern controllers using state feedback and estimation, 3) computational intelligence controllers using techniques like fuzzy logic and neural networks, and 4) ON-OFF controllers which have only two positions like PLCs and microcontrollers. Finally, some reference books on PLCs are listed.
This document provides an introduction to programmable logic controllers (PLCs). It discusses the common structure of controller-plant systems, including both continuous-time and discrete-time structures. Controllers are classified into four main types: 1) classical/traditional controllers like PID, 2) modern controllers using state feedback and estimation, 3) computational intelligence controllers using techniques like fuzzy logic and neural networks, and 4) ON-OFF controllers which have only two positions like PLCs and microcontrollers. Finally, some reference books on PLCs are listed.
This document provides an introduction to programmable logic controllers (PLCs). It discusses the common structure of controller-plant systems, including both continuous-time and discrete-time structures. Controllers are classified into four main types: 1) classical/traditional controllers like PID, 2) modern controllers using state feedback and estimation, 3) computational intelligence controllers using techniques like fuzzy logic and neural networks, and 4) ON-OFF controllers which have only two positions like PLCs and microcontrollers. Finally, some reference books on PLCs are listed.
reference error control output signal signal signal signal r(t) + Controller / e(t) u(t) y(t) Compensator Plant / System Actuators _ GC(s) G(s)
H(s) Sensors
A Common Structure of continuous-time Controller-Plant
Common Structure of Controller-Plant
reference output signal signal r(t) + Digital Plant/System y(t) A/D Controller D/A Actuators (Computer) G(s) _ Microprocessor / Microcontroller H(s) Sensor
A Common Structure of discrete-time Controller-Plant
Common Classification of Controllers
Controllers can be classified to :
1. Classical (or traditional) Controllers
2. Modern Controllers
3. Computational Intelligence Controllers
4. ON-OFF Controllers (sequential controllers) or two
position controllers 1- Classical / traditional Controllers
➢ PI Controller (improves the steady-state error)
➢ PD Controller (speeds up the system response and reduces the
system over shot and rise time, i.e. it improves the transient state)
➢ PID (proportional-integral-derivative) Controller (improves both of
transient and steady states)
➢ Phase Lead Controller (As PD)
➢ Phase Lag Controller (As PI)
➢ Phase Lead-Lag Controller (As PID)
2- Modern Controllers
➢ State Feedback Control (Pole placement Design)
u (t) = -K x (t)
➢ State Estimator (observer) Design
3- Computational Intelligence Controllers
Controllers that used the following Fields :
1. Fuzzy Logic (FL) / Fuzzy Control (FC)
2. Neural Networks (NN)
3. Adaptive Neuro Fuzzy Inference System or,
Adaptive Network-based Fuzzy Inference System or,
ANFIS. 3- Computational Intelligence Controllers
4. Evolutionary Computation Algorithms:
Heuristic Algorithms Based on the principles of Darwinian evolution observed in nature. Example of these algorithms:
➢ Genetic algorithm (GA)
➢ Differential Evolution Algorithm (DE)
➢ Particle swarm optimization (PSO)
➢ Fish Swarm Algorithm (FSA)
➢ Ant Colony Optimization Algorithm (ACO)
➢ Artificial Bee Colony Algorithm (ABC)
➢ Shuffled frog-leaping algorithm (SFLA)
4- ON-OFF Controllers (Sequential Controllers)
Sometimes, the control element (or action) has only two position either it is fully closed or fully open (1 or 0) (energized or de- energized). This control element does not operate at any intermediate position, i.e., partly open or partly closed position. This type of controllers is known as on-off controllers or two position controllers or sequential controllers.
As an Examples of these controllers:
➢ Programmable Logic Controllers (PLCs)
➢ Microcontrollers Reference Books:
1. “ Programmable Controllers - Theory and Implementation”, L.A.
Bryan and E.A. Bryan.
2. “ Programmable Logic Controllers – Programming Methods and
Applications”, John R. Hackworth and Frederick D. Hackworth, Jr.
3. “ Programmable Logic Controllers – Fourth Edition”, W. Bolton.
4. “ Programmable Logic Controllers”, Dag H. Hanssen.
