Y. M. Sam

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This paper presents the position tracking performance of an electro-hydraulic hydraulic servo (EHS) system using sliding mode control (SMC) with proportional-integral-derivative (PID) sliding surface. In modelling process, a mathematical model of the EHS system is developed by considering its nonlinearities as represented by a Lu-Gre friction model. The(More)
This paper presents experimental work on recursive identification of an electro-hydraulic system that represented by a discrete-time model in open-loop and closed-loop configurations. A recursive least square (RLS) method is used to estimate the unknown parameters of the system based on auto regression with exogenous input (ARX) model. Residual analysis is(More)
This paper presents a multirate output feedback based on discrete time sliding mode to control motion servo system. The method used the output information that is sampled at a faster rate than the control input to design controller. It has been shown that proper selection of the reaching law parameter can reduce the chattering problem. Simulation(More)
The purpose of this paper is to investigate the performance of a full car model active suspension system using LQR controller. Dynamic model used in this study is a linear model. A linear model can capture basic performances of vehicle suspension such as body displacement, body acceleration, wheel displacement, wheel deflection, suspension travels, pitch(More)
Electro-hydraulic actuator (EHA) system has become one of the most prominent actuator in the past decades. Therefore, it is crucial to attain structural insight into the characteristics of the particular system. This paper presents system identification of EHA system using non-recursive or offline technique where the mathematical model is determined first(More)
The activated sludge process is the main versatile technology currently in use for wastewater treatment system. Dissolved oxygen (DO) is the key element in the process due to its significance influence upon the bacteria responsible for decomposing the organic pollutants in the wastewater. However, the non-linear nature of DO couple with the time-varying(More)
Wastewater treatment system is highly uncertain and intricate system. Suitable model is a key to smooth and optimal operation of the system. The available wastewater treatment system models are too difficult to use and costly to experiment. This paper presents neuro-fuzzy modelling of wastewater treatment system. Adaptability, smoothness, effectiveness,(More)
Electro-hydraulic actuator (EHA) system inherently suffers from uncertainties, nonlinearities and time-varying in its model parameters which makes the modeling and controller designs are more complicated. The main objective of this paper is to perform a robust control design using discrete-time sliding mode control (DSMC) with two-degree-of-freedom (2-DOF)(More)
Electro-hydraulic actuator (EHA) system inherently suffers from uncertainties, nonlinearities and time-varying in its model parameters which makes the modeling and controller designs are more complicated. The main objective of this paper is to perform a robust control design using discrete-time sliding mode control (DSMC) with perfect tracking control(More)
This paper presents discrete sliding mode control (DSMC) for nonlinear model of an inverted pendulum system. The reaching law method is used during the DSMC design. The uncertainties are structured in that system by considering the existence of an error during the pendulum angle measurement. The designed controller is compared with Linear Quadratic(More)
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