Interactions between input and output variables are a prevalent challenge in the design of multi-loop controllers for multivariable processes, and they can be a major stumbling block to obtaining good overall performance of a multi loop control system. The deconstructed dynamic interaction analysis is proposed to solve this limitation by decomposing the multi loop control system into a series of n independent SISO systems, each with its own PID controller. The multivariable decoupler and multi loop PID controller is applied to Two Tank Conical Interacting System (TTCIS). This TTCIS is chosen as benchmark problem used by many researchers. Firstly, the Mathematical modelling of TTCIS is derived using First principal model. The non-linear system is linearized using Jacobian matrix and decomposed into multiple SISO systems. The controller design for the process is then obtained, and an RGA matrix is constructed to minimise the interaction effects. To demonstrate the efficiency of the suggested strategy, simulation results using TTCIS are provided.

Multivariable liquid level control is necessary in process industries to ensure quality of the product and safety of the equipment. However, the significant problems of the control system include excessive time consumption and percentage overshoot, which result from ineffective performance of the tuning methods of the PID controllers used for the system. In this paper, fuzzy logic was used to tune the PID parameters to control a four-coupled-tank system in which liquid level in tanks 1 and 2 were controlled. Mass Balance equation was employed to generate the transfer function matrix for the system, while a Fuzzy Inference System (FIS) file is created and embedded in fuzzy logic controller blocks, making tuning rules for the PID. Matlab R2009b simulation of the system model shows that the rise time (RT), settling time (ST), peak value (PV) and percentage overshoot (PO) for the developed DF-PID controller were 1. 48 s, 4. 75 s, 15 cm and 0% respectively for tank-1; and 0. 86 s, 2. 62 s, 10 cm and 0% respectively for tank-2, which are the smallest and best values when compared with other PID tuning methods namely: Ziegler-Nichols, Cohen-Coon and Chien-Hrones-Reswick PID tuning methods.

The purpose of this paper is to design a fractional order PID (FOPID) controller base on stochastic algorithms for attitude control of quadrotor. The model is based on usage of Fractional calculus in the PID Controllers which can provide novel and higher performance extension for FOPID controllers. Here, the main goal is to design an optimal PID and FOPID controller using stochastic algorithms. Therefor two stochastic algorithms are used for optimal tuning of FOPID parameters. Genetic Algorithm (GA) and Particle Swarm Optimization are compared in minimizing the performance criteria formula which leads to a better performance in controlling of the plant. A quadrotor is installed on an experimental test stand includes of accelerometers, gyroscopes and microcontroller with one and three degrees of freedom to test the performance of PID controller. Kalman filter is used to reduce the noises by Combination of accelerometer and gyroscope output. The result of the experiments in the paper shows that the quadrotor can perform desired motions successfully with the controller in the response of step input and while it is subjected to external disturbances.

One of the issues of reliable performance in the power grid is the existence of electromechanical oscillations between interconnected generators. The number of generators participating in each electromechanical oscillation mode and the frequency oscillation depends on the structure and function of the power grid. In this paper, to improve the transient nature of the network and damping electromechanical fluctuations, a Decentralized robust adaptive control method based on dynamic programming has been used to design a stabilizing power system and a complementary static var compensator (SVC) controller. By applying a single line to ground fault in the network, the robustness of the designed control systems is demonstrated. Also, the simulation results of the method used in this paper are compared with controllers whose parameters are adjusted using the PSO algorithm. The simulation results show the superiority of the Decentralized robust adaptive control method based on dynamic programming for the stabilizing design of the power system and the complementary SVC controller. The performance of the control method is tested using the IEEE 16-machine, 68-bus, 5-area is verified with time domain simulation.

Background and purpose: Primary immune-deficiencies (PID) are associated with a wide range of clinical disorders along with variable symptoms. The aim of this study was to evaluate and improve our knowledge regarding PID from patients that were referred to Booali Sina Hospital.Materials and methods: We evaluated all of PID`s that were referred to Booali Sina Hospital from their data records. Demography, clinical and laboratory data were recorded and then analyzed.Results: In the duration of 3 years, we had 10 patients with PID (7 males and 3 females). Of these cases, 5 had hum oral (50%), 1case had phagocytic (10%), 3 cases had cellular (30%) and 1 case had hyper IgE syndrome (10%). Many of them had respiratory and otitis media infections, while a few patients had adenitis, gastroenteritis, liver abscesses, bleedings and malignancy.Conclusion: PID is a diverse disorder that involves different immune systems. Knowledge from patient’s clinical symptoms and consideration in their differential diagnosis can be helpful in early diagnosis and an effective treatment.

Background: Primary Immunodeficiencys (PID) are severe disorders of immune system leads to high morbidity and mortality. Special investigation has been performed for improving the knowledge about PID and organizing registry of these patients. 10 warning signs of PID in native language are used in education programs for pediatric, immunologist and other specialists. The Objective of the study was to educate and increase awareness of PID diagnosis and treatment, also to detect primary immune deficiency in patients with suspicion on immune abnormalities.Methods: Three years study was performed with children and adult patients with severe and repeated infections from the different regions of Azerbaijan Republic. Research based on the recommendation of JMF. Data from the patient records were analyzed in relation to age, gender, type of infections and complications.Findings: 240 patients, children and adults, with repeated and severe infections were suspected on PID and examined during 2010-2012 years. The PID registry was from 2011 and now total 13 clinical immunologists and 4 lab staff are working on PID in the medical centers in Baku. The number of patients being followed is 45, number of patients identified with PID is 28 and 7 patients genetically confirmed and regularreceive IVIG treatment. 17 patient have unspecified diagnose of PID. Patients died in this period were 12. There were published special brochure with algorithm of PID diagnosis and textbook on PID for students and residents.Conclusion: Still there are many undiagnosed immune compromised patients in Azerbaijan. Despite the PID educational program and practical seminars, the investigation of PID in patients is not routinely, most of patients not treated by immunologists and we have no patients received BMT.

Non-cooperative intelligent control agents (ICAs) with dedicated cost functions, can lead the system to poor performance and in some cases, closed-loop instability. A robust solution to this challenge is to place the ICAs at the feedback Nash equilibrium point (FNEP) of the differential game between them. This paper introduces the designation of a robust Decentralized infinite horizon LQR control system based on the FNEP for a linear time-invariant system. For this purpose, two control strategies are defined. The first one is a centralized infinite horizon LQR (CIHLQR) problem (i.e. a supervisory problem), and the second one is a Decentralized control problem (i.e. an infinite horizon linear-quadratic differential game). Then, while examining the optimal solution of each of the above strategies on the performance of the other, the necessary and sufficient conditions for the equivalence of the two problems are presented. In the absence of the conditions, by using the least-squares error criterion, an approximated CIHLQR controller is presented. It is shown that the theorems could be extended from a two-agent control system to a multi-agent system. Finally, the results are evaluated using the simulation results of a Two-Area non-reheat power system.

Sortition is widely used in social and economic mechanisms whenever it is required to choose one of the participants at random in a fair manner. On the other hand, by growth of the Internet, social and economic mechanisms are required to perform online sortition procedures in such a way that users can trust them. We propose a novel online sortition protocol, which is Decentralized, and the winner of the sortition is chosen with the aid of all participants. In the real life, the sortition takes place via the lottery machine, which satisfies fairness, randomness, non-repudiation and openness. We argue that our proposed protocol also satisfies all these properties.