International Research Journal of Engineering and Technology (IRJET)
e-ISSN: 2395-0056
Volume: 12 Issue: 04 | Apr 2025
p-ISSN: 2395-0072
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Implementation of 2DOF controller on Single Board Heater system to track reference trajectory Vishal Yadav1, Asst. Prof. Ankit Shah2 1Vishal Yadav, Department of Applied instrumentation ,LD College of engineering, Ahmedabad
2Asst. Prof. Ankit Shah, , Department of Applied instrumentation ,LD College of engineering, Ahmedabad
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Abstract - Accurate reference tracking with minimal
most prominent being the Two Degree of Freedom controller. The architecture of 2DOF controller is more adaptable than that of conventional control systems .it offer two distinct control routes to handle tracking and disturbance rejection instead of single control loop. The controller that takes control action before a disturbance disrupts the plant are known as feedforward controller. This control system component is in charge of controlling the controllers response to variation in the setpoint or reference input. In order to identify any discrepancies between the systems actual and intended function ,feedback is used. The objective of the controller is to improve tracking performance, robust disturbance rejection and decoupled tuning.
steady-state error remains a critical objective in control system design, particularly for complex trajectories such as step and ramp signals. Traditional discrete-time PID controllers often fall short in handling such profiles, especially under dynamic conditions and external disturbances. To overcome these challenges, this study proposes a two-degreeof-freedom (2-DOF) control framework aimed at enhancing tracking accuracy and robustness. . A novel integration of the Auxiliary Aryabhatta’s Identity Equation is introduced to support unified tracking of both step and ramp references trajectory within the same control strategy. The proposed methodology is experimentally validated on a single board heater system, where it is tested on reference trajectory both step and ramping temperature profiles. Results demonstrate a significant reduction in steady-state error and improved disturbance rejection compared to standard PID control, confirming the effectiveness of the hybrid reference tracking design.
1.1 Design methodology for 2DOF controller
Key Words: 2DOF Controller, Single board heater system, reference trajectory tracking, FOPDT model Real time heater control.
1.INTRODUCTION Fig.1. schematic of 2DOF controller
The proportional integral derivative(PID) is the most popular technique in both academic and industrial contexts. For many application, PID controllers are easy to implement and work well, particularly when the system dynamics are well understood and reasonably stable. But conventional control system, especially those with a single degree of freedom (1DOF) structure like PID, have serious drawback that impair how well they work in practical situation . in 1DOF system, the same control is used to manage both setpoint changes and disturbances. This makes it difficult to optimize performance for both at the same time, improving one aspect often worsens the other. Traditional controllers may struggle with overshoot, sluggish response, or oscillation when the reference input changes suddenly. If the system model changes due to environment factors, load variations, or aging components, the controller may become unstable or perform poorly . PID and other basic controller reacts to error to errors after they occur , instead of anticipating them. They lack a feedforward path that can improve speed and and precision. The limitation has driven the evolution towards more advanced strategies, one of the
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Both continuous-time and discrete-time systems can use the feedback control mechanism described above. The plant, controller output, and reference are R(z−1),U(z−1) ,and Y(z−1). output signals, in turn. Assuming that a continuous-time plant model is sampled at a given sampling time Ts, we may quickly extract the discrete plant's transfer function as shown ,
= G(
=
In discrete-time control systems, the plant or system model is typically expressed in terms of polynomials in z−1, where P(z−1) and Q(z−1) are used to represent the numerator and denominator of the transfer function, respectively. These two polynomials are said to be co-prime when they do not share any common factors other than a constant, ensuring that the system is minimal and controllable. The variable k represents the input delay or time lag present in the system, which is a common feature in many practical processes.
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