Experimental application of cascade proportional integral controllers for time delayed systems

In this thesis, a novel cascade-control structure and controller has been developed based on standard forms to increase the performance of cascade-control. By adding a time delay to the cascade controller structure, a new control design called cascade proportional integral delay controller is provided. Firstly, the features of delay-based systems and their advantages over systems are mentioned. Then, the mathematical model and analysis of the cascade proportional integral delay controller has been carried out. Real-time DC motor speed controls of the cascade proportional integral delay controller were performed. The accuracy of the controller design has been proved by real time DC motor control experiments. The accuracy of the controller design has been reinforced with the experiments on the real time liquid level tank of the cascade proportional integral delay controller. Thus, the use of the proposed control design method and its superiority over some existing design methods were revealed. In addition, with this study, it has been revealed that cascade proportional integral delay controller design performance is advantageous compared to other classical methods. Keywords: PID control, Robot control , PI Contoller, ,cascade proportional integral retarded control, cascade nonlinear proportional integral retarded control , cascade control,Time-delay, time delay control, real-time cascad contol modify