%0 Journal Article
	%A H. Mansor and  S. B. Mohd-Noor and  T. S. Gunawan and  S. Khan and  N. I. Othman and  N. Tazali and  R. B. Islam
	%D 2015
	%J International Journal of Electrical and Information Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 97, 2015
	%T Performance Comparisons between PID and Adaptive PID Controllers for Travel Angle Control of a Bench-Top Helicopter
	%U https://publications.waset.org/pdf/10000274
	%V 97
	%X This paper provides a comparative study on the
performances of standard PID and adaptive PID controllers tested on
travel angle of a 3-Degree-of-Freedom (3-DOF) Quanser bench-top
helicopter. Quanser, a well-known manufacturer of educational
bench-top helicopter has developed Proportional Integration
Derivative (PID) controller with Linear Quadratic Regulator (LQR)
for all travel, pitch and yaw angle of the bench-top helicopter. The
performance of the PID controller is relatively good; however, its
performance could also be improved if the controller is combined
with adaptive element. The objective of this research is to design
adaptive PID controller and then compare the performances of the
adaptive PID with the standard PID. The controller design and test is
focused on travel angle control only. Adaptive method used in this
project is self-tuning controller, which controller’s parameters are
updated online. Two adaptive algorithms those are pole-placement
and deadbeat have been chosen as the method to achieve optimal
controller’s parameters. Performance comparisons have shown that
the adaptive (deadbeat) PID controller has produced more desirable
performance compared to standard PID and adaptive (poleplacement).
The adaptive (deadbeat) PID controller attained very fast
settling time (5 seconds) and very small percentage of overshoot (5%
to 7.5%) for 10° to 30° step change of travel angle.

	%P 35 - 40