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İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü

Yıl 2023, Cilt: 38 Sayı: 1, 605 - 616, 21.06.2022
https://doi.org/10.17341/gazimmfd.947168

Öz

Helikoptere benzeyen ikinci dereceden ikiz pervaneli çoklu girişli ve çoklu çıkışlı (MIMO) doğrusal olmayan bir sistemin (TRMS) kontrol tasarımı çok karmaşık bir iştir. TRMS sistemi, bir kiriş ile birbirlerine bağlantılı olan ana ve kuyruk pervanesinde oluşmaktadır. TRMS sisteminin dengesinin sağlanması için her iki pervane açıları, pervanelerin bağlı bulunduğu DC motorların hızları değiştirilerek yapılır.
TRMS sisteminin dengede çalışması sağlamak amacıyla oransal-integral-türev (PID), kesir dereceli PID (FOPID), kayan kip (SMC), Süper bükümlü kayan kip (STSMC) ve Kesirli dereceli süper bükümlü kayan kip (FOSTSMC) kontrol yöntemleri kullanılmıştır. Kontrol parametrelerinin belirlenmesi için MATLAB/Simulink programında benzetim çalışmaları yapılmıştır. Benzetim çalışmalarında bulunan en başarılı yöntemler kullanılarak, deneysel çalışmalar yapılmıştır.
Benzetim ve deneysel çalışmalarının her ikisinde de ana pervane FOPID ve kuyruk pervanesi FOSTSMC yöntemi ile kontrolü diğer kontrol yöntemlerine göre en iyi sonucu verdiği görülmüştür.

Kaynakça

  • M. Twin Rotor, System Manual, Feedback Instruments, Crowborough, UK, 2002.
  • Rahideh, A., Saheed, M. H., Safavi, A., Huijberts, J. C., Model predictive control of a twin rotor MIMO system, Proceedings of the 21st International Conference on Methods and Models in Automation and Robotics, Międzyzdroje, Polonya, 2831, 2006.
  • Bajodah, A.H., Rahideh, A., Shaheed, M.H., Real time adaptive nonlinear model inversion control of a twin rotor MIMO system using neural networks, Engineering Applications of Artificial Intelligence, vol. 25, (6):1289–1297, 2012.
  • Pandey, S. K., Laxmi, V., Control of Twin Rotor MIMO System using PID controller with derivative filter coefficient, IEEE Students' Conference on Electrical, Electronics and Computer Science, 1-2 Mart 2014, Bhopal, Hindistan, 2014.
  • Cajo, R., Agila, W., Evaluation of algorithms for linear and nonlinear PID control for Twin Rotor MIMO System, Asia-Pacific Conference on Computer Aided System Engineering, 14-16 Temmuz 2015, Quito, Ekvador. 214-219, 2015.
  • Sahu, P., Pradhan, S. K., Multi Variable Self Tuning PID Control of a Twin Rotor MIMO System, In: IEEE International Conference on Advanced Communications, Control and Computing Technologies, 8-10 Mayıs 2014, Ramanathapuram, Hindistan, 381-385, 2014. Ramalakshmi, AP.S., Manoharan, P.S., Non-linear Modeling and PID Control of Twin Rotor MIMO System, In: IEEE International Conference on Advanced Communication Control and Computing Technologies (ICACCCT), 23-25 Ağustos 2012, Ramanathapuram, Hindistan, 366-369, 2012.
  • Huang, Y. J., Wu, H. W., Kuo, T. C., PID-based fuzzy sliding mode control for twin rotor multi-input multi-output systems, IEEE Tencon – Spring, 17-19 Nisan 2013, Sidney, NSW, Avustralya. 204-207, 2013.
  • Prasad, G.D., Manoharan, P.S., Ramalakshmi, A.P.S., PID Control Scheme for Twin Rotor MIMO System using a Real Valued Genetic Algorithm with a Predetermined Search Range, International Conference on Power, Energy and Control (ICPEC), 6-8 Şubat 2013, Sri Rangalatchum Dindigul, Hindistan. 443-448, 2013.
  • Bertsias, P., Kamilaris, T., Psychalinos, C., Baranowskiy, J., Bauery, W., Piateky, P., Tutajy, A., Design of Operational Amplifier Based Fractional-Order Controller for a MAGLEV System, IEEE 43rd International Conference on Telecommunications and Signal Processing (TSP), 7-9 Temmuz 2020, Milano, İtalya. 221-224, 2020.
  • Zhao, D., Li, F., Ma, R., Zhao, G., Huangfu, Y., An Unknown Input Nonlinear Observer Based Fractional Order PID Control of FuelCell Air Supply System, IEEE Transactions on Industry Applications, Vol: 56, (5):5523 – 5532, 2020.
  • Zhao, X., Wang, T., Jin, H., Intelligent second-order sliding mode control for permanent magnet linear synchronous motor servo systems with robust compensator, IET Electr. Power Appl., 2020, Vol. 14, (9) : 1661-1671, 2020.
  • Rayguru, M.M., Elara, M.R., Gómez, B.F., Ramalıngam, B., A Time Delay Estimation Based Adaptive Sliding Mode Strategy for Hybrid Impedance Control, IEEE Access,Vol:8, 155352-155361, 2020.
  • Zhang, X., Xıao, L., Li, H., Robust Control for Switched Systems With Unmatched Uncertainties Based on Switched Robust Integral Sliding Mode, IEEE Access vol:8, 138396 – 138405, 2020.
  • Rawi,A.A., Ahmad,R.,B., Tahir,H.,H., Chatter-less Sliding-Mode Controller for DC Motor, IEEE Student Conference on Research and Developement Electronic ISBN:978-1-4799-2656-5 , 2013.
  • Castillo, Oscar, Kutlu, F., Atan, Ö., "Intuitionistic fuzzy control of twin rotor multiple input multiple output systems." Journal of Intelligent & Fuzzy Systems 38.1, 821-833, 2020.
  • Tang, Y., Zhang, Y., Hasankhani, A., Vanzwieten, J., Adaptive Super-Twisting Sliding Mode Control for Ocean Current Turbine-Driven Permanent Magnet Synchronous Generator, American Control Conference (ACC), 1-3 Temmuz 2020, Denver, CO, ABD. 211- 217, 2020.
  • Amin, M.M., El-sousy, F.F.M., Abdelaziz, G.A., Mohammed, O.A., Robust Adaptive Neural-Network Super-Twisting Sliding-Mode Control for PMSM Driven Linear Stage with Uncertain Nonlinear Dynamics, IEEE Transportation Electrification Conference & Expo (ITEC), 23-26 Haziran 2020, Chicago, IL, ABD. 87-92, 2020.
  • Wang, W., Ma, J., Li, X., Zhu, H., Teo, C.S., Lee, T.H., Iterative Super-Twisting Sliding Mode Control: A Case Study on Tray Indexing, 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 6-9 Temmuz 2020, Boston, MA, ABD. 1811-1815, 2020.
  • Issac, T., Thomas, F., Mija, S.J., Trajectory Tracking of Unmanned Helicopter Using Super Twisting Control, International Conference for Emerging Technology (INCET), 5-7 Haziran 2020, Belgaum, India. 1-4, 2020.
  • Zhao, K., Leng, A., She, J., Zhang, C., He, J., Li, T., Closed-loop Torque Control for Permanent Magnet Synchronous Motor by Super Twisting Algorithm Based Sliding-Mode Observer Considering Demagnetization, IEEE 29th International Symposium on Industrial Electronics (ISIE), 17-19 Haziran 2020, Delft, Hollanda. 1566-1571, 2020.
  • Chalanga, A., Kamal, S., Fridman, L.M., Bandyopadhyay, B., Moreno, J.A., Implementation of Super-Twisting Control: Super-Twisting and Higher Order Sliding-Mode Observer-Based Approaches, IEEE Transactions on Industrial Electronics Vol: 63 , (6):3677-3685, 2016.
  • Mat-noh, M., Arshad, M.R., Mohd-mokhtar, R., Nonlinear control of autonomous underwater glider based on super-twisting sliding mode control (STSMC), 7th IEEE International Conference on System Engineering and Technology (ICSET), 2-3 Ekim 2017, Shah Alam, Malaysia. 71-76, 2017.
  • Xuehui, G., Yingjian, L., Xuemei, R., Changsheng, Z., Variable Gain Super-Twisting Sliding Mode Control for Hammerstein System with Bouc-Wen Hysteresis Nonlinearity, 35th Chinese Control Conference (CCC), 27-29 Temmuz 2016, Chengdu, Çin. 3369-3372, 2016.
  • Jena, C., Pahadasingh, S., Panigrahi, C.K.,Incorporation of Distributed Generation Resources for Three Area Load Frequency Control Using Fractional Order PID Controller, 2020 International Conference on Renewable Energy Integration into Smart Grids: A Multidisciplinary Approach to Technology Modelling and Simulation (ICREISG), 14-15 Şubat 2020, Bhubaneswar, Hindistan. 186-191, 2020.
  • Venu, G., Kalyani, S.T., Design of Fractional Order based Super Twisting Algorithm for BLDC motor, 3rd International Conference on Trends in Electronics and Informatics (ICOEI), 23-25 Nisan 2019, Tirunelveli, Hindistan. 271-277, 2019.
  • Li, W., Du, Z., Wang, W., Wu, W., Composite Fractional Order Sliding Mode Control of Permanent Magnet Synchronous Motor Based on Disturbance Observer, Chinese Automation Congress (CAC), 22-24 Kasım 2019, Hangzhou, Çin. 4012-4016, 2019.
  • Fei, J., Feng, Z., Fractional-Order Finite-Time Super-Twisting Sliding Mode Control of Micro Gyroscope Based on Double-Loop Fuzzy Neural Network, IEEE Transactions on Systems, Man, and Cybernetics: Systems ( Early Access ), 25 March 2020. 1-15, 2020.
  • Alharbi, Y.M., Al-ahmadi, A.A., Ulla, N., Abeida, H., Soliman, M., Khraisat, Y.S.H., Super Twisting Fractional Order Energy Management Control for a Smart University System Integrated DC Micro-Grid, IEEE Access Vol: 8, 128692 – 128704, 2020.
  • Gao, P., Zhang, G., Ouyang, H., Mei, L., An Adaptive Super Twisting Nonlinear Fractional Order PID Sliding Mode Control of Permanent Magnet Synchronous Motor Speed Regulation System Based on Extended State Observer, IEEE Access,Vol: 8, 53498 – 53510, 2020.
  • Chaudhary, S., Kumar, A., Control of Twin Rotor MIMO System Using 1-Degree-of-Freedom PID, 2-Degree-of Freedom PID and Fractional order PID Controller, 2019 3rd International conference on Electronics, Communication and Aerospace Technology (ICECA), 12-14 June 2019, Coimbatore, India. 746-751, 2019.
  • Ramalakshmi, AP.S., Manoharan, P.S., Non-linear Modeling and PID Control of Twin Rotor MIMO System, In: IEEE International Conference on Advanced Communication Control and Computing Technologies (ICACCCT), 23-25 Ağustos 2012, Ramanathapuram, Hindistan. 366-369, 2012.
  • Utkin V.I., Variable Structure Systems with Sliding Modes, IEEE Transactions on Automatic Control, Cilt 22, No 2, 212–222, 1977.
  • Shtessel, Y.B., Moreno, J.A., Plestan, F., Fridman, L.M., Poznyak, A.S., Super-twisting Adaptive Sliding Mode Control: a Lyapunov Design, 49th IEEE Conference on Decision and Control (CDC) , 15-17 Aralık 2010, Atlanta, GA, ABD. 5109-5113, 2010.
  • Levant, A., Sliding order and sliding accuracy in sliding mode control, International journal of control, vol. 58, (6): 1247-1263, 1993.
  • Sheng, S., Xu, D., Super-Twisting-Algorithm-Based Terminal Sliding Mode Control for a Bioreactor System, Hindawi Publishing Corporation Abstract and Applied Analysis Vol. 2014, (495680):1-9, 2014.
  • Zhengguang, S., Changliang, X., Zhiqiang, W., Tingna, S., Direct Torque Control of Permanent Magnet Synchronous Motor Based on Super-Twist Algorithm, Transactions of China Electrotechnical Society,32, (15):89-99, 2017.

Control of 2-Dof TRMS MIMO system using FOPID & FOSTSMC method

Yıl 2023, Cilt: 38 Sayı: 1, 605 - 616, 21.06.2022
https://doi.org/10.17341/gazimmfd.947168

Öz

Kaynakça

  • M. Twin Rotor, System Manual, Feedback Instruments, Crowborough, UK, 2002.
  • Rahideh, A., Saheed, M. H., Safavi, A., Huijberts, J. C., Model predictive control of a twin rotor MIMO system, Proceedings of the 21st International Conference on Methods and Models in Automation and Robotics, Międzyzdroje, Polonya, 2831, 2006.
  • Bajodah, A.H., Rahideh, A., Shaheed, M.H., Real time adaptive nonlinear model inversion control of a twin rotor MIMO system using neural networks, Engineering Applications of Artificial Intelligence, vol. 25, (6):1289–1297, 2012.
  • Pandey, S. K., Laxmi, V., Control of Twin Rotor MIMO System using PID controller with derivative filter coefficient, IEEE Students' Conference on Electrical, Electronics and Computer Science, 1-2 Mart 2014, Bhopal, Hindistan, 2014.
  • Cajo, R., Agila, W., Evaluation of algorithms for linear and nonlinear PID control for Twin Rotor MIMO System, Asia-Pacific Conference on Computer Aided System Engineering, 14-16 Temmuz 2015, Quito, Ekvador. 214-219, 2015.
  • Sahu, P., Pradhan, S. K., Multi Variable Self Tuning PID Control of a Twin Rotor MIMO System, In: IEEE International Conference on Advanced Communications, Control and Computing Technologies, 8-10 Mayıs 2014, Ramanathapuram, Hindistan, 381-385, 2014. Ramalakshmi, AP.S., Manoharan, P.S., Non-linear Modeling and PID Control of Twin Rotor MIMO System, In: IEEE International Conference on Advanced Communication Control and Computing Technologies (ICACCCT), 23-25 Ağustos 2012, Ramanathapuram, Hindistan, 366-369, 2012.
  • Huang, Y. J., Wu, H. W., Kuo, T. C., PID-based fuzzy sliding mode control for twin rotor multi-input multi-output systems, IEEE Tencon – Spring, 17-19 Nisan 2013, Sidney, NSW, Avustralya. 204-207, 2013.
  • Prasad, G.D., Manoharan, P.S., Ramalakshmi, A.P.S., PID Control Scheme for Twin Rotor MIMO System using a Real Valued Genetic Algorithm with a Predetermined Search Range, International Conference on Power, Energy and Control (ICPEC), 6-8 Şubat 2013, Sri Rangalatchum Dindigul, Hindistan. 443-448, 2013.
  • Bertsias, P., Kamilaris, T., Psychalinos, C., Baranowskiy, J., Bauery, W., Piateky, P., Tutajy, A., Design of Operational Amplifier Based Fractional-Order Controller for a MAGLEV System, IEEE 43rd International Conference on Telecommunications and Signal Processing (TSP), 7-9 Temmuz 2020, Milano, İtalya. 221-224, 2020.
  • Zhao, D., Li, F., Ma, R., Zhao, G., Huangfu, Y., An Unknown Input Nonlinear Observer Based Fractional Order PID Control of FuelCell Air Supply System, IEEE Transactions on Industry Applications, Vol: 56, (5):5523 – 5532, 2020.
  • Zhao, X., Wang, T., Jin, H., Intelligent second-order sliding mode control for permanent magnet linear synchronous motor servo systems with robust compensator, IET Electr. Power Appl., 2020, Vol. 14, (9) : 1661-1671, 2020.
  • Rayguru, M.M., Elara, M.R., Gómez, B.F., Ramalıngam, B., A Time Delay Estimation Based Adaptive Sliding Mode Strategy for Hybrid Impedance Control, IEEE Access,Vol:8, 155352-155361, 2020.
  • Zhang, X., Xıao, L., Li, H., Robust Control for Switched Systems With Unmatched Uncertainties Based on Switched Robust Integral Sliding Mode, IEEE Access vol:8, 138396 – 138405, 2020.
  • Rawi,A.A., Ahmad,R.,B., Tahir,H.,H., Chatter-less Sliding-Mode Controller for DC Motor, IEEE Student Conference on Research and Developement Electronic ISBN:978-1-4799-2656-5 , 2013.
  • Castillo, Oscar, Kutlu, F., Atan, Ö., "Intuitionistic fuzzy control of twin rotor multiple input multiple output systems." Journal of Intelligent & Fuzzy Systems 38.1, 821-833, 2020.
  • Tang, Y., Zhang, Y., Hasankhani, A., Vanzwieten, J., Adaptive Super-Twisting Sliding Mode Control for Ocean Current Turbine-Driven Permanent Magnet Synchronous Generator, American Control Conference (ACC), 1-3 Temmuz 2020, Denver, CO, ABD. 211- 217, 2020.
  • Amin, M.M., El-sousy, F.F.M., Abdelaziz, G.A., Mohammed, O.A., Robust Adaptive Neural-Network Super-Twisting Sliding-Mode Control for PMSM Driven Linear Stage with Uncertain Nonlinear Dynamics, IEEE Transportation Electrification Conference & Expo (ITEC), 23-26 Haziran 2020, Chicago, IL, ABD. 87-92, 2020.
  • Wang, W., Ma, J., Li, X., Zhu, H., Teo, C.S., Lee, T.H., Iterative Super-Twisting Sliding Mode Control: A Case Study on Tray Indexing, 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 6-9 Temmuz 2020, Boston, MA, ABD. 1811-1815, 2020.
  • Issac, T., Thomas, F., Mija, S.J., Trajectory Tracking of Unmanned Helicopter Using Super Twisting Control, International Conference for Emerging Technology (INCET), 5-7 Haziran 2020, Belgaum, India. 1-4, 2020.
  • Zhao, K., Leng, A., She, J., Zhang, C., He, J., Li, T., Closed-loop Torque Control for Permanent Magnet Synchronous Motor by Super Twisting Algorithm Based Sliding-Mode Observer Considering Demagnetization, IEEE 29th International Symposium on Industrial Electronics (ISIE), 17-19 Haziran 2020, Delft, Hollanda. 1566-1571, 2020.
  • Chalanga, A., Kamal, S., Fridman, L.M., Bandyopadhyay, B., Moreno, J.A., Implementation of Super-Twisting Control: Super-Twisting and Higher Order Sliding-Mode Observer-Based Approaches, IEEE Transactions on Industrial Electronics Vol: 63 , (6):3677-3685, 2016.
  • Mat-noh, M., Arshad, M.R., Mohd-mokhtar, R., Nonlinear control of autonomous underwater glider based on super-twisting sliding mode control (STSMC), 7th IEEE International Conference on System Engineering and Technology (ICSET), 2-3 Ekim 2017, Shah Alam, Malaysia. 71-76, 2017.
  • Xuehui, G., Yingjian, L., Xuemei, R., Changsheng, Z., Variable Gain Super-Twisting Sliding Mode Control for Hammerstein System with Bouc-Wen Hysteresis Nonlinearity, 35th Chinese Control Conference (CCC), 27-29 Temmuz 2016, Chengdu, Çin. 3369-3372, 2016.
  • Jena, C., Pahadasingh, S., Panigrahi, C.K.,Incorporation of Distributed Generation Resources for Three Area Load Frequency Control Using Fractional Order PID Controller, 2020 International Conference on Renewable Energy Integration into Smart Grids: A Multidisciplinary Approach to Technology Modelling and Simulation (ICREISG), 14-15 Şubat 2020, Bhubaneswar, Hindistan. 186-191, 2020.
  • Venu, G., Kalyani, S.T., Design of Fractional Order based Super Twisting Algorithm for BLDC motor, 3rd International Conference on Trends in Electronics and Informatics (ICOEI), 23-25 Nisan 2019, Tirunelveli, Hindistan. 271-277, 2019.
  • Li, W., Du, Z., Wang, W., Wu, W., Composite Fractional Order Sliding Mode Control of Permanent Magnet Synchronous Motor Based on Disturbance Observer, Chinese Automation Congress (CAC), 22-24 Kasım 2019, Hangzhou, Çin. 4012-4016, 2019.
  • Fei, J., Feng, Z., Fractional-Order Finite-Time Super-Twisting Sliding Mode Control of Micro Gyroscope Based on Double-Loop Fuzzy Neural Network, IEEE Transactions on Systems, Man, and Cybernetics: Systems ( Early Access ), 25 March 2020. 1-15, 2020.
  • Alharbi, Y.M., Al-ahmadi, A.A., Ulla, N., Abeida, H., Soliman, M., Khraisat, Y.S.H., Super Twisting Fractional Order Energy Management Control for a Smart University System Integrated DC Micro-Grid, IEEE Access Vol: 8, 128692 – 128704, 2020.
  • Gao, P., Zhang, G., Ouyang, H., Mei, L., An Adaptive Super Twisting Nonlinear Fractional Order PID Sliding Mode Control of Permanent Magnet Synchronous Motor Speed Regulation System Based on Extended State Observer, IEEE Access,Vol: 8, 53498 – 53510, 2020.
  • Chaudhary, S., Kumar, A., Control of Twin Rotor MIMO System Using 1-Degree-of-Freedom PID, 2-Degree-of Freedom PID and Fractional order PID Controller, 2019 3rd International conference on Electronics, Communication and Aerospace Technology (ICECA), 12-14 June 2019, Coimbatore, India. 746-751, 2019.
  • Ramalakshmi, AP.S., Manoharan, P.S., Non-linear Modeling and PID Control of Twin Rotor MIMO System, In: IEEE International Conference on Advanced Communication Control and Computing Technologies (ICACCCT), 23-25 Ağustos 2012, Ramanathapuram, Hindistan. 366-369, 2012.
  • Utkin V.I., Variable Structure Systems with Sliding Modes, IEEE Transactions on Automatic Control, Cilt 22, No 2, 212–222, 1977.
  • Shtessel, Y.B., Moreno, J.A., Plestan, F., Fridman, L.M., Poznyak, A.S., Super-twisting Adaptive Sliding Mode Control: a Lyapunov Design, 49th IEEE Conference on Decision and Control (CDC) , 15-17 Aralık 2010, Atlanta, GA, ABD. 5109-5113, 2010.
  • Levant, A., Sliding order and sliding accuracy in sliding mode control, International journal of control, vol. 58, (6): 1247-1263, 1993.
  • Sheng, S., Xu, D., Super-Twisting-Algorithm-Based Terminal Sliding Mode Control for a Bioreactor System, Hindawi Publishing Corporation Abstract and Applied Analysis Vol. 2014, (495680):1-9, 2014.
  • Zhengguang, S., Changliang, X., Zhiqiang, W., Tingna, S., Direct Torque Control of Permanent Magnet Synchronous Motor Based on Super-Twist Algorithm, Transactions of China Electrotechnical Society,32, (15):89-99, 2017.
Toplam 36 adet kaynakça vardır.

Ayrıntılar

Birincil Dil Türkçe
Konular Mühendislik
Bölüm Makaleler
Yazarlar

Yusuf Abukan 0000-0001-7685-6217

M. Nuri Almalı 0000-0003-2763-4452

Yayımlanma Tarihi 21 Haziran 2022
Gönderilme Tarihi 2 Haziran 2021
Kabul Tarihi 2 Mart 2022
Yayımlandığı Sayı Yıl 2023 Cilt: 38 Sayı: 1

Kaynak Göster

APA Abukan, Y., & Almalı, M. N. (2022). İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi, 38(1), 605-616. https://doi.org/10.17341/gazimmfd.947168
AMA Abukan Y, Almalı MN. İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü. GUMMFD. Haziran 2022;38(1):605-616. doi:10.17341/gazimmfd.947168
Chicago Abukan, Yusuf, ve M. Nuri Almalı. “İki Serbestlik Dereceli TRMS MIMO Sistemin FOPID Ve FOSTSMC yöntemi kullanılarak Kontrolü”. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi 38, sy. 1 (Haziran 2022): 605-16. https://doi.org/10.17341/gazimmfd.947168.
EndNote Abukan Y, Almalı MN (01 Haziran 2022) İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi 38 1 605–616.
IEEE Y. Abukan ve M. N. Almalı, “İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü”, GUMMFD, c. 38, sy. 1, ss. 605–616, 2022, doi: 10.17341/gazimmfd.947168.
ISNAD Abukan, Yusuf - Almalı, M. Nuri. “İki Serbestlik Dereceli TRMS MIMO Sistemin FOPID Ve FOSTSMC yöntemi kullanılarak Kontrolü”. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi 38/1 (Haziran 2022), 605-616. https://doi.org/10.17341/gazimmfd.947168.
JAMA Abukan Y, Almalı MN. İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü. GUMMFD. 2022;38:605–616.
MLA Abukan, Yusuf ve M. Nuri Almalı. “İki Serbestlik Dereceli TRMS MIMO Sistemin FOPID Ve FOSTSMC yöntemi kullanılarak Kontrolü”. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi, c. 38, sy. 1, 2022, ss. 605-16, doi:10.17341/gazimmfd.947168.
Vancouver Abukan Y, Almalı MN. İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü. GUMMFD. 2022;38(1):605-16.