• Abdulrahman A. A. Emhemed College of Electronic Technology-Bani Walid, 38645, Libya
  • Rosbi Mamat Department of Control and Mechatronic Engineering, Universiti Teknologi Malaysia, 81310 UTM Johor Bahru, Johor, Malaysia
  • Ahmad ‘Athif Mohd Faudzi Centre for Artificial Intelligence and Robotics (CAIRO), Universiti Teknologi Malaysia, 81310 UTM Johor Bahru, Johor, Malaysia



Non-Parametric Identification, PTn Model, Intelligent Pneumatic Actuator (IPA)


The aim of this paper is to present experimental, empirical and analytic identification techniques, known as non-parametric techniques. Poor dynamics and high nonlinearities are parts of the difficulties in the control of pneumatic actuator functions, which make the identification technique very challenging. Firstly, the step response experimental data is collected to obtain real-time force model of the intelligent pneumatic actuator (IPA). The IPA plant and Personal Computer (PC) communicate through Data Acquisition (DAQ) card over MATLAB software. The second method is approximating the process by curve reaction of a first-order plus delay process, and the third method uses the equivalent n order process with PTn model parameters. The obtained results have been compared with the previous study, achieved based on force system identification of IPA obtained by the (Auto-Regressive model with eXogenous) ARX model. The models developed using non-parameters identification techniques have good responses and their responses are close to the model identified using the ARX system identification model. The controller approved the success of the identification technique with good performance. This means the Non-Parametric techniques are strongly recommended, suitable, and feasible to use to analyze and design the force controller of IPA system. The techniques are thus very suitable to identify the real IPA plant and achieve widespread industrial acceptance.


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How to Cite

A. A. Emhemed, A., Mamat, R., & Mohd Faudzi, A. ‘Athif. (2015). NON-PARAMETRIC IDENTIFICATION TECHNIQUES FOR INTELLIGENT PNEUMATIC ACTUATOR. Jurnal Teknologi, 77(20).