AUTONOMOUS DRUGS OPTIMAL MANAGEMENT, PART IV: ELECTRODE POSITION CONTROL IN RADIOFREQUENCY ABLATION FOR FEMALE- BREAST-TUMORS USING I-FIRST ORDER AND I-2/2 ORDERS COMPENSATORS COMPARED WITH A PI CONTROLLER

This paper is the fourth in a series of research papers presenting the autonomous optimal management of drugs for the human being. It handles the control of the RFA-Electrode position using I-first order and I-2/2 orders compensators from the second generation of control compensators with an electro-hydraulic drive system. The proposed compensators are tuned using multiple approaches including zero/pole cancellation and optimization techniques. The step time response of the control system using the two proposed compensators is presented and compared with using a PI controller from the first generation of PID controllers to control the controlled process of electrode position and the time-based characteristics are compared. The comparison reveals the best compensator among the three compensators/controller depending on a graphical and quantitative comparison study.