Call for Paper - January 2024 Edition
IJCA solicits original research papers for the January 2024 Edition. Last date of manuscript submission is December 20, 2023. Read More

Control of SIMO Systems in Simulation: The Challenge of the Multiple Axes Actuating Pneumatic Arm

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Year of Publication: 2017
G. P. Smyrnaiou, M. Papoutsidakis, A. Xatzopoulos, D. Tseles

G P Smyrnaiou, M Papoutsidakis, A Xatzopoulos and D Tseles. Control of SIMO Systems in Simulation: The Challenge of the Multiple Axes Actuating Pneumatic Arm. International Journal of Computer Applications 168(10):1-7, June 2017. BibTeX

	author = {G. P. Smyrnaiou and M. Papoutsidakis and A. Xatzopoulos and D. Tseles},
	title = {Control of SIMO Systems in Simulation: The Challenge of the Multiple Axes Actuating Pneumatic Arm},
	journal = {International Journal of Computer Applications},
	issue_date = {June 2017},
	volume = {168},
	number = {10},
	month = {Jun},
	year = {2017},
	issn = {0975-8887},
	pages = {1-7},
	numpages = {7},
	url = {},
	doi = {10.5120/ijca2017914499},
	publisher = {Foundation of Computer Science (FCS), NY, USA},
	address = {New York, USA}


In this paper a comparative study of the classical control methods for the testing of a mathematical model, which controls six actuators of a six degrees of freedom robotic arm with a single controller, is illustrated, aiming to the constructive simplification of the system. In more detail, a mathematical model of the system is designed which simulates all mechanical parts, including 5-way directional pneumatic valve, the pneumatic actuators/pistons and the mathematical model of the controller. The purpose of the above is the tuning of a Single Input, Multiple Outputs (SIMO) controller which will direct the motion of the six pneumatic pistons. The thorough analysis of the implementation of the pneumatic system in Matlab/Simulink environment is followed by experimentation and results using Proportional (P), Proportional-Integral (PI), Proportional-Derivative (PD) and Proportional-Integral-Derivative (PID) controllers. The simulation results show the advantages of the above classical control methods on the robotic human arm which imitating human motion and made by a well-known company in the field of pneumatic automation.


  1. Hydraulic-Pneumatic systems and Applications, Athanasios T. Routoulas, Contemporary Publications, Athens, Greece, 2008.
  2. Thesis: Movement control in the pneumatic systems, N. Themelis, Department of Mechanical Engineering, National Technical University of Athens, Greece, 2007.
  3. Information paper: Introduction to Pneumatic Systems, I. Lignos, P. Bouslis, G. Politis, G. Chamilothoris, Electrical Sector, Region Training Center, Ioannina, Greece, 2001.
  4. Automation and Automatic Control Systems, Part A, I. Lignos, P. Bouslis, G. Politis, G. Chamilothoris, Electrical Sector, Athens, 2001.
  5. Paper #: A High Performance Pneumatic Force Actuator System Part 1 - Nonlinear Mathematical Model, Edmond Richer and Yildirim Hurmuzlu, Southern Methodist University, School of Engineering and Applied Science, Mechanical Engineering Department, Dallas, 2001.
  6. Paper #: Mathematical And Simulink Model Of The Pneumatic System With Bridging Of The Dual Action Cylinder Chambers, Vladislav Blagojević, Miodrag Stojiljković, Faculty of Mechanical Engineering Niš, University of Niš, Vol. 5, No 1, 2007.
  7. Thesis: “A comparative Investigation Into Proportional-Integral-Derivative Control Methods for Accurate Position Control of Linear Pneumatic Actuators”, M.G. Papoutsidakis, University of the West of England, Bristol, UK, 2004.
  8. Paper #: An Analysis of a Pneumatic Servo System and Its Applications to a Computer-Controlled Robot, S. Liu and J. E. Bobrow, Journal of Dynamic Systems, Measurement and Control, vol 110, PP 228-235, 1988.
  9. Paper #: Non-conventional adaptive control of a servopneumatic unit for vertical load positioning, C. Ferraresi, P. Giraudo, G. Quaglia, West Technical Conference, 1994.
  10. Paper #: Variable Structure Control of a Pneumatic Actuator, Tang J. and Walker G., Transactions of the ASME, vol.117, pp.88-92, 1995.
  11. Thesis: Control wind turbine induction motor squirrel cage using fuzzy logic, C. Kokkotas, Department of Electrical and Computer Engineering, University of Patras, Greece, 20013.
  12. Lab Notes: Sensors-Interfaces, C. Tsonos, Department of Electronics Engineering, University of Applied Sciences, Central Greece, 2011.
  13. New scope for interaction between humans and machines


Single input-multiple output systems, pneumatic positioning systems, simulation environment, PID controller design.