Satellite dish antenna control for distributed mobile telemedicine nodes

International Journal of Informatics and Communication Technology (IJ-ICT)
Vol. 11, No. 3, December 2022, pp. 206~217
ISSN: 2252-8776, DOI: 10.11591/ijict.v11i3.pp206-217  206
Journal homepage: http://ijict.iaescore.com
Satellite dish antenna control for distributed mobile
telemedicine nodes
Bonaventure Onyeka Ekengwu1
, Paulinus Chinaenye Eze2,3
, Christopher Nnaemeka Asiegbu1
, Samuel
Chukwuemeka Olisa1
, Chimezie Felix Udechukwu1
1
Department of Electronic Engineering, University of Nigeria Nsukka, Nsukka, Nigeria
2
Department of Electrical and Electronic Engineering, Federal University of Technology Owerri, Owerri, Nigeria
3
Department of Electrical and Electronic Engineering, Covenant Polytechnic, Aba, Nigeria
Article Info ABSTRACT
Article history:
Received Jan 10, 2022
Revised Jul 21, 2022
Accepted Aug 8, 2022
The positioning control of a dish antenna mounted on distributed mobile
telemedicine nodes (DMTNs) within Nigeria communicating via
NigComSat-1R has been presented. It was desired to improve the transient
and steady performance of satellite dish antenna and reduce the effect of
delay during satellite communication. In order to overcome this, the
equations describing the dynamics of the antenna positioning system were
obtained and transformed into state space variable equations. A full state
feedback controller was developed with forward path gain and an observer.
The proposed controller was introduced into the closed loop of the dish
antenna positioning control system. The system was subjected to unit step
forcing function in MATLAB/Simulink simulation environment considering
three different cases so as to obtain time domain parameters that
characterized the transient and steady state response performances. The
simulation results obtained revealed that the introduction of the full state
feedback controller provided improved position tracking to unit step input
with a rise time of 0.42 s, settling time of 1.22 s and overshoot of 4.91%.
With the addition of observer, the rise time achieved was 0.39 s, settling
time of 1.31 s, and overshoot of 10.7%. The time domain performance
comparison of the proposed system with existing systems revealed its
superiority over them.
Keywords:
Controller
Full state feedback
NigComSat-1R
Telemedicine
Telemedicine nodes
This is an open access article under the CC BY-SA license.
Corresponding Author:
Paulinus Chinaenye Eze
Department of Electrical and Electronic Engineering, Federal University of Technology Owerri
PMB, Owerri, Ihiagwa, 460114 Nigeria
Email: paulinuseze1@gmail.com
1. INTRODUCTION
Satellite antennas are essential components of mobile telecommunication systems. Large amount of
data representing telephone traffic, radio signals, and television signals are carried by satellites. The
application of satellite has become increasingly common and an integral part of everyday life as can be seen
in many homes and offices with various forms of antennas that are employed for receiving signal from
satellites located far distance away from the earth [1]. Satelllite communications certainly offer the most vital
technology that enables communication without selecting location and time [2].
Communication via satellite has become a famous process in all field of human endeavour including
health sector, where distributed mobile telemedicine nodes (DMTNs) communicating via satellite are used to
provide remote healthcare delivery. The DMTNs are communicating dish antenna networks. Telemedicine
simply means the the use of information and communication technology (ICT) to provide healthcare delivery

Int J Inf & Commun Technol ISSN: 2252-8776 
Satellite dish antenna control for distributed mobile telemedicine nodes (Bonaventure Onyeka Ekengwu)
207
and sharing of medical knowledge over a distance [3]–[6]. In Nigeria, it is one of the primary assignment of
the Nigerian’s communication satellite (NigComSat-1R) that is aimed at improving remote diagnosis and
providing cost efficient and good healthcare delivery [3], [6].
As a result of the distribution and mobility nature of telemedicine system in addition to the large
land mass of Nigeria, huge delay in propagation occurs during satellite communication between parabolic
antennas, which can cause poor quality or instability in system performance if not addressed. Hence, a
system that will compensate for this time delay variableness is expected to provide good positioning as well
as fast, accurate and precise line of sight (LOS) operation in terms of robust tracking [6]. In order to
compensate for this, conventional and robust proportional-integral-derivative (PID) controllers have been
used to provide command and positioning control of mobile temedicine dish antenna network mounted on
vehicles to point and lock to NigComSat-1R by [7], [8]. For DMTNs within Nigeria when communication is
via NigComSat-1R, the effect of PID controller on positioning control of dish antenna perforamnce has been
examined [3]. The performance response of PID compensated mobile satelllite dish antenna network used in
telemedicine within Nigeria has been improved in [9] by adding a low pass filter (LPF) in the input of the
antenna positioning control system. The performance characteristics of dish antena system in distributed
telemedicne mobile network has been simulated by adding a compensator in [10]. For distributed mobile
telemedicine nodes, the effect of different controllers on performance of dish antenna Positioning system has
been examined in [11].
Actually, different control strategies have been implemented to position dish antenna for satellite
communication. A control system for realizing stable position of antenna in the presence of external
disturbance was developed in [12]. The use of random data generated for antena control servo system has
been done in [13]. Positioning control of deep space antenna based on weighted cultural artificial fish swarm
algorithm optimized PID controller has been presented in [14]. Satellite antenna systems using PID tuned
compensator that will provide robustness and effective tracking for direct current servo-based antenna and
positioning control system for servo based ground station satellite antenna have been presented in [15], [16].
The use of least square method (LSM) to tune the optimal level signal value (LSV) so as to solve the problem
of antenna alignment in point-to-point communition was performed by [17]. An active position compensator
has been developed in [18] for large beam waveguide antenna subject to wind disturbance. Deshpande and
Bhavikatti [19] antenna azimuth control system has been tuned by two algorithms. Azimuth position control
has been achieved in [20] based on gradient and Lyapunov strategies to adaptively tune differential amplifier
using model reference adaptive control (MRAC). Fractional order lead compensator has implemented for
antenna azimuth position [21].
In this paper, a satellite dish antenna positioning control system for DMTNs communicating via
NigComSat-1R that is located in International Telecommunication Union (ITU) region at 42.5o
East [3], [8],
[22] is examined. A full state feedback controller is proposed to compensate for time delay effect and
evaluate the positioning performance response of satellite dish antenna in DMTNs within Nigeria. Full state
feedback controller has been chosen in this paper because it provides the best performance compared to other
control technique in terms of oscillation and settling time [23], it can solve the problem of systems with time-
varying state space representation [24] or systems with multiple operating conditions as well as those with
multiple inputs and multiple outputs signal requirement [25], it offers flexibility of shaping the dynamics of
closed loop system to meet the desired specifications [26]. It should be noted that the goal of this paper is to
control or move the position of a dish antenna in a mobile telemedicine node in less than or equal to 4 s and
with very much reduced settling time and improved satellite signal tracking while overcoming the effect of
time delay during communication.
2. SYSTEM DESIGN
The main tools used in this paper are the MATLAB codes and the Simulink embedded blocks,
which were used for the modelling and simulations. The MATLAB codes were used to determine the
controllability matrix, observability matrix, the gain of the control law (or feedback gain matrix), the forward
path gain, and the gain of the observer. These values were then entered as parameters including the calculated
state matrix, input matrix and output matrix, in embedded Simulink blocks used in the modelling and
simulations. The delay dynamic was represented with the variable time delay block of the Simulink. Also in
this section, the approach adopted in modelling of the system is presented. The first approach was to study
the dynamic models of the existing system in transfer function (frequency domain representation) of the plant
and time delay. In order to present the method used in this study, a block diagram describing the operation of
each stage of the proposed system is shown in Figure 1.

 ISSN: 2252-8776
Int J Inf & Commun Technol, Vol. 11, No. 3, December 2022: 206-217
208
Figure 1. Block diagram description of the proposed system
2.1. Transfer function model of system
The system transfer function was determined taking into consideration the dynamic equations of
dish structure and jack actuator. The dynamic of the dish structure was determined experimentally in terms of
the parameters of the dish structure moment of inertia, damping coefficient and spring constant, and similarly
for the jack actuator dynamics 3. Therefore, the dynamic equation for the dish antenna is by [9]:
𝐼𝐴
𝑑2𝜃𝐴
𝑑𝑡2 + 𝐵𝐴
𝑑𝜃𝐴
𝑑𝑡
+ 𝜏𝐴𝜃𝐴 = 𝜏𝐴𝜃𝑔 (1)
the Laplace transform of (1) assuming zero initial conditions [9]:
𝐺𝑝(𝑠) =
𝜃𝐴(𝑠)
𝜃𝑔(𝑠)
=
𝜏𝐴 𝐼𝐴
⁄
𝑠2+(𝐵𝐴 𝐼𝐴
⁄ )𝑠+(𝜏𝐴 𝐼𝐴
⁄ )
(2)
where 𝜃𝐴 is dish angular displacement, 𝜃𝑔 is gear output shaft angular displacement, 𝐼𝐴 is the moment of
inertia of dish structure (140.60 kgm2
), 𝐵𝐴 represents the damping coefficient (126.78 Nms/rad), 𝜏𝐴 is the
tortional spring stiffness (317.5 Nm/rad). Thus (2) becomes [7]:
𝐺𝑝(𝑠) =
2.2578
𝑠2+0.9016𝑠+2.2578
(3)
the transfer function of actuator motor and the gear ratio dynamic, 𝐾𝑔 are expressed in [7] as:
𝐺𝑚(𝑠) =
0.075
𝑠(1+0.015𝑠)
(4)
𝐾𝑔 =
1
30
(5)
The time delays for the forward path 𝐺𝑑1(𝑠), and feedback path 𝐺𝑑1(𝑠), are expressed as transfer
functions by [3]:
𝐺𝑑1(𝑠) = 𝑒−𝑇1𝑠
𝐺𝑑2(𝑠) = 𝑒−𝑇2𝑠} (6)
where 𝑇1 and 𝑇2 are the feed forward time and feedback time in seconds respectively. Assuming 𝑇1 = 𝑇2, = 𝑇
then (6) can be expressed as in [3]:
𝐺𝑑1(𝑠) = 𝐺𝑑2(𝑠) = 𝐺𝑑(𝑠) = 𝑒−𝑇𝑠
(7)
This loop is represented by state space variable vectors
Desired
position
Jack actuator
gear
Forward path
gain
Actuator
motor
Dish antenna
structure
Feed forward
delay
Feedback
delay
Full state feedback
controller
Observer
system
Transducer
-
+
Output
position

209
The minimum and maximum time delays were determined to be 0.2469 s and 0.2502 s [3].
However, a value T = 0.25 s was used in this paper. The closed loop diagram of the system with the transfer
functions of actuator motor, 𝐺𝑚(𝑠), dish antenna structure, 𝐺𝑝(𝑠), the gear ratio, 𝐾𝑔, feed forward time delay,
𝐺𝑑1(𝑠), and feedback time delay𝐺𝑑2(𝑠) with unit gain feedback sensor is shown in Figure 2.
Figure 2. Block diagram of closed system
The open loop transfer function without considering the time delay and the closed loop transfer
function with time delay compensation for the system are by [3], [7] as in (8) and (9).
𝜃𝐴(𝑠)
𝑉(𝑠)
=
3.76
𝑠4+67.56𝑠3+62.36𝑠2+150.52𝑠
(8)
𝜃𝐴(𝑠)
𝑉(𝑠)
=
3.76𝑒−𝑇𝑠
𝑠5+67.56𝑠4+62.36𝑠3+150.52𝑠2+3.76𝑒−𝑇𝑠 (9)
where 𝑉(𝑠) is the input voltage and that is represented as the reference forcing step input.
2.2. State space model
Implementing a full sate feedback controller requires that that the variables of the system be
represented in terms of state space model. Therefore, the transfer function (8) is transformed into an
equivalent state variable equation is this subsection. Generally, a linear state space system is by:
𝑥̇ = 𝐴𝑥 + 𝐵𝑢 (10)
𝑦 = 𝐶𝑥 + 𝐷𝑢 (11)
where A, B, C, and D are the state matrix, input matrix, output matrix, and direct transition matrix.
Expressing (8) as in (12) and assuming zero initial conditions, the space equation for the system is as shown
in (13) and (14):
𝑌(𝑠)
𝑈(𝑠)
=
3.76
𝑠4+67.56𝑠3+62.36𝑠2+150.52𝑠
(12)
[
𝑥̇1
𝑥̇2
𝑥̇3
𝑥̇4
] = [
0 1 0 0
0 0 1 0
0 0 0 1
0 −150.52 −62.36 −67.56
] [
𝑥1
𝑥2
𝑥3
𝑥4
] + [
0
0
0
3.76
] 𝑢(𝑡) (13)
𝑦 = [1 0 0 0][𝑥1 𝑥2 𝑥3 𝑥4]𝑇
(14)
where:
𝐴 = [
0 1 0 0
0 0 1 0
0 0 0 1
0 −150.52 −62.36 −67.56
], 𝐵 = [
0
0
0
3.76
], 𝐶 = [1 0 0 0], 𝐷 = 0.
)
(s
A

s
T
d e
(s)
G 1
1
−
= 30
1
=
g
K 2578
2
9016
0
2578
2
2
.
s
.
s
.
(s)
Gp
+
+
=
s
T
d e
(s)
G 2
2
−
=
( )
s
.
s
.
(s)
Gm
015
0
1
075
0
+
=
)
(s
V

 ISSN: 2252-8776
210
3. METHOD
In this section, the necessary approaches to designing a full state feedback controller are presented.
These approaches include: determining controllability and observability of the system, designing the control
law with the feedback gain, K, the forward path gain, and observer design.
3.1. Controllability and observability
The first step to designing a full state controller is to determine the controllability and observability
of the system. The equations for determining the controllability matrix and observability matrix are by:
𝐶𝑚𝑎𝑡𝑟𝑖𝑥 = [𝐵 𝐴𝐵 𝐴2
𝐵 . . . . 𝐴𝑛−1
𝐵] (15)
𝑂𝑚𝑎𝑡𝑟𝑖𝑥 = [𝐶 𝐶𝐴 𝐶𝐴2
. . . . 𝐶𝐴𝑛−1]𝑇
(16)
solving (14) and (15) as shown in:
𝐶𝑚𝑎𝑡𝑟𝑖𝑥 = [
0 0 0 0
0 0 4 300.
0 3.76 −254 16900
3.76 −254.0256 16927 1128300
], Rank = 4, 𝑂𝑚𝑎𝑡𝑟𝑖𝑥 = [
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
], Rank = 4.
3.2. Design of control law
A full state variable feedback is a pole placement design technique whereby all desired poles are
selected at the beginning of the design process. In order to begin with the design of the control law, Figure 3
is presented, it is initially assumed that the reference input is zero, and hence the control law is simply by:
𝑢 = −𝐾𝑥 (17)
Figure 3. Structure of full state feedback control system
where, 𝑢, 𝐾, 𝑥 are the control input, feedback gain, and state variable. Substituting (17) into (10):
𝑥̇ = (𝐴 − 𝐵𝐾)𝑥, (18)
the eigenvalues of (𝐴 − 𝐵𝐾) are determined in order to obtain the elements of the forward path gain, K by:
𝐾 = [𝐾1 𝐾2 𝐾3 𝐾4] (19)
therefore, the eigenvalues,𝜆𝑖 (where 𝑖 = 1, 2, 3, 4) are shown in:
(𝐴 − 𝐵𝐾) = [
0 1 0 0
0 0 1 0
0 0 0 1
−3.76𝐾1 −150.52 − 3. .76𝐾2 −62.36 − 3.76𝐾3 −67.56 − 3.76𝐾4
] (20)
𝑑𝑒𝑡[𝜆𝐼 − (𝐴 − 𝐵𝐾)] = |
𝜆 −1 0 0
0 𝜆 −1 0
0 0 𝜆 −1
3.76𝐾1 150.52 + 3.76𝐾2 62.36 + 3.76𝐾3 𝜆 + 67.56 + 3.76𝐾4
| = 0 (21)
K
B
A
C
r

x
 x y
Kf
e

211
Solving (21) as shown in:
𝜆4
+ 𝜆3(67.56 + 3.76𝐾4) + 𝜆2(62.36 + 3.76𝐾3) + 𝜆(150.52 + 3.76𝐾2) + 3.76𝐾1 = 0 (22)
choosing a desired characteristic (23) by:
𝐸𝑐ℎ = (𝜆2
+ 2𝜁𝜔𝑛𝜆 + 𝜔𝑛
2) (𝜆2
+ 𝑎𝜆 + 𝑏) (23)
Selection is made by taking a damping ratio 𝜁 = 0.69 for minimal overshoot, a settling time,
𝑇𝑠 = 1 𝑠 and natural frequency, 𝜔𝑛 = 5.77, while the constants a, b, are chosen as (16, 100) respectively.
Substituting these values in (23):
𝐸𝑐ℎ = 𝜆4
+ 𝜆3(7.963 + 𝑎) + 𝜆2(33.293 + 7.963𝑎 + 𝑏) + 𝜆(33.293𝑎 + 7.963) + 33.293𝑏 (24)
In (22) and (24) as shown in:
67.56 + 3.76𝐾4 = 7.963 + 𝑎 ⇒ 𝐾4 = −11.60
62.36 + 3.76K3 = 33.293 + 7.963a + b ⇒ 𝐾3 = 52.75
150.52 + 3.76K2 = 33.293 + 7.963a + b ⇒ 𝐾2 = −313.4
3.76K1 = 33.293b ⇒ 𝐾1 = 885.5
thus, (19) can now be expressed as in (25), and the control law in (17) is now presented as in (26):
𝐾 = [885.5 313.4 52.75 −11.60] (25)
𝑢 = [885.5 313.4 52.75 −11.60]𝑥 (26)
With the control law designed, the full state feedback control loop can now be implemented, but the
problem of using the full state feedback gain, K, alone is that the chances of tracking the desired input is not
certain. Hence, to solve this problem, a forward path gain 𝐾𝑓 is designed as shown in Figure 3. Considering
Figure 3, the control command can be expressed by:
𝑢 = 𝐾𝑓𝑟 − 𝐾𝑥 (27)
where r is the desired or reference input. Substituting (27) into (10):
𝑥̇ = (𝐴 − 𝐵𝐾)𝑥 + 𝐵𝐾𝑓𝑟 (28)
the value of f
K is calculated to be 885.5.
3.3. Design of observer
Figure 4 is an illustration of state feedback employing an observer, and the mathematical theory of
calculating and selecting observer gains is subsequently presented. Observers are designed as part of full state
feedback control system when it is not possible to measure all the states of the plant or can only be partially
measured or reducing the number of measured states will be cost effective. Hence, the observer state equation
can be described from Figure 4 as shown in (29) and (30).
𝑥̇
̂ = 𝐴𝑥
̂ + 𝐵𝑢 + 𝐿(𝑦 − 𝑦
̂) (29)
𝑦
̂ = 𝐶𝑥
̂ (30)
where 𝑢 = 𝐾𝑓𝑟 − 𝐾𝑥
̂, and L is the gain of the observer by:
𝐿 = [𝐿1 𝐿2 𝐿3 𝐿4] (31)

 ISSN: 2252-8776
212
Figure 4. Full state feedback with observer
The objective of an observer is to reduce the error between the actual and the estimated states to
zero. That is error, 𝑒 = 𝑥 − 𝑥
̂ → 0. Therefore:
𝑒̇ = 𝑥̇ − 𝑥
̂̇ = 𝐴𝑥 + 𝐵𝑢 − (𝐴𝑥
̂ + 𝐵𝑢 + 𝐿(𝑦 − 𝑦
̂)) = (𝐴 − 𝐿𝐶)(𝑥 − 𝑥
̂) (32)
𝑒̇ = (𝐴 − 𝐿𝐶)𝑒 (33)
The poles, 𝑝1, 𝑝2, 𝑝3, 𝑝4 of the system can be obtained by solving the characteristics by (24) to
determine the eigenvalues. Hence, substituting the values of K, in (25) into (24):
𝜆4
+ 23.944λ3
+ 260.7λ2
+ 1328.904λ + 3329.48 = 0 (34)
solving (34):
𝜆1 = 𝑝1 = −7.9915 + 6.0318𝑗, 𝜆2 = 𝑝2 = −7.9915 − 6.0318𝑗, 𝜆3 = 𝑝3 = −3.9805 + 4.1676𝑗,
𝜆4 = 𝑝4 = −3.9805 − 4.1676𝑗. The values of the gains of L are computed using the MATLAB expression:
𝐿 = 𝑝𝑙𝑎𝑐𝑒(𝐴′
, 𝐶′
, 10 ∗ 𝑝)and this: 𝐿 = [2000 14400 345500 9030600].
With the observer gain obtained, the proposed full state feedback controller using forward path gain
and an observer (FSFB+Obsv) is implemented in MATLAB/Simulink environment as shown in Figure 5.
Figure 5. Simulink model of proposed dish antenna position control system
4. RESULTS AND DISCUSSION
4.1. Results
The simulation results of the position control of dish antenna for distributed mobile telemedicine
nodes using state feedback controller designed in MATLAB/Simulink environment are presented in this

213
section. The simulation is conducted base on five scenarios with respect to unit step forcing input. These
scenarios are: step response performance without the control law (uncompensated system) in Figure 6, step
response performance with feedback gain only (FSFB without FG) in Figure 7, step response performance
with feedback gain and forward gain (FSFB with FB) in Figure 8, step response performance of full state
feedback plus observer (FSFB+Obsv) in Figure 9, and lastly is the step response performance comparison
with previous system in Figure 10. Table 1 is the numerical summary of the simulation plots. The expression
in (35) is used to compute the percentage improvement of the proposed FSFB+Obsv against existing system.
Improvement = (
Previous value−New value
Previous value
) × 100 (35)
Figure 6. Step response of uncompensated system Figure 7. Step response with full state feedback gain only
Figure 8. Step response with full state feedback with
forward gain
Figure 9. Step response with full state feedback plus
observer
Figure 10. Step response comparison of different controllers

 ISSN: 2252-8776
214
Table 1. Summary of numerical performance analysis for different control scenarios
System condition Rise time
(s)
Settling
time (s)
Time to peak
overshoot (s)
Overshoot
(%)
Response to a step
input
Remark
Uncompensated 87.1 155 300 0 Able to track desired
input but sluggish due
to time delay
Unsatisfactory
FSFB without FG 0.42 1.22 0.945 4.91 Not able to track
desired input
Unsatisfactory
FSFB with FG 0.42 1.22 0.945 4.91 Able to track desired
input
Satisfactory
FSFB + Obsv 0.39 1.31 0.931 10.7 Able to track desired
input
Satisfactory
PID controller 1.4 17.6 3.57 33.1 Able to track desired
input
Needs overshoot
and settling time
improvement (still
suffers from
instability)
PID plus LPF 5.54 15.3 10.67 3.98 Able to track desired
input
Needs rise time
and settling time
improvement
4.2. Discussion
The simulation result in Figure 6 clearly shows from the step response performance that the
uncompensated system suffers from the effect of time delay, which largely affects the rise time and settling
time as the value of these time domain parameters are very high. Thus, looking at Table 1, the system shows
promising performance in terms of peak overshoot (0%), but this benefit is defeated because it will take a
long time (87.1 s) for the system to respond to input signal requiring the dish antenna to be positioned, and
even after responding it takes 155 s to reach a steady state or stabilizes for efficient line of sight
communication (with respect to tracking desired position, which in this case is unit step input) in
telemedicine node operation. Figures 7-9 are the simulation plots of three different cases for full state
feedback positioning control of dish antenna in telemedicine node. The application of the control law with
feedback gain only was not able to ensure the tracking of unit step input but reached a final value of 0.00113
degree as shown in Figure 7. Though the time domain performance parameters seem very promising as
shown in Table 1 (FSFB without forward path gain), the control of the dish antenna in this case cannot
provide efficient satellite communication for proper telemedicine node services. This is unsatisfactory
because the desired position for better satellite communication is not realized using the full state feedback
controller in this scenario. With the introduction of a forward path gain, the performance of full state
feedback controller was enhanced as a result; the desired position was tracked while achieving a rise time of
0.42 s, settling time of 1.22 s, and peak overshoot of 4.91% as shown in Table 1 (FSFB with FG). It suffices
to say that by adding the forward path gain the full state feedback controller can effectively position dish
antenna at the desired location for improved and quality satellite communication in mobile telemedicine
node. Also, the addition of observer (FSFB+Obsv) improved the system performance response to unit step
input as shown in Figure 9 by providing a rise time of 0.39 s, settling time of 1.31 s and overshoot of 10.7%
Table 1 in addition to offering an efficient tracking and positioning of the dish antenna for effective LOS
communication.
In order to validate the effectiveness of the proposed system in this paper, its step response
performance is compared with existing systems proposed by [3], [9]. The existing systems used PID
controller and PID plus LPF aided control technique to improve the tracking performance of a DMTNs
studied in this research. The performance comparison of the existing systems and the proposed full state
feedback control system are shown in Figure 10. The step response performance characteristics in time
domain for both existing and proposed systems are presented in Table 1 such that PID controller proposed in
[3] yielded a rise time of 1.4 s, settling time of 17.6 s, peak time of 3.57 s, and overshoot of 33.1%, while
PID plus LPF [8] yielded rise time of 5.54 s, settling time of 15.3 s, peak time of 10.67 and overshoot of
3.98% respectively. It can also be said from the numerical values of the simulation results in Table 1 that
system with proposed full sate feedback plus observer controller has both better transient and steady states
response than the system with either PID controller or the system with LPF aided PID controller because of
the lower value of system time domain performance response parameters. The only time domain parameter
that makes the PID plus LPF appears to outperform the proposed system is the percentage overshoot, which
is 3.98% against 10.7%. However, there will be no negative effect caused by this on the proposed system
response as it would have risen and settled before the LPF aided PID control system even rises considering
the step response in Figure 10 and the rise time and settling time as shown in Table 1. Generally, the major

215
observation regarding the performance of the proposed FSFB+Obsv is that it provided very fast response to
satellite communication for the antenna positioning system in terms of reduced rise time (0.39 s), which is
99.6% improvement against the rise time (87.1 s) of the uncompensated system, 72.1 % improvement against
the rise time (1.4 s) of PID controller and 93% improvement against the rise time (5.54 s) of PID plus LPF.
Also, the proposed strategy offered very much urgent stabilization of the antenna positioning system in terms
of reduced settling time (1.31 s), which is 99.2% improvement against the settling time (87.1 s) of the
uncompensated system, 92.6 % improvement against the settling time (1.4 s) of PID controller and 91.4%
improvement against the settling time (5.54 s) of PID plus LPF.
5. CONCLUSION
Simulations have been conducted and it was observed that a state feedback controller using forward
path gain and an observer successfully allowed the dish antenna plant to follow step angle inputs represented
by a step function. Since the dish antenna at the node is usually used to send or receive medical information
by the mobile telemedicine nodes, the quality of performance of such satellite tracking antenna will depend
mainly on how effective the position of the antenna can be controlled. This means that good communication
with satellite by antenna node in the telemedicine network depends on the ability to position the antenna to
urgently locate and track satellite signal and maintain desired LOS for improved signal transmission and
reception. This is only achievable when dish antenna is properly positioned with the aid of enhanced control
strategy. In this paper, quality LOS was taken to mean the ability of dish antenna to track unit step input with
fast response time of less than or equal to 4 s and stabilizing at a very much reduced time (settling time). In
respect to this, the full state feedback controller with forward gain and an observer proposed was able to
provide improved position control system for dish antenna in terms of effective tracking of unit step input. It
also ensures enhanced performance in terms of quality and timeliness in sending or receiving of healthcare
information based on the fast (or better transient) response time achieved considering the improved rise time,
settling time and percentage overshoot and zero steady state error provided by the proposed system. Authors
are currently working on intelligent control algorithm for the system and suggest that other prospective
control strategies such as optimal controllers be employed in future study.
ACKNOWLEDGEMENTS
The authors acknowledge the contributions of Engineering Dr. Chimaihe Barnabas Mbachu and
Engineering Prof. Chris A. Nwabueze of the Department of Electrical and Electronic Engineering,
Chukwuemeka Odumegwu Ojukwu University (COOU), Uli, for their painstaking effort in proof reading this
manuscript and making corrections where necessary.
REFERENCES
[1] R. A. Sowah, G. A. Mills, J. Y. Nortey, S. K. Amoo, and S. Y. Fiawo, “Automatic satellite dish positioning for line of sight
communication using bluetooth technology,” Science and Development, vol. 1, no. 2, pp. 85–98, 2017.
[2] S. A. FandakӀɪ and H. I. Okumuş, “Antenna azimuth position control with PID, fuzzy logic and sliding mode controllers,” 2016
International Symposium on Innovations in Intelligent Systems and Applications (INISTA), pp. 1–5, doi:
10.119/INISTA.2016.7571821.
[3] A. T. Ajiboye, A. R. Ajayi, and S. L. Ayinla, “Effect of PID controller on performance of dish position control for distributed
mobile telemedicine nodes,” Arid Zone Journal of Engineering, Technology and Environment, vol. 15, no. 2, pp. 304–313, 2019.
[4] S. Saravanan and P. Sudhakar, “Telemedicine technology using internet communication,” International Journal of Pure and
Applied Mathematics, vol. 6, no. 5, pp. 108–114.
[5] A. Kakkar, S. Naushad, and S. K. Khatri, “Telemedicine and EHR integrated approach for an effective e-governance healthcare
framework,” International Journal of Medical Research & Health Sciences, vol. 6, no. 5, pp. 108–114.
[6] F. N. C. Anyaegbunam, “On national e-healthcare delivery through Nigcomsat-1,” International Journal of Engineering Research
& Technology, vol. 3, no. 1, pp. 2270–2276.
[7] I. TunjiSamuel and A. Aye Taiwo, “Robust PID Control of mobile satellite dish network within Nigeria,” International Journal of
Computer Applications, vol. 41, no. 21, pp. 37–42, Mar. 2012, doi: 10.5120/5828-8154.
[8] T. S. Ibiyemi and A. T. Ajiboye, “Automatic tracking of NigComSat-1R satellite by dish network mounted on mobile
telemedicine vehicles,” International Journal of Engineering Research & Technology, vol. 1, no. 4, pp. 1–4.
[9] P. C. Eze, A. E. Jonathan, B. C. Agwah, and E. A. Okoronkwo, “Improving the performance response of mobile satellite dish
antenna within Nigeria,” Journal of Electrical, Electronics, Control and Computer Science, vol. 6, no. 21, pp. 25–30, 2020.
[10] S. A. Okolie, E. C. Nwabueze, C. Okoronkwo, and E. I. Akpan, “Computer simulation of compensated dish antenna positioning
system mounted on distributed telemedicine mobile network,” Iconic Research and Engineering Journals, vol. 3, no. 9, pp. 30–
34.
[11] B. O. Ekengwu, C. B. Mbachu, C. A. Nwabueze, and M. A. Ahaneku, “Effect of different controllers on performance of dish
antenna positioning system for distributed mobile telemedicine nodes,” International Journal of Engineering Research &
Technology, vol. 4, no. 6, pp. 97–103, doi: 10.13140/RG.2.2.30349.05606.
[12] H. D. Ahlawat, M. P. Ranga Prasad, and R. P. Chauhan, “Antenna azimuthal position control using model predictive control,” in
2019 IEEE International Conference on Electrical, Computer and Communication Technologies (ICECCT), Feb. 2019, pp. 1–6,

 ISSN: 2252-8776
216
doi: 10.1109/ICECCT.2019.8869043.
[13] A. K. Parsai, J. S. A. R. Qureishi, G. S. Raju, and K. Ratnakara, “Model based PID tuning of antenna control system for tracking
of Spacecraft,” in 2019 3rd International conference on Electronics, Communication and Aerospace Technology (ICECA), Jun.
2019, pp. 906–913, doi: 10.1109/ICECA.2019.8822165.
[14] A. T. Salawudeen, B. M. Muazu, Y. A. Sha aban, and C. J. Chan, “Optimal design of PID controller for deep space antenna
positioning using weighted cultural artificial fish swarm algorithm,” Journal of Electrical & Electronic Systems, vol. 06, no. 04,
2017, doi: 10.4172/2332-0796.1000243.
[15] P. C. Eze, C. A. Ugoh, and D. S. Inaibo, “Positioning control of DC servomotor-based antenna using PID tuned compensator,”
Journal of Engineering Sciences, vol. 8, no. 1, pp. E9–E16, 2021, doi: 10.21272/jes.2021.8(1).e2.
[16] B. O. Ekengwu, P. C. Eze, U. N. Nwawelu, and F. C. Udechukwu, “Effect of PID tuned digital compensator on servo-based
ground station satellite antenna positioning control system,” 2nd International Conference on Electrical Power Engineering
(ICEPENG 2021), pp. 97–101.
[17] Q. Zeng, J. Liu, and W. Xiong, “Research on antennas alignment of dynamic point-to-point communication,” Mathematical
Problems in Engineering, vol. 2018, pp. 1–5, Nov. 2018, doi: 10.1155/2018/8697647.
[18] J. Zhang, J. Huang, S. Wang, and C. Wang, “An Active pointing compensator for large beam waveguide antenna under wind
disturbance,” IEEE/ASME Transactions on Mechatronics, vol. 21, no. 2, pp. 860–871, Apr. 2016, doi:
10.1109/TMECH.2015.2479635.
[19] L. M. Deshpande and A. M. Bhavikatti, “Two algorithm tuned antenna azimuth control system,” The International journal of
analytical and experimental modal analysis, vol. 11, no. 12, pp. 50–55.
[20] A. Uthman and S. Sudin, “Antenna azimuth position control system using PID controller & State-feedback controller
approach,” International Journal of Electrical and Computer Engineering (IJECE), vol. 8, no. 3, p. 1539, Jun. 2018, doi:
10.11591/ijece.v8i3.pp1539-1550.
[21] E. G. Kumar, R. Prakash, S. Rishivanth, S. A. Anburaja, and A. G. Krishna, “Control of antenna azimuth position using fractional
order lead compensator,” International Journal of Engineering & Technology, vol. 7, no. 2, pp. 166–171, doi:
10.1441/IJET.V712.24.12023.
[22] A. T. Ajiboye, A. O. Yusuf, and A. R. Ajayi, “Characterization and analysis of propagation time delay range within NigComSat-
1R footprints,” Nigerian Journal of Technological Development, vol. 16, no. 3, p. 105, Nov. 2019, doi: 10.4314/njtd.v16i3.3.
[23] G. Suh, D. S. Hyun, J. Il Park, K. D. Lee, and S. G. Lee, “Design of a pole placement controller for reducing oscillation and
settling time in a two-inertia motor system,” in IECON’01. 27th Annual Conference of the IEEE Industrial Electronics Society
(Cat. No.37243), vol. 1, pp. 615–620, doi: 10.1109/IECON.2001.976556.
[24] K. Zenger and R. Ylinen, “Pole placement of time-varying state space representations,” Proceedings of the 44th IEEE Conference
on Decision and Control, pp. 6527–6532, 2005, doi: 10.1109/CDC.2005.11583209.
[25] M. F. Rahmat and M. S. Ramli, “Servomotor control using direct digital control and state-space technique,” Jurnal Teknologi,
vol. 49, pp. 45–60, doi: 10.1113/JT.V49.196.
[26] K.-K. Shyu, C.-K. Lai, and J. Y. Hung, “Totally invariant state feedback controller for position control of synchronous reluctance
motor,” IEEE Transactions on Industrial Electronics, vol. 48, no. 3, pp. 615–624, Jun. 2001, doi: 10.1109/41.925589.
BIOGRAPHIES OF AUTHORS
Bonaventure Onyeka Ekengwu was born in Awka, Nigeria. He obtained his
B.Eng and M.Eng degrees from Anambra State University, Uli, (now Chukwuemeka
Odumegwu Ojukwu University, Uli) in 2010 and 2016 respectively. He received his Ph.D in
Electrical and Electronic from the same institution in 2021. He is a lecturer in the Department
of Electronic Engineering, University of Nigeria Nsukka (UNN). His research interests
include electronics and telecommunication. He has published peer-reviewed research articles
in reputable journals, presented papers in local, and international conferences. He can be
contacted at email: bonaventure.ekengwu@unn.edu.ng.
Paulinus Chinaenye Eze was born in Nigeria. He received the B.Eng. degree in
Electrical and Electronic Engineering from Chukwuemeka Odumegwu Ojukwu University
(COOU) (formerly Anambra State University), Uli, in 2010 and M.Eng degree in Electrical
and Electronic Engineering (option in Control Systems Engineering) from Federal University
of Technology, Owerri (FUTO), in 2018 and currently pursuing Ph.D degree (in Control
Systems Engineering) in the same department and institution. He is working as an academic
staff in the Department of Electrical and Electronic Engineering, Covenant Polytechnic
(COVPOLY), Aba, Nigeria. His current research interests include control of linear/non-linear
systems, intelligent control and robotic system application, signal processing, and renewable
energy systems. He has published peer-reviewed research articles in reputable journals and
presented papers in local and international conferences. He can be contacted at email:
paulinuseze1@gmail.com.

217
Christopher Nnaemeka Asiegbu was born in Enugu, Nigeria. He obtained his
B.Eng. and M.Eng. from University of Nigeria Nsukka (UNN), in 2011 and 2017. He lectures
in the Department of Electronic Engineering, UNN. His research interest is
Telecommunication Engineering. He can be contacted at email: nnaemeka.asiegbu@unn.edu.ng.
Samuel Chukwuemeka Olisa holds the following degrees from the Department
of Electronic Engineering, University of Nigeria, Nsukka where he is an academic staff:
B.Eng and M.Eng obtained in 2012 and 2016 respectively. He is currently undergoing his
Ph.D studies at the School of Transportation, Aerospace, Energy and Manufacturing
Engineering, Cranfield University, United Kingdom. His research interest includes: signal
processing, biometrics, system prognosis and diagnosis, structural health monitoring (SHM),
guided wave ultrasonic testing (GWUT), ultrasonics, consumer electronics design, renewable
energy and new energy systems. He is a COREN registered engineer, member of society of
petroleum engineers (SPE), and member of the Nigerian Institution of Electrical and
Electronics (NIEEE). He has published peer-reviewed research articles in reputable journals
and presented papers in national and international conferences. He can be contacted at email:
samuel.olisa@unn.edu.ng.
Chimezie Felix Udechukwu was born Kano, Nigeria. He graduated from Enugu
State university of Science and Technology in 2011 with B.Eng and holds masters degree
(M.Eng.) in Electronics Engineering (Communication) from the same institution in 2016.
His research interst is communication. He can be contacted at email: felix.udechukwu@unn.edu.ng.

Satellite dish antenna control for distributed mobile telemedicine nodes

More Related Content

Similar to Satellite dish antenna control for distributed mobile telemedicine nodes (20)

More from IJICTJOURNAL (20)

Recently uploaded (20)

Satellite dish antenna control for distributed mobile telemedicine nodes