Results of the transfer function analysis for a class of distributed parameter systems described by hyperbolic partial differential equations are presented. Assuming two lumped boundary inputs and two outputs distribu...
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Results of the transfer function analysis for a class of distributed parameter systems described by hyperbolic partial differential equations are presented. Assuming two lumped boundary inputs and two outputs distributed along the spatial variable, the expressions for the individual elements of the transfer function matrix are derived for the decoupled system, using both exponential and hyperbolic functions. A formula for converting the transfer function matrix to the form describing the original coupled system is also proposed. the considerations are illustrated with a practical example of an electrical transmission line.
the paper is devoted to the problem of pole assignment by state feedback in non-square implicit linear systems. In particular, the proof of theorem 4.6 in [5] (here theorem 1) is completed by a proof of sufficiency co...
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the paper is devoted to the problem of pole assignment by state feedback in non-square implicit linear systems. In particular, the proof of theorem 4.6 in [5] (here theorem 1) is completed by a proof of sufficiency conditions, providing a complete solution to the problem of pole assignment in the case of column regularizable systems.
the multimode resource-constrained project scheduling problem is considered. In some practical situations resources used to perform an activity have to be set up before the execution of this activity. Setup operations...
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the multimode resource-constrained project scheduling problem is considered. In some practical situations resources used to perform an activity have to be set up before the execution of this activity. Setup operations are characterized by two parameters setup time and setup cost. the latter is considered if the financial aspects of the schedule are taken into account. In this paper we present an adaptation of the classical models of setups, which are known from the machine scheduling theory, to the multimode project scheduling problem. Several new concepts are proposed as well.
this paper addresses the design of an adaptive control strategy for an alcoholic fermentation bioprocess, which takes place inside of a Fed-batch Bioreactor (FBB). this bioprocess is highly nonlinear, some state varia...
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this paper addresses the design of an adaptive control strategy for an alcoholic fermentation bioprocess, which takes place inside of a Fed-batch Bioreactor (FBB). this bioprocess is highly nonlinear, some state variables are not measurable and moreover the reaction kinetics is not perfectly known. the kinetic parameters are estimated by using a high-gain nonlinear estimator. An asymptotic state observer is derived so as to provide the unavailable states necessary to the kinetics estimator. Finally, the indirect adaptive control law is designed by combining a linearizing controller withthe nonlinear observers. Several numerical simulations are performed, in order to test the proposed nonlinear adaptive control strategy.
In the paper the path following problem for a wheeled mobile robot of (2,0) type is considered. the Serret-Frenet frame is used to describe the robot relative to the desired path. the way how to transform obtained equ...
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In the paper the path following problem for a wheeled mobile robot of (2,0) type is considered. the Serret-Frenet frame is used to describe the robot relative to the desired path. the way how to transform obtained equations describing kinematic model derived with respect to the Serret-Frenet frame into the chained form is introduced. the kinematic control algorithm which is a combination of Astolfi algorithm - used for systems in the chained form - and Samson algorithm - dedicated to the unicycle - is proposed and compared to the Morin-Samson algorithm. Simulation results are shown to verify the effectiveness of the proposed method.
In this paper we discuss a problem of numerical calculation accuracy of the Fractional-order Backward Difference/Sum (FOBD/S) of some discrete functions applied in discrete control strategies, in real-time closed-loop...
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In this paper we discuss a problem of numerical calculation accuracy of the Fractional-order Backward Difference/Sum (FOBD/S) of some discrete functions applied in discrete control strategies, in real-time closed-loop systems. We compare Grünwald-Letnikov formula vs. its Horner's equivalent form, as well as their “simplified” forms, in our opinion, an interesting tool in minimization of the time and memory shortage problems often to meet in such systems.
In the paper a multicontroller-based switchable control system for nonlinear MIMO plants is presented. the control system synthesis is carried out by linearization of the adopted nonlinear plant model at its operating...
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In the paper a multicontroller-based switchable control system for nonlinear MIMO plants is presented. the control system synthesis is carried out by linearization of the adopted nonlinear plant model at its operating “points”. thus the considered structure contains a collection of linear feedback controllers. In the first stage of the adopted method a great number of controllers is synthesized. the paper discuss problems with reduction of such controller set to make it smaller and possible to implement the system in e.g. constrained memory of programmable automation devices. As an example a nonlinear model of a drilling vessel in three degrees of freedom (3DOF) on a sea surface is used as a MIMO plant to be controlled. Here the controller set depends on the preset ship yaw angle and the velocity of the sea current. the methods of reduction and their possible results are compared and discussed.
the problem of state estimation with partially unknown system dynamics is proposed and discussed. the unknown part of nonlinear functions in system dynamics are approximated by neural networks (NN's). System state...
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the problem of state estimation with partially unknown system dynamics is proposed and discussed. the unknown part of nonlinear functions in system dynamics are approximated by neural networks (NN's). System state and the NN unknown parameters are estimated simultaneously in real-time without necessity of any off-line training process of NN. three local estimators were applied to the problem of NN based state estimation. the estimation qualities of the considered estimators are compared within three numerical examples covering a different kind of uncertainty in the model description.
To calculate feedforward control strategies by means of dynamic optimization procedures, the alternatives of direct and indirect methods are compared in this paper. the direct optimization approaches that are consider...
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To calculate feedforward control strategies by means of dynamic optimization procedures, the alternatives of direct and indirect methods are compared in this paper. the direct optimization approaches that are considered in this paper make use of the Hermite-Simpson method and of the Legendre Pseudospectral method as underlying discretization strategies. their description is followed by a short introduction to the maximum principle of Pontryagin, i.e., the indirect method. All procedures are employed to compute feedforward control sequences for the flight control of a four-rotor UAV, which is an unstable, nonlinear multi-input multi-output system. the optimization results are compared with respect to their accuracy and applicability.
the paper deals with solving algebraic Riccati equations with two-sided polynomials, which arise in some applications of optimal control of linear time-invariant spatially distributed systems. the conditions are given...
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the paper deals with solving algebraic Riccati equations with two-sided polynomials, which arise in some applications of optimal control of linear time-invariant spatially distributed systems. the conditions are given for the existence of a solution in the set of finite-order polynomials. If such a solution does not exist, the infinite-order solution is truncated and given in the form of polynomial of an arbitrary high order. the proposed numerical algorithm is based on the discrete Fourier transform theory. An example on optimal control of spatially-distributed systems is also given. the proposed algorithm is used to design of the distributed LQ controller.
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