Software is exponentially growing in modern automatic machines. Consequently, the operations of writing, debug and maintenance are increasing the time necessary to be accomplished. In order to shorten this time, there...
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In this paper, a high-gain observer based adaptive dynamic surface output-feedback control is proposed for a class of nonlinear systems preceded by unknown backlash-like hysteresis. The main features are 1) the RBF ne...
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This paper addresses the design of an adative teleoperation framework for spatially displaced robotics. Although teleoperation controllers have been optimized and frameworks developed for single user single robot tele...
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Current automation systems demand flexibility and efficiency in order to face the constant changes of the application in terms of dynamism, complexity and extensibility. To deal with these demanded requirements, autom...
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The proceedings contain 57 papers. The topics discussed include: on-line model structure selection for estimation of plasma boundary in a Tokamak;functional dual adaptive control with recursive Gaussian process model;...
The proceedings contain 57 papers. The topics discussed include: on-line model structure selection for estimation of plasma boundary in a Tokamak;functional dual adaptive control with recursive Gaussian process model;application of a repetitive process setting to design of monotonically convergent iterative learning control;closed loop identification using a modified Hansen scheme;fault tolerant controller for a class of additive faults: a quasi-continuous high-order sliding mode approach;SSNN toolbox for non-linear system identification;controldesign for discrete-time state-multiplicative noise stochastic systems;computation of equivalent poles placement for class of 2nd order discrete bilinear systems;advanced issues of wind turbine modelling andcontrol;design of FTC structures with pi virtual actuators;robot kinematics identification: KUKA LWR4+ redundant manipulator example;time-frequency methods for signal analysis in wind turbines;and parameter estimation in electrical power systems using Prony's method.
This paper deals with a design problem of an adaptive PID control for discrete-time systems with a parallel feedforward compensator (PFC) which is designed for making the augmented controlled system ASPR. A PFC design...
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ISBN:
(纸本)9783902823182
This paper deals with a design problem of an adaptive PID control for discrete-time systems with a parallel feedforward compensator (PFC) which is designed for making the augmented controlled system ASPR. A PFC design scheme by a FRIT approach with only using an input/output experimental data set will be proposed for discrete-time systems in order to design an adaptive PID control system. Furthermore, the effectiveness of the proposed PFC design and an adaptive PID control method will be confirmed through numerical simulations for an uncertain discrete-time system.
Gain and time-constant factors shift the inverse process relative to its feedback controller. A new robustness plot cross-graphs these shift factors that take the loop to the stability boundary as a function of freque...
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ISBN:
(纸本)9783902823182
Gain and time-constant factors shift the inverse process relative to its feedback controller. A new robustness plot cross-graphs these shift factors that take the loop to the stability boundary as a function of frequency.
A closed-loop balanced truncation technique has been applied to an integral-type optimal servomechanism (IOS) expressed in graph-operator form of normalized right coprime factorization to produce a reduced-size state-...
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ISBN:
(纸本)9783902823182
A closed-loop balanced truncation technique has been applied to an integral-type optimal servomechanism (IOS) expressed in graph-operator form of normalized right coprime factorization to produce a reduced-size state-feedback gain matrix, which is then converted into proportional-derivative (PD) gain matrices. On the other hand, the states of the integral of control error in the IOS are not truncated, so that the feedback gain matrix of the IOS for the states becomes the integral (I) gain matrix. All the design procedure is completed with the state-space approach, which is convenient especially in dealing with multiple-input multiple-output (MIMO) systems. Application of the proposed method to the boiler system of the PID'12 benchmark problem demonstrates the effectiveness of the design method.
This paper focuses on the design of PID compensator to exactly satisfy the gain margin, the phase margin and the gain or phase crossover frequency specifications. The design problem is numerically solved using the so ...
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ISBN:
(纸本)9783902823182
This paper focuses on the design of PID compensator to exactly satisfy the gain margin, the phase margin and the gain or phase crossover frequency specifications. The design problem is numerically solved using the so called PID inversion formulae method. A graphical interpretation of the solution on the Nyquist plane is presented. This could be suitable on education environment to deeply understand the design of PID compensators. Simulations results show the effectiveness of the presented method.
In this paper a methodology for tuning decentralised PID is proposed, which is based on the AMIGO method for SISO systems. The study addresses MIMO systems with transfer matrix made up of first-order with time delay m...
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ISBN:
(纸本)9783902823182
In this paper a methodology for tuning decentralised PID is proposed, which is based on the AMIGO method for SISO systems. The study addresses MIMO systems with transfer matrix made up of first-order with time delay models that describe a large number of industrial processes. The proposed approach is evaluated by means of simulation studies that show the results of its application to several systems.
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