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13th ifac symposium on Advances in control Education (ACE)

作者： Martins, Danilo Oliveira das Neves, Gabriel Pereira Campo, Alexandre Brincalepe Angelico, Bruno Augusto Univ Sao Paulo Polytech Sch Telecommun & Control Engn Sao Paulo Brazil Fed Inst Sao Paulo Sao Paulo Brazil

This work presents the 2DOF control implementation for a Remote Laboratory Course in control Education, integrating an IoT-based framework (IoTcontrol). The control system development is applied in the practical experiment, a 2DOF Helicopter, providing telematics of the control algorithms by the data network management software in an embedded solution to control the plant. The implementation utilizes the framework to provide real-time access for parameters configuration and graphical analysis of the controller. Telematics in control systems is relevant for Remote Laboratories, providing remote access and promoting inclusive education. The implementation consists of an LQR position control using an opensource framework to build the application. The user interaction is provided by the webpage hosted in the controller hardware, allowing machine-to-machine communication. It can be accessed by any hardware connected to the network. The implementation test was executed in the Applied control Laboratory (LCA) at University of Sao Paulo. Copyright ( C) 2022 The Authors.

关键词： control Education Embedded systems Internet of Things LQR Remote Laboratories 2-DOF Helicopter

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A performant PID autotuner based on a short relay test ⁎

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ifac-PapersOnLine 2024年第7期58卷 310-315页

作者： Robin De Keyser Isabela Birs Clara Ionescu Cristina Muresan Department of Electromechanical Systems and Metal Engineering Ghent University Tech Lane Science Park 125 9052 Gent Belgium Department of Automation Technical University of Cluj Napoca Memorandumului no. 28 400114 Cluj-Napoca Romania

Industrial applications encompass a wide range of fields, including chemical plants, biomedical engineering, vibration control, and mechanical systems, among others. Frequently, controller tuning is performed using a process model as a basis. Determining such a model can be a time-consuming and challenging task, requiring proper identification. Nonlinear processes often have a limited number of relevant operating points. Autotuning methods that collect pertinent process information at specific operating points and determine controller parameters automatically streamline the controller design process by eliminating the need for process modelling. This paper presents a novel relay based autotuning methodology for Proportional Integral Derivative (PID) controllers highly suitable for Industry 5.0 applications that is easily implemented. The methodology is successfully validated on two numerical examples consisting of a highly oscillatory process and a process with large time delay. Additionally, two experimental validations are presented for a mass-spring-damper system and a 2-tank process.

关键词： PID control industrial control relay autotuner

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Using SIR Epidemic Modeling and control to Teach Process Dynamics and control to Chemical Engineers 13

Using SIR Epidemic Modeling and Control to Teach Process Dyn...

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13th ifac symposium on Advances in control Education (ACE)

作者： Rivera, D. E. El Mistiri, M. Shi, Z. Arizona State Univ Sch Engn Matter Transport & Energy Ira A Fulton Sch Engn Control Syst Engn Lab Tempe AZ 85281 USA

The COVID-19 pandemic has brought about unprecedented opportunities to introduce control systems topics in the undergraduate engineering curriculum. This paper describes two computer modeling assignments based on MATLAB with Simulink developed for CHE 461: Process Dynamics and control taught at Arizona State University during the fall 2020 semester. A myriad of important concepts, among these dynamic modeling using conservation and accounting principles, linearization, state-space system and transfer function model representations, PID feedback control and Internal Model control design can be applied to the problem and explained to students in the context of a significant world event representing a unique "process" system, notably the COVID-19 pandemic. Copyright (C) 2022 The Authors.

关键词： Process control applications epidemic modeling and control model-based control computer-based control education

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Distributed Passive Fault Tolerant Formation Tracking for Uncertain Second Order Multi -Agent systems 11th

Distributed Passive Fault Tolerant Formation Tracking for Un...

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11th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Taoufik, Anass Defoort, Michael Busawon, Krishna Djemai, Mohamed Univ Polytech Hauts de France LAMIH UMR CNRS 8201 F-59313 Valenciennes France Northumbria Univ Dept Mech & Construct Engn Newcastle Upon Tyne NE1 8ST Tyne & Wear England

This paper deals with the problem of distributed passive fault tolerant formation tracking control for cooperative second order multi-agent systems (MASs) subject to disturbances and sensor/actuator faults. The proposed scheme is based on decentralized observers used to robustly estimate the actuator and sensor faults in spite of disturbances. These estimates are then injected into a dynamic control law in order to mitigate their effects on the control objective. Using the 7-tc,0 method, graph theory properties and the projection lemma, sufficient conditions in the form of a set of linear matrix inequalities (LMIs) are derived to guarantee the stabilization of the tracking errors while reducing the effects of sensor and actuator faults and disturbances. A numerical simulation illustrates the effectiveness of the proposed passive fault-tolerant control scheme. Copyright (C) 2022 The Authors.

关键词： Passive fault-tolerant control Formation tracking Multi-agent systems Actuator faults Sensor faults

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Towards a process fault-tolerant iterative learning control for dynamic systems 11th

Towards a process fault-tolerant iterative learning control ...

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11th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Pazera, Marcin Sulikowski, Bartlomiej Witczak, Marcin Univ Zielona Gora Inst Control & Computat Engn Ul Prof Z Szafrana 2 PL-65516 Zielona Gora Poland

The paper presents further work on combining Iterative Learning control (ILC) with Fault-Tolerant control. Main goals here are to drive the considered plant to the prescribed reference with simultaneous elimination of the effect of possible process faults. The first result presented is about designing the fault estimator and linking it with the original plant. Next, for a such an extended system the ILC scheme is provided. Since the system is occupied by the process and measurement uncertainties, the fault observer along with the ILC controller are designed under the H-infinity regime. The proposed control strategy is verified with application to the DC servo motor. Copyright (C) 2022 The Authors.

关键词： Fault-tolerant Active Fault Diagnosis Estimation and fault detection Iterative learning control

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New threat on formal verification for neural networks: example and fault tolerance 11th

New threat on formal verification for neural networks: examp...

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11th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Viot, Augustin Lussier, Benjamin Schoen, Walter Tacchella, Armando Geronimi, Stephane Univ Technol Compiegne Sorbonne Univ CNRS UMR Heudiasyc 7253 Compiegne France Univ Genoa DIBRIS Genoa Italy Stellantis Hoofddorp Netherlands

This article details a new threat to NN formal verification that is well known in the formal verification of classical systems: errors in the learned model of a NN could cause the NN to pass formal verification on a property while violating the same property in real life. The solution to this threat for classical systems (which is expert reviews) is inadequate for NN due to their lack of explainability. Here, we propose a detection and recovery mechanism to tolerate it. This mechanism is based on a mathematical diversification of the system's model and the online verification of the formal safety properties. It was successfully implemented and validated on an application example, which, to our knowledge, is one of the most concrete NN formal verification in the literature: the Adaptive Cruise control function of an autonomous *** (c) 2022 The Authors. This is an open access article under the CC BY-NC-ND license(https://***/licenses/by-nc-nd/4.0/)

关键词： Dependability Neural approximations for optimal control estimation Applications and fault tolerant control fault tolerant control reconfigurable control

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Data-driven Steering Torque Behaviour modelling with Hidden Markov Models 15th

Data-driven Steering Torque Behaviour Modelling with Hidden ...

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15th ifac/IFIP/IFORS/IEA symposium on Analysis, Design and Evaluation of Human-Machine systems (HMS)

作者： van Wijk, Robert Lazcano, Andrea Michelle Rios Akutain, Xabier Carrera Shyrokau, Barys Delft Univ Technol Delft Netherlands Toyota Motor Europe Zaventem Belgium

Modern Advanced Driver Assistance systems (ADAS) are limited in their ability to consider the driver's intention, resulting in unnatural guidance and low customer acceptance. In this research, we focus on a novel data-driven approach to predict driver steering torque. In particular, driver behavior is modeled by learning the parameters of a Hidden Markov Model (HMM) and estimation is performed with Gaussian Mixture Regression (GMR). An extensive parameter selection framework enables us to objectively select the model hyper-parameters and prevents overfitting. The final model behavior is optimized with a cost function balancing between accuracy and smoothness. Naturalistic driving data covering seven participants is obtained using a static driving simulator at Toyota Motor Europe for the training, evaluation, and testing of the proposed model. The results demonstrate that our approach achieved a 92% steering torque accuracy with a 37% increase in signal smoothness and 90% fewer data compared to a baseline. In addition, our model captures the complex and nonlinear human behavior and inter-driver variability from novice to expert drivers, showing an interesting potential to become a steering performance predictor in future user-oriented ADAS. Copyright (C) 2022 The Authors.

关键词： Driver modelling Data-Driven Hidden Markov Model Feature Selection Simulator

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Concurrent Learning-Based Fault Detection in Closed-Loop HVAC systems with Inaccessible control Inputs 11th

Concurrent Learning-Based Fault Detection in Closed-Loop HVA...

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11th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Papadopoulos, Panayiotis M. Polycarpou, Marios M. Panayiotou, Christos G. Univ Cyprus KIOS Res & Innovat Ctr Excellence CY-1678 Nicosia Cyprus Univ Cyprus Dept Elect & Comp Engn CY-1678 Nicosia Cyprus

Heating, Ventilation and Air-Conditioning (HVAC) systems are critical components that consume a significant percentage of the energy in the building sector. Faults in the sensing and actuation equipment of HVAC systems can create uncomfortable indoor conditions, as well as cause significant waste of energy. State-of-the-art fault detection techniques typically require control input data that maybe inaccessible in practice, since HVAC systems in large-scale buildings are controlled and monitored by proprietary Building Management systems (BMS). This paper proposes a learning-based fault detection approach for closed-loop HVAC systems with inaccessible control information. The learning-based adaptive estimation scheme aims to estimate the temperatures within each zone-air handling unit pair and the unknown control gains that have been selected by the manufacturer. The proposed scheme enables the design of less conservative detection thresholds, which enhances the performance of the fault detection procedure for the closed-loop HVAC system. Simulation results illustrate the effectiveness of the proposed method in a large-scale HVAC system using the EnergyPlus software. Copyright (C) 2022 The Authors.

关键词： Fault detection closed loop identification HVAC systems

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A bioreactor system remote laboratory for teaching process control 13

A bioreactor system remote laboratory for teaching process c...

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13th ifac symposium on Advances in control Education (ACE)

作者： Higginson, Antony Brooks, Kevin Univ Witwatersrand Johannesburg Sch Chem & Met Engn Johannesburg South Africa

One of the challenges of teaching process control to chemical engineering students is that it can be challenging to replicate the experience of a plant control system in a laboratory environment. Especially in developing countries, the cost of industrial-grade sensors, process equipment and control system software is prohibitive. This paper describes a bioreactor system that combines existing SCADA and PLC systems with Arduino microcontrollers, inexpensive sensors, and cloud services to provide a system that provides opportunities to explore both basic control concepts such as feedback control, data collection and advanced control concepts such as cascade control. Additionally, data gathered both by the microcontroller and PLC is gathered and sent to the cloud platform Thingspeak, which is integrated into the learning management system (LMS) so that students can visualise and analyse data in real-time without the need for creating a custom graphical user interface. Copyright (C) 2022 The Authors.

关键词： Microcontrollers remote laboratories PLC SCADA Data

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Project-based Learning for control Education during COVID-19 Pandemic 13

Project-based Learning for Control Education during COVID-19...

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13th ifac symposium on Advances in control Education (ACE)

作者： Najeeb, Aiman Memon, Junaid Ahmed Habib Univ Karachi 75290 Pakistan

The paper presents a project-based learning approach for the undergraduate level first course on control systems in the context of electrical and computer engineering program. We share the experience of a complex engineering project model that assumes no access to lab facility due to the COVID-19 pandemic but targets learning outcomes of a fundamental control system course, i.e., system modeling, performance investigation, analysis, design of analog or digital controller for a selected open-loop unstable system. The project utilizes Tinkercad Circuits which is a free online circuit simulator. The approach provides a solution to one of the challenges of remote or virtual engineering labs, i.e., a requirement of having high-performance expensive hardware and resource-intensive software support. Results are presented in terms of student samples and learning outcomes achieved at the end of the project. Copyright (C) 2022 The Authors.

关键词： control Engineering Education Online experiments Educational Innovation Changes in control Education due to the COVID-19 pandemic Remote learning and teaching

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