Control of mechanical systems with backlash is a topic well studied by many control practitioners. This interest has been motivated by the fact that backlash in mechanical systems can cause severe performance degradat...
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Control of mechanical systems with backlash is a topic well studied by many control practitioners. This interest has been motivated by the fact that backlash in mechanical systems can cause severe performance degradation and lead to instability of the control system. Furthermore, high impact-forces in backlash-systems can lead to a lower durability of the components and to strokes and peaks in the output. In this paper a mechanical benchmark system is presented to provide facilities for testing the identification and control of systems with backlash. For controller design a hybrid model of the system was derived and used in a model predictive control (MPC) scheme. Observer-based state-estimation was used to recover unmeasured states, particularly the backlash angle. Explicit solutions of a tracking controller were computed to control the mechanical benchmark system in realtime. Simulation as well as experimental results are presented to show the applicability of this hybrid control approach.
in this paper, a new method for the stabilization of dynamic output-feedback synchronization of chaotic systems is proposed using T-S fuzzy models of the drive and response systems. The proposed design minimizes the L...
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in this paper, a new method for the stabilization of dynamic output-feedback synchronization of chaotic systems is proposed using T-S fuzzy models of the drive and response systems. The proposed design minimizes the L-2 gain of the fuzzy control system with respect to a bounded disturbance that is a function of the drive system states. The design is based on the concept of dynamic parallel distributed compensation (DPDC). The resulting stability conditions are converted into a set of linear matrix inequalities (LMIs), which can be solved to obtain the fuzzy controller parameters. The effectiveness of the proposed synchronization method is demonstrated in an example. (C) 2009 Elsevier Ltd. All rights reserved.
The current practice of the SRS design is analyzed, and noncompliance with the GOST R IEC 61508-2007 standard is detected. The paper introduces a configuration of a PLC SRS meeting the requirements of the standard of ...
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The current practice of the SRS design is analyzed, and noncompliance with the GOST R IEC 61508-2007 standard is detected. The paper introduces a configuration of a PLC SRS meeting the requirements of the standard of functional safety of electrical/ electronic/programmable electronic safety-related systems (GOST R IEC 61508-2007).
The article provides information on the serial-communications strategies used by system designers to boost reliability and extend service life in hostile factory or industrial environments. A central controller and pe...
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The article provides information on the serial-communications strategies used by system designers to boost reliability and extend service life in hostile factory or industrial environments. A central controller and peripheral input/output modules are included in most programmable-logic-controller systems. By removing interconnections between devices, designers can bolster the reliability of a system. Some examples of wired communication standards are transistor-to-transistor logic, emitter-coupled logic, low-voltage differential signaling and Ethernet.
Various issues about integral processes with dead time controlled by a PI controller are discussed. First, the region of the control parameters to guarantee the system stability is characterised. Then, the control par...
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Various issues about integral processes with dead time controlled by a PI controller are discussed. First, the region of the control parameters to guarantee the system stability is characterised. Then, the control parameters to achieve the given gain and/or phase margins (GPM) are determined. Furthermore, the constraint on achievable GPM is derived. These results are obtained on the basis of the normalised system that involves only two free parameters.
Designers commonly use 0- to 20-mA, 0 to 10V isolated inputs forindustrial-application-control signals. A combination of isolated supplies, the built-in isolationof an Analog Devices (***) AD7400 sigma-delta modulator...
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Designers commonly use 0- to 20-mA, 0 to 10V isolated inputs forindustrial-application-control signals. A combination of isolated supplies, the built-in isolationof an Analog Devices (***) AD7400 sigma-delta modulator, and a Texas Instruments(***) MSP430 microcontroller creates a design for industrial designers requiring complete,isolated, and robust analog-signal interfaces. A precise signal-conditioning circuit generates thesmall differential voltage that the AD7400 requires (Figure 1). The circuit generates the required200-mV differential voltage. For clarity, the figure omits overvoltage diodes and protectioncircuits.
In this paper a fuzzy control scheme, which employs the output feedback control approach, is suggested for the stabilization of nonlinear systems with uncertainties. The uncertain nonlinear system can be represented b...
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In this paper a fuzzy control scheme, which employs the output feedback control approach, is suggested for the stabilization of nonlinear systems with uncertainties. The uncertain nonlinear system can be represented by uncertain Takagi-Sugeno (TS) fuzzy model structure, which is further rearranged to give a set of uncertain linear systems. A switching-type fuzzy-model-based controller, which utilizes the static output feedback control strategy, is designed based on this preliminary study. Theoretical analysis guarantees that under the control of the proposed technique, the uncertain nonlinear system is stabilizable by the switching-type static output-feedback fuzzy-model-based controller. Finally, two computer simulation examples are provided to show the effectiveness and feasibility of the developed controller design method.
Controller tuning is a basic step in any control application. This tuning is a complex process composed of several steps starting with the plant analysis and ending with the verification of the designed controller. Th...
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Controller tuning is a basic step in any control application. This tuning is a complex process composed of several steps starting with the plant analysis and ending with the verification of the designed controller. There are various tools that help in particular steps of the design but the complete path of the design is not supported. An attempt is made to offer a procedure of 'complete' controller design where all necessary steps follow automatically one after the other. The idea is applied to LQG controller design. The whole procedure is described and demonstrated on an example with the emphasis on the tuning of the LQG criterion to respect given constraints.
This work develops an intelligent scheduling controller (ISC) to support a shop floor control system (SFCS) to make real-time decisions, robust to various production requirements. Selecting near-optimal subset system ...
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This work develops an intelligent scheduling controller (ISC) to support a shop floor control system (SFCS) to make real-time decisions, robust to various production requirements. Selecting near-optimal subset system attributes (or features) based on various production requirements to construct ISC knowledge bases is a critical issue because of the existence of much shop floor information in an SFCS. Accordingly, this work developed a learning-based ISC methodology to acquire knowledge of a dynamic dispatching rule control mechanism. The proposed approach integrates genetic algorithms (GAs) and decision trees (DTs) learning to evolve a combinatorial optimal subset of features from possible shop floor information concerning a DT-based ISC knowledge classifier. A GA is employed to search the space of all possible subsets of a large set of candidate features. For a given feature subset, a DT algorithm is invoked to generate a DT. Applying the GA/DT-based knowledge learning mechanism to the experimental results demonstrates that the use of an optimal subset of system attributes to build scheduling knowledge bases enhanced generalization ability of the learning bias above that in the absence of an attribute selection procedure, in terms of prediction accuracy of unseen data under various performance criteria. Furthermore, simulation results indicate that the GA/DT-based ISC improves system performance in the long run over that obtained with classical DT-based ISC and the heuristic individual dispatching rule, according to various performance criteria.
This study addresses the problem of designing a guaranteed cost controller for non-linear discrete quadratic systems. More specifically, the main contribution concerns a sufficient condition for the existence of a sta...
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This study addresses the problem of designing a guaranteed cost controller for non-linear discrete quadratic systems. More specifically, the main contribution concerns a sufficient condition for the existence of a state-feedback controller achieving a certain guaranteed cost, whenever the state trajectories start from a prescribed set of initial conditions. The controller design requires the solution of a convex optimisation problem involving linear matrix inequalities, which can be efficiently solved via available optimisation algorithms. Finally, the proposed design methodology is illustrated via an example concerning the attitude control of an unmanned aerial vehicle.
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