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pH Control of Yeast Fed-Batch Fermentation Process by Improved input-output linearization Method

THEORETICAL FOUNDATIONS OF CHEMICAL ENGINEERING 2023年第6期57卷 1403-1413页

作者： Ju, Hyok-Chol Ri, Kuk-Chol Jon, Ji-Song Kim, Chol-Jin Kim Il Sung Univ Fac Elect & Automat Pyongyang North Korea

In general, there are many influencing factors in the cultivation of microorganisms, including yeast, among which pH control is of great importance. Since the pH characteristics of yeast fermentation processes are nonlinearity and the production of acid during yeast fermentation is typically nonlinearity, the process pH values cannot be adjusted rapidly and accurately by conventional linear control techniques. Hence, the intrinsic nonlinear characteristics of the pH control system are approximated by several nonlinear models including Hammerstein-Wiener model, and a controller is designed based on the models. To increase the yield in yeast cultures, fed-batch fermentation method should be used more than batch cultivation method. In brief, fed-batch fermentation is a method of continuous addition of the nutrient solution(glucose fluid) following the number of yeast cells present inside the yeast fermentation tank. In this paper, a mathematical model based on chemical equilibrium is proposed to control the pH of an industrial yeast fermentation tank with only inflow, no outflow, and relatively large internal volume, and a controller is designed using the input-output linearization method. The performance of the designed controller is verified by numerical simulation and field experiments.

关键词： yeast culture modeling input-output linearization

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Fault Tolerant Control via input-output linearization Method for LED-Driver Using a Boost Converter

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IEEE ACCESS 2023年 11卷 10390-10397页

作者： Torres, Gerardo Ortiz Rumbo-Morales, Jesse Y. Sanchez, Rene Osorio Martinez-Garcia, Mario Blanco, Marco Antonio Rodriguez Univ Guadalajara Ctr Univ Valles Ameca 46600 Jalisco Mexico Univ Autonoma Carmen Fac Ingn Campeche 24180 Mexico

This paper proposes a method based on an input-output linearization controller with a nonlinear adaptive observer, in order to achieve both an effective light-emitting diode (LED) current tracking and an actuator fault tolerant controller strategy for a LED-driver, using a boost converter. The partial fault is presented as a Loss of Effectiveness (LoE) in the embedded control target by considering that it generates a faulty Pulse-Width Modulation (PWM) signal. Also, faults of energy storage components in the power system are considered as actuator partial faults. An internal stability analysis is presented to ensure the feasibility of the nonlinear controller design. The nominal feedback controller is able to compensate for the nonlinearity of the system exactly, thus yielding a linear control loop. Furthermore, a nonlinear adaptive observer is considered for fault estimation. When the actuator fault is detected and estimated correctly, fault accommodation and reconfiguration strategies are performed to reduce the fault's effect. The controller and observer gains are tuned using genetic algorithm techniques to have a desired closed-loop and fault estimation error response. Finally, simulations results are done in order to illustrate the effectiveness of the proposed methodology.

关键词： Light emitting diodes Circuit faults Nonlinear dynamical systems Actuators Stability analysis Observers Mathematical models Boost converter fault tolerant control genetic algorithm input-output linearization LED-driver

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Tracking control of a two-wheeled mobile robot using input-output linearization

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CONTROL ENGINEERING PRACTICE 1999年第3期7卷 369-373页

作者： Kim, DH Oh, JH Korea Adv Inst Sci & Technol Dept Mech Engn Machine Control Lab Taejon 305701 South Korea

This paper discusses the tracking control of two-wheeled mobile robots that have more outputs than inputs. If the number of inputs and the number of outputs are not the same, the inverse of the decoupling matrix in the input-output linearization does not exist. Therefore, a modified input-output linearization method is proposed, to solve the problem by means of a generalized inverse that provides a least-squares solution. The experimental results show that the tracking of posture, position and orientation (the 3-output case) has advantages over position tracking (the 2-output case) from the viewpoint of input power efficiency, because smoother responses can be obtained by considering the orientation. (C) 1999 Elsevier Science Ltd. All rights reserved.

关键词： input-output linearization two-wheeled mobile robots tracking control nonlinear control feedback linearization

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input-output linearization for Transfer Functions of input-Affine Meromorphic Systems

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SICE Journal of Control, Measurement, and System Integration 2012年第3期5卷 133-138页

作者： Yu Kawano Toshiyuki Ohtsuka Graduate School of Engineering Science Osaka University

Recently, the concept of transfer functions for meromorphic control systems has been proposed. These transfer functions have many similar properties to the transfer functions of linear systems. This paper shows that an input-affine meromorphic system is input-output linearizable with static state feedback if and only if its transfer function is not identically zero.

关键词： meromorphic systems transfer functions input-output linearization skew polynomial ring pseudo-linear algebra

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A Hybrid Systems Approach with input-output linearization for Automotive Parking Control of a Nonholonomic Mobile Robot 3

A Hybrid Systems Approach with Input-Output Linearization fo...

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3rd IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Schafle, Tobias Rainer Tokui, Akihito Uchiyama, Naoki Toyohashi Univ Technol Dept Mech Engn Toyohashi Aichi Japan

ISBN: (纸本)9781538670668

This paper presents a hybrid systems approach to garage parking of a differential drive mobile robot. The proposed system consists of three system states, in which each system state converges to its desired control value and then switches to the next state. Two system states use input-output linearization (I/O-linearization) for multiple input multiple output (MIMO) systems to conduct exact linearization of the plant, which can then be controlled by a linear controller. Simulation and experimental results show that the robot converges to its desired states and safely parks at the final position in a reasonable time.

关键词： input-output linearization hybrid system parking control nonholonomic mobile robot

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Temporary Primary Frequency Control Support by Deloaded Wind Power Plant Using input-output linearization 16

Temporary Primary Frequency Control Support by Deloaded Wind...

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16th International Conference on Control, Automation and Systems (ICCAS)

作者： Gui, Yonghao Kim, Chunghun Chung, Chung Choo Hanyang Univ Dept Elect Engn Seoul 04763 South Korea Hanyang Univ Div Elect & Biomed Engn Seoul 04763 South Korea

ISBN: (纸本)9788993215120

In this paper, a nonlinear control method is proposed to improve the primary frequency control for doubly fed induction generator (DFIG) wind turbine system. Individual wind turbines in wind power plant are controlled in deloaded operation to provide the frequency support during depressed frequency conditions. By considering of nonlinearity of the system, input-output linearization method is applied to improve the performance of primary frequency response. It can be guaranteed that the system is exponentially stable with the proposed method. The proposed method is validated by using a simple microgrid, consisting of one wind power plant, one diesel generator, and a load, through MATLAB/Simulink. The simulation results show that the proposed method has an improvement of primary frequency control when the load increases.

关键词： DFIG wind turbine primary frequency control deloaded input-output linearization microgrid

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Passive teleoperation of mobile robot with input-output linearization and dynamic extension 4

Passive teleoperation of mobile robot with input-output line...

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4th IEEE Annual International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)

作者： Falcon, Pablo Barreiro, Antonio Cacho, Miguel D. Delgado, Emma Univ Vigo Dept Syst Engn & Automat Vigo Spain

ISBN: (纸本)9781479936694

This paper describes a proposal for architecture of teleoperation of a mobile robot Quanser Qbot. The robot is telemanipulated by a haptic device Sensable Phantom Omni. For this task, a basic model of the mobile robot is input-output linearized with dynamic extension and it is controlled safely in a teleoperation task in passivity framework. The advantages of the proposal are: (i) the I/O linearization changes the Qbot kinematics from polar to cartesian, facilitating the matching with the omni workspace and (ii) the stability of the system is ensured from the passivity framework adopted.

关键词： Teleoperation haptic input-output linearization passive stability

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Mechanical input-output linearization and decoupling of mechanical control systems 28

Mechanical input-output linearization and decoupling of mech...

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28th International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Nowicki, Marcin Respondek, Witold Poznan Univ Tech Inst Automat Control & Robot Poznan Poland Lodz Univ Technol Inst Automat Control Lodz Poland Normandie Univ INSA Rouen St Etienne Du Rouvray France

ISBN: (纸本)9798350362350;9798350362343

In this paper, we present a mechanical counterpart of the problem of simultaneous input-output feedback linearization and decoupling that is designed for control systems that possess a mechanical structure. We show how our problem differs from the classical one and what are the supplementary conditions for preserving the mechanical structure of the system. Unlike our previous works, here we treat a mechanical control system (MSO) as a control system on TQ with a special structure of the drift and control vector fields.

关键词： mechanical control systems input-output linearization input-output decoupling

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Attitude Control of Spacecraft Using Two Wheels via Hierarchical input-output linearization 54

Attitude Control of Spacecraft Using Two Wheels via Hierarch...

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2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)

作者： Fukaishi, Tomohiro Watabe, Kento Sekiguchi, Kazuma Nonaka, Kenichiro Tokyo City Univ Mech Syst Engn Tokyo Japan

ISBN: (纸本)9784907764487

In this paper, we propose the nonlinear controller which stabilizes the attitude of underactuated spacecraft equipped with two reaction wheels in the case of the non-zero initial angular momentum. The attitude of spacecraft is expressed by Rodrigues parameters, and Rodrigues parameters has the property that the attitude converges to specific one when the magnitude of Rodrigues parameters goes to infinity with keeping their ratio to the specified value. To raise the magnitude and keep the ratio, we decoupled two inputs, and design controllers for kinematics model [11][12]. However, in the case of dynamics model, we cannot decouple the inputs for the reason that the decoupling matrix becomes singular. Thus, we use the hierarchical technique which changes geometric nature by designing inputs in step by step. Using the hierarchical technique, the attitude control of underactuated spacecraft can be achieved since the linearization of the system between input and output is possible. As an advantage of our proposed method, the hierarchical technique can linearize the system up to five out of six dimensions whereas the conventional input-output linearization can do up to four dimension. Therefore, we can easily analyze the stability of system including unobservable zero dynamics. Finally, the numerical simulation shows effectiveness of proposed method.

关键词： Underactuated spacecraft Non-holonomic system Attitude control input-output linearization

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Adaptive Fuzzy Sliding Mode Control Algorithm Based on input-output linearization for Vehicle's Lateral Control 7

Adaptive Fuzzy Sliding Mode Control Algorithm Based on Input...

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IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)

作者： Chen, Chaoho Lv, Junfeng Gao, Song Liu, Hailong Xian Technol Univ Autonomous Unmanned Syst Res Lab Xian 710021 Peoples R China Xian Technol Univ Sch Elect Informat Engn Xian 710021 Peoples R China

ISBN: (纸本)9781467383189

A modified control approach combined with input-output linear algorithm and adaptive fuzzy sliding mode algorithm is proposed to adapt the non-linear and time-varying nature of vehicle's lateral control. In order to design the controller, this paper changed the nonlinear control model to a linear form using input-output linear algorithm. And fuzzy sliding mode control method is introduced to the algorithm to increase the robustness of the system. In addition, the control effectiveness has been discussed in the simulation part. Simulation results show: despite external environmental factors and vehicle's own parameters has changed, the system still track the desired path accurately, vehicle's lateral deviation and direction deviation approaching zero rapidly. Compare with the pure sliding mode algorithm, chattering amplitude reduced by 82%similar to 92%.

关键词： input-output linearization Adaptive fuzzy Sliding mode Lateral control Look-ahead control

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