The new LMI based method for robust stability analysis for linear uncertain system with PID controller is proposed. The general constrained structure of controller matrix is considered appropriate for both output feed...
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The new LMI based method for robust stability analysis for linear uncertain system with PID controller is proposed. The general constrained structure of controller matrix is considered appropriate for both output feedback and decentralized control and the respective guaranteed cost control design scheme is presented. The sufficient robust stability condition is developed for extended quadratic performance index including first derivative of the state vector to damp oscillations. The obtained stability condition is formulated for parameter-dependent Lyapunov function.
key phase in the design process of software for distributed systems is the allocation of the software components to the available hardware. A problem arises when a software/hardware mismatch occurs. This paper present...
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key phase in the design process of software for distributed systems is the allocation of the software components to the available hardware. A problem arises when a software/hardware mismatch occurs. This paper presents a solution to that problem by introducing a technique that guarantees efficient allocation of predefined scheduled object-oriented software components to the available hardware based on genetic algorithm. The allocation is to be made dynamically in a system with a predefined schedule. We thus modified the parameters of the genetic search technique to allow converging to the best solution in a relatively short time to be suitable for the dynamicity of the allocation. The performance of the allocation technique is evaluated in terms of the time cost (CPU clock pulses for more generality) required for the GA search to converge to the optimal allocation structure of the software components. The results obtained by the proposed technique are compared against the results from the branch-and-bound search technique. The experimental results indicate the effectiveness of the proposed technique in reaching the optimal allocation in considerable time, showing that it requires much less time than branch-and-bound.
This paper focuses on the interaction of manual and automaticcontrol in a demanding task where the process is unstable and has actuator limitation. The problem is inspired by control of high performance aircrafts but...
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This paper deals with a mixed continuous-batch process, a pilot plant of our Lab, where both continuous decisions and scheduling take place. The interest of this contribution comes not only from the fact that it is a ...
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This paper deals with a mixed continuous-batch process, a pilot plant of our Lab, where both continuous decisions and scheduling take place. The interest of this contribution comes not only from the fact that it is a challenging control problem, but because problems with a similar structure are present in many industrial process. The paper describes the process, the instrumentation (classical analogical/discrete devices, Field Bus devices) and the global architecture of the pilot plant control (Distributed control System DCS, Supervisory control and Data Acquisition SCADA, OPC communication, etc.). From a control point of view, it presents a brief description of control problem formulation in the framework of non-linear model predictive control, and a generic methodology to design this kind of predictive controllers. Finally it is presented the results of some real experiments.
The paper deals with the robust output feedback controller design with guaranteed cost and affine quadratic stability for linear continuous time systems. The proposed approach leads to an iterative LMI based algorithm...
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The paper deals with the robust output feedback controller design with guaranteed cost and affine quadratic stability for linear continuous time systems. The proposed approach leads to an iterative LMI based algorithm. Numerical examples are studied to verify effectiveness of the proposed method. The obtained results are compared with some other design procedures for robust affine quadratic controller design and robust parameter-dependent quadratic stability.
This article represents new experimental approaches to the problems of kinematics analysis and muscle activity identifications applied in case of ergometer rowing. Moreover, it is also proposed principle of defining m...
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This article represents new experimental approaches to the problems of kinematics analysis and muscle activity identifications applied in case of ergometer rowing. Moreover, it is also proposed principle of defining muscle activity participation in generating body segment motion. First experiment was done on sample of 20 rowers and it is included indoor rowing kinematics recording and data acquisition by using the video motion tracking system. Video camera - PC system records positions of markers attached on eight crucial points, in sagital plane. With a human body link segment model, the associated lines and the angular parameters of particular segments were calculated from the markers positions. Comparison of kinematics parameters of a representative sample (an elite rower) with kinematics parameters of others rowers is used for the rowing technique correction. Second experimental procedure included simultaneous measurement of EMG activity of Vastus Medialis, Biceps and Gastrocnemius muscles and kinematics data acquisition by using same video motion tracking system. Processing of collected kinematics and EMG data were done in Matlab program package. Thus, intervals of muscle activity can be defined in particular stroke phase by using threshold method, and beside that muscle participation in generating body segment movement correlating envelope of rectified and wavelets denoised emg signal with particular angular acceleration.
This paper deals with the parity based fault estimation for nonlinear systems modelled by Takagi-Sugeno (TS) fuzzy models. In this paper, the parity space approach for linear systems is generalized to TS fuzzy systems...
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This paper deals with the parity based fault estimation for nonlinear systems modelled by Takagi-Sugeno (TS) fuzzy models. In this paper, the parity space approach for linear systems is generalized to TS fuzzy systems, and power spectra of the faults are incorporated into the design procedure. The design procedure is given in terms of a family of linear matrix inequalities (LMIs). Finally, a numerical example is given to illustrate the effectiveness of the proposed design techniques
This paper presents EDUSCA, an EDUcational SCAda with OPC data access. EDUSCA was specially designed for automaticcontrol education, research and operator training purposes. The developed system takes advantage of th...
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This paper deals with the problem of robust fault estimation for uncertain time delay Takagi-Sugeno (TS) fuzzy models. The aim of this study is to design a delay dependent fault estimator ensuring a prescribed H infin...
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This paper deals with the problem of robust fault estimation for uncertain time delay Takagi-Sugeno (TS) fuzzy models. The aim of this study is to design a delay dependent fault estimator ensuring a prescribed H infin performance level for the fault estimation error, irrespective of the uncertainties and the time delays. Sufficient conditions for the existence of a robust fault estimator are given in terms of linear matrix inequalities. Membership functions'(MFs) characteristics are incorporated into the fault estimator design to reduce the conservativeness of neglecting these characteristics
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