The problems of nonlinear complex system control design are still in the centre of attention and there exists no universal solution by now. The aim of this paper is to propose the control algorithm for nonlinear syste...
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The problems of nonlinear complex system control design are still in the centre of attention and there exists no universal solution by now. The aim of this paper is to propose the control algorithm for nonlinear systems consisting of several subsystems. The subsystem nonlinearities are assumed to be known and the state variables are accessible only locally. The interactions between subsystems can be unknown, but bounded. The proposed control algorithm for such class of complex systems is based on the feedback linearization technique with automatic adjusting of the subsystem decay rate. The control performances are illustrated by an example of nonlinear system consisting of two interconnected subsystems.
This paper deals with the supervisory control of the discrete event dynamic systems (DEDS). It contains descriptions of the different approaches to the supervisory control synthesis, their comparison and analysis. Fur...
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This paper deals with the supervisory control of the discrete event dynamic systems (DEDS). It contains descriptions of the different approaches to the supervisory control synthesis, their comparison and analysis. Further and implementation of the method based on the place invariants of a Petri net is described. It also outlines possibilities for further enhancements of the considered methods.
Presents theoretical and experimental investigations into the dynamic modelling and characterisation of a flexible manipulator system. A constrained planar single-link flexible manipulator is considered. A dynamic mod...
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Presents theoretical and experimental investigations into the dynamic modelling and characterisation of a flexible manipulator system. A constrained planar single-link flexible manipulator is considered. A dynamic model of the system is developed based on finite element methods incorporating structural damping. Performance of the algorithm in describing the dynamic behaviour of the system is assessed in comparison to an experimental test-rig in the time and frequency domains.
作者：
Branislav HrúzSlovak University of Technology
Faculty of Electrical Engineering and Information Technology Department of Automatic Control Systems llkovièova 3 812 19 Bratislava Republic Phone: +421 7 60291698
The scheduling problem is stated and formally specified in the paper. The system where the problem is to be solved is represented by a timed Petri net pertaining to a new class suitable for it. Then a method based on ...
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The scheduling problem is stated and formally specified in the paper. The system where the problem is to be solved is represented by a timed Petri net pertaining to a new class suitable for it. Then a method based on the defined Petri net class for the scheduling problem solution is presented. The method is illustrated on an example.
作者：
Rogelio MazaedaCéar de PradaISPJAE
Cuba at present with the Dpt. Systems Engineering and Automatic Control Faculty of Sciences University of Valladolid c/ Real de Burgos s/n 47011 Valladolid Spain. tlf. +34 983 423162 Fax +34 983 423161 Dpt. Systems Engineering and Automatic Control
Faculty of Sciences University of Valladolid c/ Real de Burgos s/n 47011 Valladolid Spain. tlf. +34 983 423164 Fax +34 983 423161.
Iterative Feedback Tuning (IFT) is a tuning method that adjust on-line the parameters in the controller so that a performance criterion is minimised. The IFT method uses only experimental data obtained from the closed...
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Iterative Feedback Tuning (IFT) is a tuning method that adjust on-line the parameters in the controller so that a performance criterion is minimised. The IFT method uses only experimental data obtained from the closed loop system without assuming knowledge of the plant or perturbations models. In this paper the application of IFT to the tuning of a PID controller of a pilot plant is reported. The impact on the achieved system performance due to time weighting of the control error is particularly addressed.
作者：
V. VeselýI. SekajDepartment of Automatic Control Systems
Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 812 19 Bratislava Slovak Republic Tel : 0421 7 602 91 667
The robust output feedback stabilization is tackled using a genetic algorithm optimisation procedure for uncertain linear parametric systems in the time domain. The necessary and sufficient conditions for static outpu...
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The robust output feedback stabilization is tackled using a genetic algorithm optimisation procedure for uncertain linear parametric systems in the time domain. The necessary and sufficient conditions for static output feedback stabilizability of linear systems are the basics of the proposed robust controller design procedure. The nature of genetic algorithms predetermines them for optimising also objectives that involve computation of feedback control.
A software tool for modeling and simulation of Flexible Manufacturing systems is proposed in this paper. Variety of robots, conveyers and working machines can be used in building of the FMS. control program for the wh...
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A software tool for modeling and simulation of Flexible Manufacturing systems is proposed in this paper. Variety of robots, conveyers and working machines can be used in building of the FMS. control program for the whole system is written through Petri net model. Transformation from Petri net into control program is automated. Programming language is derived from real language for robot control. Simulation is done in 3D environment with full real-time animation. Used technique of 3D animations allows using different views to system with full zooming and change of angle and position.
A self – tuning PID controller algorithm has been derived in this paper. The process is identified by the regression (ARX) continuous – time model using the recursive least squares method (RLSM) with applied directi...
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A self – tuning PID controller algorithm has been derived in this paper. The process is identified by the regression (ARX) continuous – time model using the recursive least squares method (RLSM) with applied directional forgetting. The recursive parameter estimates of the continuous – time model (differential equation) are used to synthesis the PID controller. controller synthesis is designed on the basis of a dynamics inversion method. This method allows the tuning of standard analog and digital controllers for chosen types of controlled processes without or with time delay. The algorithm is suitable for the automatic setting of analog and digital PID controllers for deterministic processes or the adaptive control of stochastic and nonlinear processes. The analog modification PID controller has been verified by computer simulation.
An integrated advanced control and supervision system in operation in a sugar factory is presented. The system works on top of a commercial distributed computer control system, and combines artificial intelligence tec...
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An integrated advanced control and supervision system in operation in a sugar factory is presented. The system works on top of a commercial distributed computer control system, and combines artificial intelligence techniques for fault detection and diagnosis with advanced predictive controllers and models for other tasks.
This paper presents the development of a symbolic approach in characterising the dynamic behaviour of flexible robot manipulators using finite element (FE) methods. A constrained planar single link flexible manipulato...
This paper presents the development of a symbolic approach in characterising the dynamic behaviour of flexible robot manipulators using finite element (FE) methods. A constrained planar single link flexible manipulator is considered. A simulation algorithm of the system is developed using a symbolic language which enables system characterisation with varying parameters. Analyses and investigations in terms of system transfer function, stability, response and endpoint vibration to an input command are presented. An assessment of the performance of the approach is presented and discussed through numerical simulations.
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