This paper presents the design of a robust Iterative Learning control (ILC) algorithm for linear systems in the presence of parametric uncertainties and repetitive disturbances. The robust ILC design is formulated as ...
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ISBN:
(纸本)9789746724913
This paper presents the design of a robust Iterative Learning control (ILC) algorithm for linear systems in the presence of parametric uncertainties and repetitive disturbances. The robust ILC design is formulated as a min-max problem with a quadratic performance index subjected to constraints of the control input. Employing Lagrange duality, we can reformulate the robust ILC design as a convex optimization problem over linear matrix inequalities (LMIs). An LMI algorithm for the robust ILC design is then given. Finally, the effectiveness of the proposed robust ILC algorithm is demonstrated through a numerical example.
The paper deals with the decentralized control design strategy for generalized hybrid systems that consists of continuous - and discrete-time subsystems. Mathematical model of the process is traditionally associated w...
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ISBN:
(纸本)9783902661913
The paper deals with the decentralized control design strategy for generalized hybrid systems that consists of continuous - and discrete-time subsystems. Mathematical model of the process is traditionally associated with differential and difference equations typically derived from related physical laws. Hybrid large-scale systems are working in multiple operating modes where each mode is controlled by its own dynamic characteristics. Transitions between modes are triggered when some state variable exceeds the threshold (state events), after expiration of specified time period (time events) or by external inputs (entry events). Typical examples of hybrid control systems are many industrial processes in chemical, power and car industries in which process subsystems consist of continuous-time and discrete logic parts.
The paper deals with the frequency domain decentralized discrete-time controller design methodology to guarantee specified performance of the overall system. The underlying theory evolves from the stability conditions...
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ISBN:
(纸本)9783902661913
The paper deals with the frequency domain decentralized discrete-time controller design methodology to guarantee specified performance of the overall system. The underlying theory evolves from the stability conditions developed in the "Equivalent Subsystems Method" approach and applies closed-loop performance specification based on the relationship between phase margins of equivalent subsystems and maximum overshoot of the full system. To design local PI controllers for specified phase margin, Bode plots of discrete equivalent subsystems are used. Designed local continuous controllers are then converted to their discrete versions and implemented for the controlled plant. The design procedure is illustrated on the case study.
The paper presents a case study on simulation modelling and analysis of a real production line operating in an electronics company. Simulation technique is applied to analyse the existing manufacturing system and dete...
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The paper presents the behavior of ultrasound induced cavitation voids and bubbles in mineral insulating oils with different aging properties. At suitable values of signal amplitude and frequency many of cavitation bu...
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The paper presents the behavior of ultrasound induced cavitation voids and bubbles in mineral insulating oils with different aging properties. At suitable values of signal amplitude and frequency many of cavitation bubbles were observed. Collapsing bubbles were responsible for broadband noise included in acoustic emission signal spectra. To represent the cavitation intensity a cavitation indicator based on power spectral densities of acoustic emission signal was proposed.
Measurement of head rotation from 2D image requires finding correspondences between features of a model and an image. In this paper, we show that under weak-perspective assumption, given three facial points in image, ...
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In this paper we present an approach to human activity recognition in an indoor environments. It combines Adaboost face detection with standard tracking methods - continuously adaptive mean-shift (CAMShift) and Kalman...
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This paper demonstrates the effectiveness of a genetic algorithm in identification of the unknown parameters of a nonlinear 2DOF laboratory helicopter model. The mathematical model of physical structure of the helicop...
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This paper demonstrates the effectiveness of a genetic algorithm in identification of the unknown parameters of a nonlinear 2DOF laboratory helicopter model. The mathematical model of physical structure of the helicopter has fourteen unknown parameters which are necessary to be identified. For identification of this model a genetic algorithm is chosen because it enables finding referent results using less number of the experiments in comparison with other identification techniques. After the identification process has been carried out, the unknown parameters are determined and validated through comparisons of the simulation model response and response of the real helicopter system.
This paper presents an implementation of soft computing methodologies, like genetic algorithm and fuzzy logic, in identification and control of 2DOF nonlinear helicopter model (Humusoft CE 150). The genetic algorithm ...
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This paper presents an implementation of soft computing methodologies, like genetic algorithm and fuzzy logic, in identification and control of 2DOF nonlinear helicopter model (Humusoft CE 150). The genetic algorithm is proposed for identification of the physical structure of helicopter system, which contains a helicopter body, main and tail motors and drivers. The quality of helicopter model achieved was validated through simulation and experimental modes. Then, this model is used to elevation and azimuth fuzzy logic Mamdani type controllers design in a simulation mode. The main objective of the paper is to obtain robust and stable controls for wide range of azimuth and elevation angles changing during the long time flight. The robustness and effectiveness of both fuzzy controllers were verified through both simulations and experiments.
This paper is about the Matlab teaching at the faculty of electricalengineering and Information Technology in Bratislava. In this course we are focusing on the individual work of students. Students work on assignment...
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ISBN:
(纸本)9789604742028
This paper is about the Matlab teaching at the faculty of electricalengineering and Information Technology in Bratislava. In this course we are focusing on the individual work of students. Students work on assignments every week and they are evaluated for finishing tasks on the exercises. We studied their results and impact of evaluating the tasks on the exercises. We also compared this type of evaluating and others used before.
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