Mathematical technicalities, which are involved in the modern theory of non-linear control systems, many times prevents a wider use of the impressive theoretical results in practice. Attempts to overlap this gap betwe...
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Mathematical technicalities, which are involved in the modern theory of non-linear control systems, many times prevents a wider use of the impressive theoretical results in practice. Attempts to overlap this gap between theory and practice are usually more than welcome and form the main scope of our interest in this work. An important control problem given by the disturbance decoupling is studied for a real laboratory model of coupled tanks. It is shown that the theoretical solution to the disturbance decoupling problem does not satisfy practical control requirememts. Accordingly, the solution is modified and yields a nonlinear controller with the distrubance decoupling. Experiments on the real plant, verifying and comparing the results with and without the disturbance decoupling, are included as well. It is shown that the disturbances practically do not affect the system output.
作者：
Vörös, JozefSlovak University of Technology
Faculty of Electrical Engineering and Information Technology Institute of Control and Industrial Informatics Ilkovicova 3 Bratislava 812 19 Slovakia
One of the main difficulties in the automatic control is caused by the fact that real systems are generally nonlinear. For better mathematical tractability of control system descriptions we are usually forced to make ...
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In recent years, especially in industrial processes, model predictive control has become a prominent advanced control technique. In this paper a nonlinear plant is considered to be controlled by linear model predictiv...
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In recent years, especially in industrial processes, model predictive control has become a prominent advanced control technique. In this paper a nonlinear plant is considered to be controlled by linear model predictive control. Particularly this study is carried out on the Four-Tank system to show the performance of linear model predictive control for nonlinear plant. Since linear model predictive control is used instead of nonlinear model predictive control the problems of complexity of the algorithm and non-convexity of the optimization are avoided.
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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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.
Safety and reliability belong to the main quality attributes of a safety relevant control system. If a communication system is a component of a safety relevant control system then because of its properties it can also...
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ISBN:
(纸本)9788070438657
Safety and reliability belong to the main quality attributes of a safety relevant control system. If a communication system is a component of a safety relevant control system then because of its properties it can also significantly affect the safety and reliability of the entire safety relevant control system. Safety and reliability attributes of a communication system can be influenced by a proper application of a so-called ratio criterion. Although the ratio criterion is often being utilised in practical applications, the parameters of ratio criterion are usually set intuitively. The contribution is focused on the problem of ratio counter parameters choice, which in co-operation with the safety code decoder provides operational checking of a non-trusted transmission system.
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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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.
In this study, a trajectory tracking control method of a mobile robot moving along a wall is proposed. The trajectory tracking control method consists of three control methods. The first one is a method that controls ...
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In this study, a trajectory tracking control method of a mobile robot moving along a wall is proposed. The trajectory tracking control method consists of three control methods. The first one is a method that controls the mobile robot to move along a wall maintained constant. The second one is a method that controls the mobile robot to move along a wall in case of the wall direction changes. The third one is obstacle avoidance on a path. To measure a distance between the mobile robot and the wall, the changing direction of the wall and obstacles, we use a laser range finder. We developed a mobile robot which has two-driven wheels and the LRF to confirm the proposed method.
In conformity with the request for search and rescue application, the design criterions of human-robot interaction are proposed. Based on the human-robot interaction, the control station system for the shape-shifting ...
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ISBN:
(纸本)9781424493197
In conformity with the request for search and rescue application, the design criterions of human-robot interaction are proposed. Based on the human-robot interaction, the control station system for the shape-shifting search and rescue robot is designed. The system mainly has four features, which are completely perceptive information, flexible control, friendly interface and strong interaction. The experiments demonstrate that the control station system for search and rescue robots can control motion and exchange the multi-channel information in the complex simulated after-earthquake environment. Thus, feasibility and validity of the control station system have been proved in the fields of search and rescue.
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 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 detect factors with significant impact on its capacity. The analysis aims to improve the allocation of available production resources to maximize the average capacity of the system. A full factorial design has been applied as a simulation analysis tool. Then, a new system design is proposed to enhance the overall performance and is verified using a simulation model. The simulation system WITNESS has been used to complete this study.
Iterative Learning control (ILC) is now well established for linear and nonlinear dynamics in terms of both the underlying theory and experimental application. This approach is specifically targeted at applications wh...
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Iterative Learning control (ILC) is now well established for linear and nonlinear dynamics in terms of both the underlying theory and experimental application. This approach is specifically targeted at applications where the same operation is repeated over a finite duration with resetting between successive executions. Each execution is known as a trial and the novel principle behind ILC is to suitably use information from previous trials in the selection of the current trial input with the objective of sequentially improving performance from trial-to-trial. In this paper, new results on the extension of the ILC approach to the class of 2D systems that arise from certain methods of discretization of partial differential equations, resulting in the need to use a spatio-temporal setting for analysis. The resulting control laws can be computed using Linear Matrix Inequalities (LMIs). An illustrative example is also given and areas for further research discussed.
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