This contribution is focused on control of single-input single-output (SISO) systems containing harmonically time-varying delay. Three different approaches to continuous-time control are studied and compared. The firs...
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ISBN:
(纸本)9789549260014
This contribution is focused on control of single-input single-output (SISO) systems containing harmonically time-varying delay. Three different approaches to continuous-time control are studied and compared. The first technique utilizes a modified PI-PD Smith predictor in a combination with standard forms for minimum of integral squared time error (ISTE). The second methodology exploits a Coefficient Diagram Method (CDM) for another modified Smith predictor structure. And finally, the third approach to synthesis is based on general solutions of Diophantine equations in the ring of proper and Hurwitz-stable rational functions (RPS) for a classical feedback control loop. The comparison of proposed methods is accomplished through a simple simulation example.
The contribution deals with design of continuous-time robustly stabilizing PI controllers for interval systems using the combination of Kronecker summation method, sixteen plant theorem and an algebraic approach to co...
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ISBN:
(纸本)9789604741991
The contribution deals with design of continuous-time robustly stabilizing PI controllers for interval systems using the combination of Kronecker summation method, sixteen plant theorem and an algebraic approach to controller tuning. The effectiveness and practical applicability of the proposed method is demonstrated in control of a 3rd order nonlinear electronic plant.
In this paper, two new stability conditions with graphical interpretationsin the frequency domain are proposed, for a, type of Takagi-Sugeno (T-S) fuzzycontrol systems, one is based, on the circle criterion and, the o...
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Paper deals with implementation of self-tuning digital PID controller on general-purpose 8-bit Freescale 68HC908GB60 microcontroller which is a part of development board M68EVB908GB60 by Axiom Manufacturing. The proce...
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ISBN:
(纸本)9789604741991
Paper deals with implementation of self-tuning digital PID controller on general-purpose 8-bit Freescale 68HC908GB60 microcontroller which is a part of development board M68EVB908GB60 by Axiom Manufacturing. The process is identified using modified recursive least squares method with adaptive directional forgetting resulting in δ model representation of controlled plant. This representation was chosen in order to achieve lower sampling time periods and mainly better numerical stability of identification process. control part of algorithm utilizes digital PID controller whose parameters are designed by pole placement method. Developed program equipment works under realtime operating system RTMON for HCS08 which was created on our department. Functionality of the controller was verified by controlling two different educational heat plants models which are used in laboratory lessons of Theory of Automatic control subject.
The Acrobot is the simplest walking like underactuated system which at the same time comprises all typical difficulties of the underactuated walking. In particular, efficient algorithms for the Acrobot walking may be ...
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This paper provides the algorithm how to exponentially track any trajectory of the Acrobot based on the knowledge of two position variables only. Namely, it aims to design a special reduced observer for the Acrobot an...
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Paper deals with application of online rotor broken bar fault detection via artificial neural networks. Fault can be detected by monitoring abnormalities of the spectrum amplitudes at certain frequencies in the motor ...
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In this paper is described possibility of nondestructive diagnostics of solid objects by software analysis of vibration spectrum. With using platform MATLAB, we can process and evaluate information from accelerometer,...
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This work studies the identification and control of circulation fluidized bed (CFB) boilers. The CFB boiler under investigation shows strong nonlinearity due to big changes of steam load. A linear parameter varying (L...
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This work studies the identification and control of circulation fluidized bed (CFB) boilers. The CFB boiler under investigation shows strong nonlinearity due to big changes of steam load. A linear parameter varying (LPV) model is used to represent the process dynamics and used in control. The steam flow is used as the working-point variable (scheduling variable) of LPV model. Multivariable plant tests were carried out and a LPV model and a linear model were identified. The identification results of the industrial CFB boiler show that the LPV model has much higher accuracy than the linear model. The simulation studies for the MPC control of the CFB boiler have been performed using both the LPV model and the linear model. The simulation results show that the MPC using the LPV model performs better than the MPC using the linear model.
This paper presents a fault tolerant control (FTC)-architecture for trajectory tracking, where generalized actuator faults are online diagnosed and compensated for by the control system. Employing least-squares deriva...
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ISBN:
(纸本)9781424474264
This paper presents a fault tolerant control (FTC)-architecture for trajectory tracking, where generalized actuator faults are online diagnosed and compensated for by the control system. Employing least-squares derivative estimators for identifying the faults inserts time-delays into the control loop. When a reference trajectory is to be tracked, the closed FTC loop represents a nonlinear time-varying time-delay system. Linearizing its dynamics around the reference trajectory makes it possible to determine tolerable delay times, which allows to deduce admissible intervals for the values of the FTC parameters. The FTC scheme is illustrated by simulations of an underactuated satellite with faulty actuators.
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