The paper presents a new procedure for the system identification based on approximation of the plant step responses by PTnTd models. By simple examples, the method application in designing PID controllers is demonstra...
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Friction appears in the bearings and reduction gear of controlled electrical drives and affects the quality of the position, speed or force control. The servosystem performance can be improved by implementation of acc...
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Friction appears in the bearings and reduction gear of controlled electrical drives and affects the quality of the position, speed or force control. The servosystem performance can be improved by implementation of acceleration feedback. For the reason that acceleration measurement is often either not possible or practical, the implementation of acceleration estimation by an observer or differentiation of speed is proposed. Another approach to friction influence compensation is based on the disturbance observer. Its advantage is that it can be applied generally to the estimation of various disturbances. This paper deals with these friction compensation methods which are not based on friction model, but on the compensation of friction as a disturbance. The efficiency of these methods in a servodrive with Stribeck friction is compared by computer simulation and experimentally on a servosystem laboratory model.
This paper describes B-spline interpolation and compares it with other reconstruction methods, especially in three-dimensional space. We first consider the B-spline bases in the terms of convolution in signal processi...
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This paper describes B-spline interpolation and compares it with other reconstruction methods, especially in three-dimensional space. We first consider the B-spline bases in the terms of convolution in signal processing. The presented analysis requires careful usage of continuous and discrete representation of B-spline. Emphasis is given to the important difference between B-spline interpolation and approximation. The difference is shown through frequency domain analysis, so we derive frequency responses of the B-spline interpolation and approximation. We conclude by demonstrating the use of several reconstruction filters and appropriate gradient estimators in volume rendering. Exact reconstruction in volume visualization is very important in many industrial applications, such as material cavity control.
The volume data is generally in the form of the large array of numbers. In order to render the object hidden in the volumetric data, we need to reconstruct or interpolate data values between the samples. The novelty p...
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The volume data is generally in the form of the large array of numbers. In order to render the object hidden in the volumetric data, we need to reconstruct or interpolate data values between the samples. The novelty presented in this paper is B-spline interpolation in the volumetric space. We show that this approach is better than currently used methods. We also present a hybrid approach, analyze this approach in frequency domain and compare it to B-spline interpolation. To enhance the quality during the volume visualization process it is important to enhance the quality of the reconstruction. It is of crucial importance to explore different undesired effects. If better reconstruction is performed the more accurate result of volume visualization process is achieved.
In this paper the robust fault detection and isolation (FDI) problem in linear systems, which are subjected to multiple faults and time varying system perturbations is discussed. The detection and isolation problem is...
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In this paper the robust fault detection and isolation (FDI) problem in linear systems, which are subjected to multiple faults and time varying system perturbations is discussed. The detection and isolation problem is treated by using algebraic methods and geometric design concepts. The idea of the classical Luenberger observer is generalized in an attempt that residual generators for solving the robust FDI problem can be designed.
The role of structural invariants in the solutions of classical linear control problems when regular state feedback is used is enhanced. The structural modification that arise when these problems are extended to the c...
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On the basis of Lagrangian mechanics uniform structures made of simple and standardized procedures and closed form analytical formulas were previously used to develop an adaptive control for SCARA robots in dynamic in...
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On the basis of Lagrangian mechanics uniform structures made of simple and standardized procedures and closed form analytical formulas were previously used to develop an adaptive control for SCARA robots in dynamic interaction with an unmodeled environment. This standardized form contains well defined free parameters by tuning of which the complex effect of the behavior of the controlled system as well as that of the external interactions can be 'imperfectly' modeled and learned. These structures, free parameters and procedures play exactly the same role as that of the traditional artificial neural networks (ANNs) or fuzzy controllers: the structures and the procedures are fit for a wide class of problems more or less similar to each other, while parameter tuning corresponds to learning the concrete properties of a particular element of this wider set. While in the case of the standard soft computing methods there is no reliable a priori information on the number of the concrete elements in the uniform structures, the proposed method has definite indication for this by using the Lie parameters of the orthogonal group. In the initial stage of learning the proposed methods also use a standardized ancillary procedure, a very simple form of regression analysis based controller compensating the remnant errors whenever appropriate. In this paper certain details of the uniform control and parameter-tuning are discussed on the basis of simulation results. It can be concluded that the approach is promising therefore experimental investigations are under preparation.
A synthesis of the two major approaches to linear control system design, namely the state-space and the transfer-function ones, can be achieved by use of dynamics assignment, a convenient reference design problem. Stu...
A synthesis of the two major approaches to linear control system design, namely the state-space and the transfer-function ones, can be achieved by use of dynamics assignment, a convenient reference design problem. Students, teachers, and researchers can all benefit from a deeper understanding of the relationships between these two approaches.
A synthesis of the two major approaches to linear control system design, namely the state-space and the transfer-function ones, can be achieved by use of dynamics assignment, a convenient reference design problem. Stu...
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A synthesis of the two major approaches to linear control system design, namely the state-space and the transfer-function ones, can be achieved by use of dynamics assignment, a convenient reference design problem. Students, teachers, and researchers can all benefit from a deeper understanding of the relationships between these two approaches.
Discrete-time symmetric polynomial equations with complex coefficients are studied in the scalar and matrix case. New theoretical results are derived and several resolution algorithms ares proposed and evaluated. The ...
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Discrete-time symmetric polynomial equations with complex coefficients are studied in the scalar and matrix case. New theoretical results are derived and several resolution algorithms ares proposed and evaluated. The algorithms are implemented in the Polynomial Toolbox for Matlab.
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