This paper presents modular design of P, I and PI controllers dedicated for systems with dominant 1st order dynamics in the control loop. It is shown that under presence of control signal constraints the traditionally...
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This paper presents modular design of P, I and PI controllers dedicated for systems with dominant 1st order dynamics in the control loop. It is shown that under presence of control signal constraints the traditionally used “linear” PI-controller guarantees a desired control quality only for a special distribution of the dynamical terms in the control loop - for the dominant 1st order dynamics concentrated in the feedback path (sensor or filter dynamics). For the more frequent situation with the dominant 1st order plant placed in the feedforward path, a new integrating “anti-windup” controller is derived. It is shown that the controller derived represents two different dynamical classes of controllers characteristic with none or one possible train of saturated control signal pulses in their response to a step change of the reference signal.
This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed...
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This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work, we propose three methods to quantitatively measure the performance of the walking robot: perturbation analysis, lowpass frequency response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.
The present paper describes the attempt and experience of the authors in developing and establishing advanced controlengineering education environment comprising all aspects in an integral approach due to the presenc...
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The present paper describes the attempt and experience of the authors in developing and establishing advanced controlengineering education environment comprising all aspects in an integral approach due to the presence of economical constraints. The main issues include upgrading of the theoretical level of teaching with state-of-the-art facilities and hands-on experiments, complexity and flexibility of the laboratory rigs with industrial orientation, optimal choice of laboratory experiments and equipment to satisfy some basic financial limitations, intra-and inter-university integration for better utilisation of the laboratories, etc. All issues are taken in a formalised task of optimal decision making. The concrete implementation of above questions is described.
The paper deals with the decomposition of block-oriented nonlinear dynamic systems having discontinuous asymmetric nonlinearities and with their identification using the Wiener model. Multiple application of a simple ...
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The paper deals with the decomposition of block-oriented nonlinear dynamic systems having discontinuous asymmetric nonlinearities and with their identification using the Wiener model. Multiple application of a simple decomposition technique provides a special form of Wiener model with the minimum number of parameters. Putting some parameters of the proposed model to zero, models for the block-oriented nonlinear dynamic systems with pure preload nonlinearities, dead zone or two-segment piecewise-linear asymmetric nonlinearities are obtained. To demonstrate the feasibility of the identification method, more illustrative examples are included.
This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed...
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This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work, we propose three methods to quantitatively measure the performance of the walking robot: locomobility measure, perturbation analysis, and low pass frequency response. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.
The paper deals with the robust synthesis and analysis of control systems with a hybrid structure which consists of a sampled continuous process and a discrete control algorithm. A method for the design of digital con...
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The paper deals with the robust synthesis and analysis of control systems with a hybrid structure which consists of a sampled continuous process and a discrete control algorithm. A method for the design of digital controllers for processes with uncertain physical plant parameters is presented. The Robust Pole Region Assignment and the Algebraic Approach to the Output Feedback Based Pole Placement in the discrete domain are applied. The paper proposes also a new robust stability/performance criterion for hybrid systems with interval parametric uncertainties. An application example is included.
The paper analyses characteristics of the closed loop system with the P-, PI-, and PID-controllers and different models approximating the plant time lags. It extends some early analytical results derived by Oldenbourg...
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The paper analyses characteristics of the closed loop system with the P-, PI-, and PID-controllers and different models approximating the plant time lags. It extends some early analytical results derived by Oldenbourg and Sartorius (1951) in such a manner that they can be considered as a generalisation of the other well known classical method experimentally derived by Ziegler and Nichols (1942) and modified for discrete time systems by Takahashi at al. (1971).
A procedure for the postoptimal analysis of dynamic positioning control system of floating vessels is proposed. The control system design is based on the optimal constrained covariance control (OC 3 ). Using the OC 3 ...
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A procedure for the postoptimal analysis of dynamic positioning control system of floating vessels is proposed. The control system design is based on the optimal constrained covariance control (OC 3 ). Using the OC 3 technique, the disadvantages of the classical LQG optimal control technique are avoided. The presented numerical example illustrates the properties of the new approach.
This paper deals with nonlinear predictive control based on higher order Takagi-Sugeno fuzzy systems which can also be interpreted as generalized radial basis function networks. We investigate how the fuzzy models can...
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This paper deals with nonlinear predictive control based on higher order Takagi-Sugeno fuzzy systems which can also be interpreted as generalized radial basis function networks. We investigate how the fuzzy models can be linked to a special type of model based predictive control algorithm, namely the dynamic matrix control (DMC). Previously, purely linear step response models were used for long-range prediction. Here, the method is extended to nonlinear processes. Therefore, various step responses for different operating points are extracted from the fuzzy model. For performance evaluation, a heat exchanger is identified by means of the local linear model tree algorithm and controlled by the modified DMC.
In this paper we consider the fault isolation problem for the linear time varying systems. Our approach is based on characterization of the observability of LTV systems by Kalman's rank condition, which permits us...
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ISBN:
(纸本)9783952426906
In this paper we consider the fault isolation problem for the linear time varying systems. Our approach is based on characterization of the observability of LTV systems by Kalman's rank condition, which permits us to design fault detection filters, feeding also the derivatives of the inputs and the outputs. We prove, using a computable method, that the isolation problem can be solved by generalized Luenberger's observer if and only if the detectability and the weak separability of fault signatures holds.
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