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International Conference on Communication systems and Network Technologies, CSNT 2012

作者： Raval, Sejal K. Makwana, Dipesh Modi, Chintan K. Nataraj, P.S.V. Instru. and Control Deptt. L.D.College of Engineering Ahmadabad India E. and C. Eng. Dept. G. H. Patel College of Eng. and Tech. V. V. Nagar India Systems and Control Eng. Group IIT Bombay India

ISBN: (纸本)9780769546926

Parameter estimation is crucial for model identification in control engineering and in other disciplines. In present work a new method based on interval constraint satisfaction technique is proposed for obtaining parameter estimation of a system using linear orthogonal regression. In orthogonal regression, errors in both the measured variable and response variable are taken into account. The power of interval analysis based method is explored to develop proposed method. Two well known examples of datasets are used to validate the proposed method. © 2012 IEEE.

关键词： Constraint satisfaction problems

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Swing-up and stabilization of Rotary Inverted Pendulum using sliding modes

Swing-up and stabilization of Rotary Inverted Pendulum using...

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作者： Kurode, Shailaja Chalanga, Asif Bandyopadhyay, B. Department of Electrical Engineering COE Pune India IDP in Systems and Control IIT Bombay India

ISBN: (纸本)9783902661937

control of Rotary Inverted Pendulum (RIP) is a classic control problem. It represents a broader class of underactuated systems. The dynamical equations of RIP are nonlinear coupled and complex. The nonlinear feature and the complex internal dynamics makes the design of the control challenging. This paper presents swing up and stabilization both via sliding modes. Tracking control of rotary actuator using sliding modes is developed for swing up of RIP till the pendulum reaches in the linear region around the vertical upright position. Once it reaches in the linear region, a stabilization control using sliding mode is switched on. A linear model of the RIP is used for developing the SMC law for stabilization. Effectiveness of the method is validated in simulation as well as by experiment. © 2011 IFAC.

关键词： Stabilization

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Design And Analysis Of Model Predictive control Strategy For A Fractional-Order System

Design And Analysis Of Model Predictive Control Strategy For...

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第五届国际自动控制联合会分数阶导数及其应用会议

作者： Sharad P.Jadhav Dr.R.H.Chile Dr.S.T.Hamde Mukesh D.Patil Vishwesh A.Vyawahare Research Scholar Shri Guru Gobind Singhji Institute of Engineering andTechnologyNanded431606India ¤¤ Shri Guru Gobind Singhji Institute of Engineering andTechnology Nanded431606India Shri Guru Gobind Singhji Institute of Engineering andTechnology Nanded431606India IDP in Systems and Control Engg. Indian Institute of TechnologyBombay Mumbai India 400 076 IDP in Systems and Control Engg. Indian Institute of Technology Bombay Mumbai India 400 076

＜正＞Fractional calculus（FC）is an important mathematical tool and is becoming popular in diverse field of research *** is a generalization of the conventional calculus that leads to similar concepts and tools,but w... 详细信息

关键词： Fractional calculus Fractional-order systems Discrete approximations Model Predictive control. fractional order control strategy control Theory Instruction repertory Fractional calculus Model predictive control Predictive control approximation

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Construction of Bode Envelopes Using REP Based Range Finding Algorithms

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International Journal of Automation and computing 2011年第1期8卷 112-121页

作者： P.S.V.Nataraj Shanta Sondur IDP in Systems and Control Engineering Indian Institute of Technology Bombay Vivekanand Education Society's Institute of Technology

The frequency domain analysis of systems is an important topic in control theory. Powerful graphical tools exist in classic control, such as the Nyquist plot, Bode plots, and Nichols chart. These methods have been widely used to evaluate the frequency domain behavior of system. A literature survey shows that various approaches are available for the computation of the frequency response of control systems under different types of parametric dependencies, such as affine, multi-linear, polynomial, etc. However, there is a lack of tools in the literature to construct the Bode envelopes for the general nonlinear type of parametric dependencies. In this paper, we address the problem of computation of the envelope of Bode frequency response of a non-rational transfer function with nonlinear parametric uncertainties varying over a box. We propose two techniques to compute the Bode envelopes：first, based on the natural interval extensions （NIE） combined with uniform subdivision and second, based on the existing Taylor model combined with subdivision strategy. We also propose the algorithms to further speed up both methods through extrapolation techniques.

关键词： Bode envelope asymptotic expansion extrapolation methods rep interval analysis approximation technique.

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Discrete-time sliding mode control using infrequent output measurements

Discrete-time sliding mode control using infrequent output m...

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International Conference on Advanced Mechatronic systems (ICAMechS)

作者： B. Bandyopadhyay P. S. Lal Priya IDP in Systems and Control Engineering IIT Bombay Mumbai

This paper presents a new algorithm for discrete-time sliding mode control using output feedback. It has been shown that, when the output of the system is sampled slower than the input, a discrete-time sliding mode can be obtained. The method is very general and is applicable to any controllable and observable linear time-invariant single input single output system. The proposed technique is illustrated with a numerical example.

关键词： Sliding mode control Output feedback Switches Eigenvalues and eigenfunctions Trajectory Closed loop systems

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An Alternative Method of Parameter Estimation Using Orthogonal Regression with Interval Constraint Satisfaction Technique

An Alternative Method of Parameter Estimation Using Orthogon...

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International Conference on Communication systems and Network Technologies (CSNT)

作者： Sejal K. Raval Dipesh Makwana Chintan K. Modi P.S.V. Nataraj Instru.& Control Deptt. L.D. College of Engineering Ahmadabad India E & C. Eng. Dept. G H Patel College of Eng & Tech. V V Nagar India Systems & Control Eng. Group IIT Bombay India

关键词： Equations Accuracy Mathematical model Estimation Reliability Convergence Parameter estimation

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Sliding mode based AQM for robust control of IP based network

Sliding mode based AQM for robust control of IP based networ...

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International Conference on control, Automation and systems ( ICCAS)

作者： P Baburaj B Bandyopadhyay IDP in Systems & Control Engineering IIT Bombay Mumbai India

A novel Sliding Mode control (SMC) based Active Queue Management (AQM) algorithm is proposed for control of TCP/IP based network. Modern switching networks are complex time delay process with abrupt time varying behavior of its parameters such as bandwidth, time delay etc., which makes it hard to capture the exact process dynamics for an efficient controller design. Our approach invokes the potential of SMC in terms of robustness and disturbance rejection to design effective controller for nonlinear TCP-queue dynamics. Sliding Mode design is based on Lyapunov matrix and search for Lyapunov matrix for systems with unmatched uncertainties and time delay is formulated in terms of Linear Matrix Inequlity. Proposed scheme exhibits robust performance in presence of large parameter uncertainties and disturbances.

关键词： Uncertainty Robustness Linear matrix inequalities Delay effects Delay Heuristic algorithms Sliding mode control

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Swing-Up and Stabilization of Rotary Inverted Pendulum using Sliding Modes

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IFAC Proceedings Volumes 2011年第1期44卷 10685-10690页

作者： Shailaja Kurode Asif Chalanga B. Bandyopadhyay Department of Electrical Engineering COE Pune India IDP in Systems and Control IIT Bombay India

Abstract control of Rotary Inverted Pendulum (RIP) is a classic control problem. It represents a broader class of underactuated systems. The dynamical equations of RIP are nonlinear coupled and complex. The nonlinear feature and the complex internal dynamics makes the design of the control challenging. This paper presents swing up and stabilization both via sliding modes. Tracking control of rotary actuator using sliding modes is developed for swing up of RIP till the pendulum reaches in the linear region around the vertical upright position. Once it reaches in the linear region, a stabilization control using sliding mode is switched on. A linear model of the RIP is used for developing the SMC law for stabilization. Effectiveness of the method is validated in simulation as well as by experiment.

关键词： SMC RIP Stabilization Swing-Up

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The extrapolated Taylor model

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Reliable Computing 2011年第3期15卷 251-278页

作者： Nataraj, P.S.V. Sondur, Shanta IDP in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

The Taylor model [8] is one of the inclusion functions available to compute the range enclosures. It has the property of (m + 1)th convergence order, where, m is the order of the Taylor model used. It computes a high order polynomial approximation to a multivariate Taylor expansion, with a remainder term that rigorously bound the approximation error. The sharper bounds on the enclosures computed using the Taylor model can be obtained either by successively partitioning the domain x using suitable subdivision factors, or by increasing the convergence rate of the Taylor model using higher order Taylor models. However, higher order Taylor forms require higher degrees of the polynomial part, which in turn require more computational effort and more memory. This is the major drawback of increasing the order m of Taylor models for obtaining range enclosures with higher order convergence rates. In this paper, we attempt to overcome these drawbacks by using a lower order Taylor model, and then using extrapolation to accelerate the convergence process of the sequences generated with the lower order Taylor model. The effectiveness of all the proposed algorithms is tested on various multivariate examples and compared with the conventional methods. The test results show that the proposed extrapolation-based methods offer considerable speed improvements over the conventional methods.

关键词： Enclosures

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Rendezvous in space with minimal sensing and coarse actuation

Rendezvous in space with minimal sensing and coarse actuatio...

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IEEE Conference on Decision and control

作者： Soumya Ranjan Sahoo Ravi N. Banavar Arpita Sinha Systems and Control Engineering IIT Bombay Mumbai India

ISBN: (纸本)9781612848006

In this paper we propose a control law for achieving rendezvous of autonomous vehicles capable of moving in three-dimensional (3D) space by using minimal data and quantized control. A pre-assigned graph uniquely assigns the pursuer-target pair in a cyclic manner. The measurement required for the proposed control law is the position from which the target vehicle moves out of the field-of-view of the pursuing vehicle. A Lyapunov function is chosen to find a range for the field-of-view which would guarantee rendezvous under the proposed control law.

关键词： control law rendezvous Liapunov function Activation Minimal Moving

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