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IEEE International Conference on Industrial Technology (ICIT)

作者： Shailaja Kurode B. Bandyopadhyay P. S. Gandhi Systems and Control Engineering IIT Bombay India Mechanical Engineering IIT Bombay India

Liquid sloshing has been an important problem in several areas. Consideration of slosh dynamic along with the vehicle dynamics results in coupled nonlinear underactuated system. Inherent characteristics of nonlinear system poses difficulties in state estimation and hence implementing the state feedback control strategies. This paper presents the development of sliding mode observer (SMO) using high gain observer (HGO) approach in a reduced subsystem for estimation of slosh states. A simple pendulum model is used to represent the lateral slosh. Simulation results demonstrate the performance.

关键词： slosh HGO robust SMO

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The extrapolated taylor model

The extrapolated taylor model

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13th GAMM-IMACS International Symposium on Scientific Computing, Computer Arithmetic and Verified Numerical Computations, SCAN 2008

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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Discrete time output feedback sliding mode control algorithm for chattering reduction and elimination

Discrete time output feedback sliding mode control algorithm...

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IEEE 10th International Workshop on Variable Structure systems, VSS'08

作者： Bandyopadhyay, B. Thakar, V.K. IDP in Systems and Control Engineering ACRE Building IIT Bombay Mumbai- 400076 India EC Engineering Department A.D. Patel Institute of Technology New Vallabh Vidyanagar Gujarat India

ISBN: (纸本)9781424422005

This paper presents discrete time sliding mode control which uses multirate output feedback and power rate reaching law. The method proposed here uses only output samples and past control input for switching function evaluation and sliding mode control. The discrete time version of power rate reaching law has been obtained and then output samples based algorithm has been developed. It has been shown that it is possible to reduce chattering by suitably chosing the reaching law parameters. It has also been demonstrated that it is possible to avoid chattering completely for special case of controller parameters using only output *** simulation study carried out on numerical example reveals effectiveness of the proposed algorithm. ©2008 IEEE.

关键词： Sliding mode control

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A Robust Algorithm Against Actuator Saturation using Integral Sliding Mode and Composite Nonlinear Feedback

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IFAC Proceedings Volumes 2008年第2期41卷 14174-14179页

作者： B. Bandyopadhyay Fulwani Deepak Y.J. Park IDP in Systems and Control Engineering Indian Institute of Technology Bombay India (Tel: 091-22-25767889 IDP in Systems and Control Engineering Indian Institute of Technology Bombay India Department of Mechanical Engineering KAIST Taejon 305-701 South Korea

Integral sliding mode(ISM) based composite nonlinear feedback(CNF) tracking controller to track step signal is proposed. The proposed controller combines advantages of CNF controller like quick response without overshoot and robustness of ISM controller. Integral sliding mode is used along with CNF controller to reject disturbances and track nominal trajectory. Actuator saturation effect is considered and the stability of overall system is guaranteed with saturated actuator. Chattering is reduced by use of sigmoid function and non-linear switching gain. Effectiveness of the proposed scheme is demonstrated by simulation results.

关键词： Robust control Anti-windup Tracking

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Computation of Stability Margins for Uncertain Linear Fractional-order systems using Interval Constraint Propagation

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IFAC Proceedings Volumes 2008年第2期41卷 14272-14276页

作者： P.S.V. Nataraj Rambabu Kalla Manoj M. Deshpande Systems and Control Engineering Group IIT Bombay India (Tel: +91-22-25767887 Systems and Control Engineering Group IIT Bombay India (Tel: +91-22-25764884 Systems and Control Engineering Group IIT Bombay India (Tel: +91-22-25764885

The present paper proposes an algorithm for finding the stability margins and cross over frequencies for an uncertain fractional-order system using interval constraint propagation technique. It is first shown that the problem of finding the stability margins and crossover frequencies can be formulated as a interval constraint satisfaction problem and then solved using branch and prune algorithm. The algorithm guarantees that the stability margins and the crossover frequencies are computed to prescribed accuracy and that theses values are reliable in the face of all kinds of computational errors. The other advantage of the method is that the stability margins and crossover frequencies can be computed without the need of frequency response plots or any kind of approximations. Two examples of uncertain fractional-order systems are taken from the literature and their stability margins and crossover frequencies are computed using the proposed algorithm.

关键词： Constraint satisfaction problems control system analysis Fractional-order systems Interval analysis Parameter uncertainty Reliable computation Robust control

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FPGA implementation of QFT based controller for a buck type DC-DC power converter and comparison with fractional and integral order PID controllers

FPGA implementation of QFT based controller for a buck type ...

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IEEE Workshop on Computers in Power Electronics

作者： B. Jayakrishna V. Agarwal Systems and Control Engineering Department IIT Bombay India Electrical Engineering Department IIT Bombay India

This paper presents the details of FPGA (field programmable gate array) implementation of a QFT based controller for a buck type DC-DC power converter. The performance of QFT controller is compared with PID and fractional order PID controllers. Computer simulations of the QFT based approach as well as integral order and fractional order PID controllers have been carried out. Nominal averaged and linearized model of the converter is used for all the simulations. It is observed that the QFT based controller exhibits better transient performance and higher stability against line voltage and load variations compared to the PID controllers. The QFT controller is implemented using a SPARTAN-3 FPGA board consisting of 400 K gates. All the analytical, simulation and hardware results are included and discussed.

关键词： Transfer functions Field programmable gate arrays Voltage control Gain Converters Mathematical model Equations

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Discrete time output feedback sliding mode control algorithm for chattering reduction and elimination

Discrete time output feedback sliding mode control algorithm...

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International Workshop on Variable Structure systems, VSS

作者： B. Bandyopadhyay V. K. Thakar IDP in Systems and Control Engineering IIT Bombay Mumbai India EC Engineering Department A. D. Patel Institute of Technology Gujarat India

This paper presents discrete time sliding mode control which uses multirate output feedback and power rate reaching law. The method proposed here uses only output samples and past control input for switching function evaluation and sliding mode control. The discrete time version of power rate reaching law has been obtained and then output samples based algorithm has been developed. It has been shown that it is possible to reduce chattering by suitably choosing the reaching law parameters. It has also been demonstrated that it is possible to avoid chattering completely for special case of controller parameters using only output *** simulation study carried out on numerical example reveals effectiveness of the proposed algorithm.

关键词： Output feedback Sliding mode control Variable structure systems control systems Delay Linear approximation Piecewise linear approximation control engineering Power engineering and energy Robust control

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Adaptive QFT control using hybrid global optimization and constraint propagation techniques

Adaptive QFT control using hybrid global optimization and co...

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IEEE Conference on Decision and control

作者： P. S. V. Nataraj Nandkishor Kubal Systems and Control Engineering IIT Bombay India IIT Bombay India ABB Corporate Research ABB Global Services Limited Bangalore India

We propose a procedure for the online design of adaptive quantitative feedback theory (QFT) control system. The proposed procedure uses hybrid global optimization and interval constraint propagation techniques to automatically design online an adaptive QFT controller and prefilter as and when required. While the hybrid global optimization combines interval global optimization and nonlinear local optimization methods, the interval constraint propagation techniques accelerate the optimization search by very effectively discarding infeasible controller parameter regions. The proposed adaptive QFT control is experimentally demonstrated on a coupled tanks system in the laboratory. Experimental results show the superiority of the proposed adaptive QFT control over standard QFT control, in terms of both reduced error and reduced control effort.

关键词： Programmable control Adaptive control Constraint optimization Automatic control control systems Feedback Design optimization Optimization methods Acceleration Laboratories

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Nonlinear control synthesis for asymptotic stabilization of the swing equation using a controllable series capacitor via Immersion and Invariance

Nonlinear control synthesis for asymptotic stabilization of ...

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IEEE Conference on Decision and control

作者： N. S. Manjarekar R. N. Banavar R. Ortega Systems and Control Engineering IIT Bombay India LSS-SUPELEC Gif-sur-Yvette France

ISBN: (纸本)9781424431236

A nonlinear control law is proposed to asymptotically stabilize a single machine infinite bus (SMIB) system based on immersion and invariance (I&I) control strategy. The actuator used is a controllable series capacitor (CSC). The SMIB system is described using the nonlinear second order swing equation model, and the CSC is modeled using a first order system. The control objective here is to approximate the complete third order system with a second order dynamics, for which we have an asymptotically stabilizing control law.

关键词： Nonlinear equations Capacitors Power system transients control systems Power system stability Nonlinear control systems Power systems Power system dynamics Power system control Damping

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Spatial control of a large Pressurized Heavy Water Reactor using sliding mode observer and control

Spatial control of a large Pressurized Heavy Water Reactor u...

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： G. Datatreya Reddy B. Bandyopadhyay A. P. Tiwari Tyrone Fernando Systems and Control Engineering IIT Bombay Mumbai India Reactor Control Division Bhabha Atomic Research Centre Mumbai India School of Electrical Electronic & Computer Engineering The University of Western Australia Crawley WA Australia

The paper presents a method to design a spatial control system based on sliding mode observer. The non-linear model of pressurized heavy water reactor (PHWR) including xenon and iodine dynamics is characterized by 70 state variables and 14 inputs and outputs each. Linear nodal model is obtained by linearizing the non-linear dynamic equations of the reactor about the full power operating point. A sliding mode spatial controller is designed for the linearized model of the reactor and the state computation is successfully done by the sliding mode observer. From simulation of the non-linear model of the reactor in representative transients, the proposed control and observer scheme is found to be satisfactory.

关键词： Pressure control Sliding mode control Inductors Power system modeling Nonlinear dynamical systems Design methodology control systems Xenon Nonlinear equations Computational modeling

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