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A new Matlab coder for generating Structured Text Language from matrix expression for PLC and PAC controllers

Journal of Physics: Conference Series 2017年第1期783卷

作者： Mariusz Buciakowski Piotr Witczak Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 65–246 Zielona Góra Poland.

This paper presents a new Matlab toolbox for synthesis of Structured Text (ST) code for Programmable Logic controllers (PLC) and Programmable Automation controller (PAC). This tool can directly generate IEC 61131-3 Structured Text Language from Matlab script for selected Integrated Development Environments (IDEs). The generated code can be verified and compared with the results obtained with Matlab simulation. After this, generated code can be used in IDEs, compiled and uploaded to a PLC or PAC controller for final verification. This approach leaves all available Matlab toolboxes for programmers use, thus allowing fast and easy synthesis developed algorithms.

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A quadratic boundedness approach to adaptive simultaneous sensor and actuator fault estimation

A quadratic boundedness approach to adaptive simultaneous se...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Piotr Witczak Marcin Witczak Jozef Korbicz Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland Uniwersytet Zielonogorski Zielona Gora Lubuskie PL

The paper tackles the problem of designing a simultaneous actuator and sensor fault estimator with an adaptive threshold. In general, the work is focused on developing an adaptive estimation strategy with a quadratic boundedness approach. This method guarantees the convergence of the estimator under bounded disturbances. The main novelty lies in the simultaneous estimation of actuator and sensor faults, while these problems are usually treated separately. Another appealing advantage of the proposed approach is the fact that it provides a confidence interval of the state and faults, which supports diagnostic decisions. The final part of the paper portrays an illustrative example concerning laboratory DC motor, which confirms the effectiveness of the proposed strategy.

关键词： Actuators DC motors Ellipsoids Convergence Electronic mail Estimation error

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Generalized Kalman-Yakubovich-Popov lemma based stability conditions for 2D linear systems

Generalized Kalman-Yakubovich-Popov lemma based stability co...

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European control Conference (ECC)

作者： Wojciech Paszke Eric Rogers Krzysztof Galkowski Institute of Control and Computation Engineering University of Zielona Góra Zielona Gora Poland Department of Electronics and Computer Science University of Southampton UK

For 2D systems computational stability tests are a requirement for applications. Tests in the frequency domain exist, but unlike those for the standard linear systems case, these can be computationally intensive and/or fail to provide a basis for the formulation and solution of, for example, the stabilization problem. This paper investigates the problem of asymptotic stability for 2D systems described by the Roesser state-space model. Both discrete and hybrid (continuous-discrete) systems are considered and the generalized Kalman-Yakubovich-Popov lemma, a central result in systems theory, is used to develop less conservative stability conditions in terms of a convex optimization problem over linear matrix inequalities. Illustrative examples are given to show the effectiveness of the new results.

关键词： Two dimensional displays Stability analysis Linear systems Asymptotic stability Symmetric matrices State-space methods Linear matrix inequalities

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Towards a practical reachability test for dynamic systems under process faults

Towards a practical reachability test for dynamic systems un...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Marcin Witczak Jozef Kórbicz Michał de Rozprza-Faygel Damiano Rotondo Vicenç Puig Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland Automatic Control Department (ESAII) Universitat Politcnica de Catalunya (UPC) Terrassa Spain

The main objective of this paper is to provide a practical test for checking system reachability under process faults. Taking into account the unappealing phenomenon of faults, it is assumed that the knowledge about them is limited, i.e. they are known up to some confidence interval. Thus, the main objective of this paper is to provide a computational algorithm that can be used for settling such a robust reachability challenge. For that purpose, very useful mathematical tools are recalled, which are called P- and block P-matrices. Subsequently, a new tool is developed, which is able to check if a given matrix is P- or block P-one. The proposed approach is characterized by low computational burden comparing to those presented in the literature. Based on it, a new reachability test is developed for systems under process faults. The final part of this paper shows experimental results, which clearly expose the effectiveness of the proposed approach.

关键词： Fault tolerance Fault tolerant systems control systems Fault diagnosis Robustness Testing Takagi-Sugeno model

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Design of iterative learning control schemes for systems with sector-bounded nonlinearities

Design of iterative learning control schemes for systems wit...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Wojciech Paszke Marcin Boski Eric Rogers Krzysztof Gałkowski Institute of Control and Computation Engineering University of Zielona Góra Góra Poland Department of Electronics and Computer Science University of Southampton Southampton UK

This paper uses a convex optimization setting to design iterative learning control laws for discrete-time systems with a static nonlinearity. The nonlinearity is assumed to be sector bounded, where such nonlinearities often arise in applications. For systems with such nonlinearities the repetitive process setting is exploited to develop a linear matrix inequality based conditions for computing the feedback and feedforward (learning) controllers. These controllers guarantee acceptable dynamics along the trials and ensure monotonic convergence of the trial-to-trial error dynamics, respectively. A simulation example is given to illustrate the new design.

关键词： Asymptotic stability Convergence Linear matrix inequalities Symmetric matrices control systems Standards Stability analysis

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Determining OWA operator weights by maximum deviation minimization 6th

Determining OWA operator weights by maximum deviation minimi...

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6th International Conference on Pattern Recognition and Machine Intelligence, PReMI 2015

作者： Ogryczak, Wlodzimierz Hurkala, Jaroslaw Institute of Control and Computation Engineering Warsaw University of Technology Warsaw Poland

The ordered weighted averaging (OWA) operator uses the weights assigned to the ordered values of the attributes. This allows one to model various aggregation preferences characterized by the so-called orness measure. The determination of the OWA operator weights is a crucial issue of applying the operator for decision making. In this paper, for a given orness value, monotonic weights of the OWA operator are determined by minimization of the maximum absolute deviation inequality measure. This leads to a linear programming model which can also be solved analytically. © Springer International Publishing Switzerland 2015.

关键词： Decision making

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Robust Fault-tolerant Iterative Learning control for Discrete Systems via Linear Repetitive Processes Theory

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International Journal of Automation and computing 2015年第3期12卷 254-265页

作者： Jian Ding Blazej Cichy Krzysztof Galkowski Eric Rogers Hui-Zhong Yang Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Jiangnan University Institute of Control and Computation Engineering University of Zielona Gora Department of Electronics and Computer Science University of Southampton

This paper addresses the problem of robust iterative learning control design for a class of uncertain multiple-input multipleoutput discrete linear systems with actuator faults. The stability theory for linear repetitive processes is used to develop formulas for gain matrices design, together with convergent conditions in terms of linear matrix inequalities. An extension to deal with model uncertainty of the polytopic or norm bounded form is also developed and an illustrative example is given.

关键词： Iterative learning control linear repetitive processes linear matrix inequality(LMI) discrete linear systems fault-tolerant cont

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A fault-tolerant approach to the control of a battery assembly system

A fault-tolerant approach to the control of a battery assemb...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Paweĺ Majdzik Anna Akielaszek-Witczak Lothar Seybold Institute of Control and Computation Engineering University of Zielona Gora The State Higer School in Glogów RAFI GmbH Co KG Berg/Ravensburg Germany

The paper concerns fault-tolerant control of a real battery assembly system. The proposed framework is based on an interval analysis approach, which along with max-plus algebra, allows describing uncertain discrete event system such as the production one being considered in this paper. Having a mathematical system description, a model predictive control-based fault tolerant strategy is developed which can cope with both processing, transportation and mobile robot faults. As a result, a novel robust predictive fault-tolerant strategy is developed that is applied to the advanced battery assembly system. The final part of the paper shows the implementation and experimental validation of the proposed strategy. The proposed approach is tested against single as well as simultaneous faults concerning processing, transportation and mobile robots.

关键词： Robots Batteries Assembly systems Transportation Robustness Manufacturing processes Mathematical model

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A passivity based stability measure for discrete 3-D IIR system realizations

A passivity based stability measure for discrete 3-D IIR sys...

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International Symposium on Circuits and Systems

作者： Joerg Velten Anton Kummert Daniel Wagner Krzysztof Galkowski Chair for Communication Theory University of Wuppertal 42119 Wuppertal Germany Institute of Control and Computation Engineering University of Zielona Gora 65-246 Zielona Gora Poland

ISBN: (纸本)9781479953424

Increasing miniaturization of electronic systems and nano-technology enables more and more the realization of real time 3-D spatio-temporal signal processing and control systems. However, while stability is well understood for 1-D systems, open problems remain in the higher dimensional case, e.g. for 3D system realizations, especially with respect to computational complexity and thus hardware effort. We propose a basic and thus fast stability test for systems that can be given in a standard 3-D Roesser-like state space model. Most practical systems can be represented in that manner or at least be transformed into an equivalent system so that the test is applicable to most real world problems. The test itself is inspired by passivity assumptions which for example guarantee stability of electrical reactance networks. It represents a sufficient condition for stability and comprises eigenvalue computations of a sum of Gramian matrices of the same size as the system matrix, which leads in this step to the same complexity as a 1-D stability test. The latter can thus also be applied to adaptive systems, where the system matrix is periodically changing.

关键词： Mathematical model Stability criteria Solid modeling Eigenvalues and eigenfunctions System realization Thermal stability

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control system design procedure of a mobile robot with various modes of locomotion

Control system design procedure of a mobile robot with vario...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Dawid Seredyński Maciej Stefańczyk Konrad Banachowicz Bartosz Świstak Vitalii Kutia Tomasz Winiarski Institute of Control and Computation Engineering Warsaw University of Technology Warsaw Poland Department of Automation National University of Water Management and Nature Resources Use Rivne Ukraine

In this article the design procedure of a control system of a mobile robot with various modes of locomotion has been considered. The procedure is based on an embodied agent theory and focuses on the agent behaviours and transitions between them. The procedure was introduced to speed up and organize the whole controller development process. The effectiveness of the proposed approach is proved through control system development and experimental verification of the custom-built Lynx mobile robot with vertical and horizontal modes of locomotion.

关键词： Legged locomotion control systems Hardware Mobile communication Robot sensing systems

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