Phase shift is very important in the frequency response analysis of non-linear systems and in this paper the phase response function is analysed and interpreted to provide a clear understanding of phase. Non-linear sy...
Phase shift is very important in the frequency response analysis of non-linear systems and in this paper the phase response function is analysed and interpreted to provide a clear understanding of phase. Non-linear systems which include delay elements are also discussed and simulations of both continuous and discrete time non-linear systems are included to demonstrate the concepts involved.
Heart rate response to physical activity is widely investigated in clinical and training practice, as it provides information on a person's physical state. For emerging digital phenotyping approaches, there is a n...
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Developments in computational models of evolutionary processes have led to the realisation of powerful, robust and general optimization and adaptive systems collectively called evolutionary algorithms. In this paper w...
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Developments in computational models of evolutionary processes have led to the realisation of powerful, robust and general optimization and adaptive systems collectively called evolutionary algorithms. In this paper we provide an overview of evolutionary algorithms and consider the features and characteristics that are particularly appropriate for controlengineering applications. The versatile and robust qualities of these algorithms are considered and a number of application areas described.
This paper addresses a class of general nonsmooth and nonconvex composite optimization problems subject to nonlinear equality constraints. We assume that a part of the objective function and the functional constraints...
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This paper refers to the fast implementation of the positional forward acceleration of the end effector of revolute robotic arms with spherical wrists, using the distributed arithmetic technique. The acceleration of t...
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This paper refers to the fast implementation of the positional forward acceleration of the end effector of revolute robotic arms with spherical wrists, using the distributed arithmetic technique. The acceleration of the end effector is calculated by a cascade configuration of two pipelined arrays that calculate the Jacobian matrix and its time derivative, as well as the centrifugal-Coriolis and linear accelerations. These partial accelerations are then added in the adder tree. The building blocks of the arrays are the distributed arithmetic-based circuits that implement the matrix-vector multiplications involved in the calculations. The digit-serial configuration of the proposed implementation of the positional forward acceleration of the end effector is described. The serial and the parallel configurations may result as special cases of the digit-serial configuration. The proposed distributed arithmetic (DA) implementation of the positional forward acceleration may be applied, after appropriate modifications, to the general case of robots having either revolute or prismatic joints, with any type of wrist.
The problem of designing a linear state feedback controller for single-input single-output decoupling of linear multivariable 2-D (two-dimensional) systems is discussed. A method is presented for the determination of ...
The problem of designing a linear state feedback controller for single-input single-output decoupling of linear multivariable 2-D (two-dimensional) systems is discussed. A method is presented for the determination of the decoupling controller matrices which, when applied to the open-loop system, yield a closed-loop system whose transfer function matrix is diagonal and nonsingular. Necessary and sufficient conditions are established for the state feedback decoupling problem to have a solution. Two examples are included to illustrate the proposed decoupling method.
The most common approach to multivariate fuzzy control is to extend the single-variable case by combining more state-variable pairs. This approach, however, results in high-dimensional rule-bases that may not be imple...
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The most common approach to multivariate fuzzy control is to extend the single-variable case by combining more state-variable pairs. This approach, however, results in high-dimensional rule-bases that may not be implementable in practical systems. Typically, for each additional state variable, the number of rules increases exponentially. Clearly, the number of rules, even for systems of moderate complexity, becomes impractical in real-time, due to the required processing time. This paper proposes and implements a simplified structure for a multi-variable fuzzy controller, which also reduces the total number of rules. This approach is suitable for machine-learning applications since different rules can be derived to infer the correct control actions, dependent on the controller structure and the way in which the input variables have been paired. The number of rules using this approach is minimal and is a linear function of the number of the state inputs. Furthermore, no fuzzification/defuzzification scaling factors are required for the controllers in intermediate levels of composition. The methodology is demonstrated on an anaesthesia simulation case study.
This paper presents a new method for synthesising decoupling controllers for linear time-invariant multivariable systems. The novel approach proposed is based on the idea of formulating, and subsequently solving, the ...
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This paper presents a new method for synthesising decoupling controllers for linear time-invariant multivariable systems. The novel approach proposed is based on the idea of formulating, and subsequently solving, the decoupling problem as an exact model-matching problem. This, in effect, results in reducing the decoupling problem to one of solving a linear system of equations.
作者：
PARASKEVOPOULOS, PNSchool of Engineering
Automatic Control Systems Laboratory Department of Electrical Engineering Democritus University of Thrace Xanthi Greece
The paper describes a simple frequency-domain method for the eigenvalue assignment of linear time-invariant multivariable 2-dimensional systems by means of state and output feedback. Necessary and sufficient condition...
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The paper describes a simple frequency-domain method for the eigenvalue assignment of linear time-invariant multivariable 2-dimensional systems by means of state and output feedback. Necessary and sufficient conditions are established for single-input systems, whereas for the multi-input case, an equivalent single-input-system approach is employed to treat the problem.
This paper presents a methodology for the optimal operation of mixed continuous-batch processes based on a hierarchical decomposition of the problem: local dynamic optimizers perform the economic optimization of the b...
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