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Design and implementation of an optimal, reliable and robust control system for an industrial plant emulator

International Journal of Reliability and Safety 2009年第1-3期3卷 131-152页

作者： Nataraj, P.S.V. Deshpande, Manoj M. Vyawahare, Vishwesh Department of Systems and Control Engineering Indian Institute of Technology Bombay Powai Mumbai 400 076 India

In this paper, we present the design of an optimal, reliable and robust control system for an industrial plant emulator that is representative of many 'real-life' electromechanical systems found in industry. The design approach is based on Quantitative Feedback Theory (QFT). The QFT controller synthesis problem is posed as an Interval Constraint Satisfaction Problem (ICSP) and the solution methodology uses interval box-consistency techniques. The control system designed is then experimentally implemented (real-time) on the industrial plant emulator system in a non-collocated configuration. Experimental tests are conducted to check the reliability and robustness of the designed control system, by subjecting it to disturbances, uncertainties, backlash and their various combinations. The experimental test results show the control system design to be reliable and robust. Copyright © 2009, Inderscience Publishers.

关键词： Robust control

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A SYSTEM DYNAMICS MODEL TO STUDY THE IMPORTANCE OF INFRASTRUCTURE FACILITIES ON QUALITY OF PRIMARY EDUCATION SYSTEM IN DEVELOPING COUNTRIES

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AIP Conference Proceedings 2010年第1期1239卷 321-325页

作者： Chandra Sekhar Pedamallu Linet Ozdamar Gerhard‐Wilhelm Weber Erik Kropat aDepartment of Management Studies (formerly part of Department of Humanities and Social Sciences) Indian and Institute of Technology Madras Chennai India and New England Biolabs Inc. Ipswich MA USA bYeditepe University Dept. of Systems Engineering Kayisdagi 34755 Istanbul‐Turkey cInstitute of Applied Mathematics Middle East Technical University 06531 Ankara Turkey and Faculty of Economics Business and Law University of Siegen Germany and Center for Research on Optimization and Control University of Aveiro Portugal dDepartment of Mathematics University Erlangen‐Nuremberg Martensstr. 3 91058 Erlangen Germany

The system dynamics approach is a holistic way of solving problems in real‐time scenarios. This is a powerful methodology and computer simulation modeling technique for framing, analyzing, and discussing complex issues and problems. System dynamics modeling and simulation is often the background of a systemic thinking approach and has become a management and organizational development paradigm. This paper proposes a system dynamics approach for study the importance of infrastructure facilities on quality of primary education system in developing nations. The model is proposed to be built using the Cross Impact Analysis (CIA) method of relating entities and attributes relevant to the primary education system in any given community. We offer a survey to build the cross‐impact correlation matrix and, hence, to better understand the primary education system and importance of infrastructural facilities on quality of primary education. The resulting model enables us to predict the effects of infrastructural facilities on the access of primary education by the community. This may support policy makers to take more effective actions in campaigns.

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Dynamics and control of 2D SpiderCrane: A Lie-Bäcklund approach

Dynamics and control of 2D SpiderCrane: A Lie-Bäcklund appr...

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European control Conference (ECC)

作者： Faruk Kazi Philippe Muellhaupt Ravi N. Banavar Dominique Bonvin Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India EPFL Ecole Polytechnique Fédérale de Lausanne Switzerland

In this paper we present control of a multicable suspended mechanism called the `2D SpiderCrane'. The use of cables, and thus avoiding conventional heavy components, makes such a mechanism suitable for working at high transfer speeds. Using the notion of Lie-Bäcklund transformation, the model is transformed to a new set of coordinates in which the system looks linear. We then solve the closed-loop stabilization and trajectory tracking problem with a simple, but very natural, pole placement strategy.

关键词： Decision support systems Europe

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A robust tracking controller for uncertain MIMO plant using non-linear sliding surface

A robust tracking controller for uncertain MIMO plant using ...

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IEEE International Conference on Industrial technology (ICIT)

作者： B. Bandyopadhyay D. Fulwani Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

A method to design a high performance robust tracking controller to track step references for uncertain continuous MIMO plant is presented. A non-linear sliding surface is proposed by which the damping ratio of closed loop system is increased as output approaches setpoint. Stability with the proposed non-linear surface is proved. A new control law is designed to guarantee the existence of sliding mode around the proposed non-linear surface. Position controller of stepper is designed using the proposed algorithm and corresponding simulation results are presented to show the effectiveness of the proposed scheme.

关键词： Robust control MIMO Damping Sliding mode control control systems Robustness Nonlinear control systems control engineering Design methodology Closed loop systems

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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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Annual business and news: Beginning the 32nd year

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Journal of Guidance, control, and Dynamics 2009年第1期32卷 1-7页

作者： Schmidt, George T. Akella, Maruthir Balakrishnan, S.N. Campbell, Mark E. Clarke, John-Paul Colgren, Richard D. Crassidis, John L. Doman, David B. Eke, Fidelis O. Enns, Russell J. Gawronski, Wodek Hablani, Hari B. Leitner, Jesse A. Ping, Lu MacDonald, Malcolm McFarland, Michael B. Melton, Robert G. Mitchell, James Mukhopadhyay, Vivekanand Sasiadek, Jurek Z. Schaub, Hanspeter Wise, Kevin A. United States NATO Systems and Electronics Technology Panel Lecture Series on Low Cost Navigation Sensors and Integration Technology U.S. Air Force Office of Scientific Research United States United States American Automatic Control Council United States Sibley School of Mechanical and Aerospace Engineering Cornell University United States School of Aerospace Engineering Air Transportation Laboratory Georgia Institute of Technology United States Lockheed Martin Aeronautics Company Palmdale CA United States United States Wright-Patterson Air Force Base Dayton OH United States Davis United States Apache Longbow Jet Propulsion Laboratory California Institute of Technology United States GSFC United States Department of Aerospace Engineenng Iowa State University United States Raytheon Electronic Systems United States Department of Aerospace Engineering Pennsylvania State University United States NASA Langley Research Center United States Indian Institute of Technology India Department of Aerospace Engineering Carleton University Canada International Federation of Automatic Control Robotics Technical Committee Joint Robotics and Control Systems Societies Chapter Ottawa Canada X-45 Joint-Unmanned Combat Air System Program

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An interval newton method based on the bernstein form for bounding the zeros of polynomial systems

An interval newton method based on the bernstein form for bo...

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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. Arounassalame, M. Systems and Control Engineering Indian Institute of Technology Bombay CRNTS Building Mumbai-400 076 India

Interval Newton methods are widely used to find reliable enclosures for the roots of the polynomial systems. But the computation process needs the evaluation of an enclosure for the derivative of the polynomial and evaluation of the polynomial at a particular point. Again, the subdivisions (if any are needed) will require repeated evaluation of the function values. We propose an alternative approach using Bernstein coefficients to find the value of the Newton operator. This Bernstein Newton operator doesn't require evaluation of the function at any particular point. Instead the function value is obtained directly from the vertex points. Again the computation of the derivative is very simple using the Bernstein coefficient approach. In addition to this the range enclosures obtained using Bernstein coefficients are much sharper than the range enclosures obtained using many other interval forms. We compare the performance of the proposed Bernstein Newton Contractor with that of Interval Newton contractor using numerical examples, proving the superiority of the proposed approach.

关键词： Enclosures

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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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Robust control design for nonlinear Magnetic Levitation System using Quantitative Feedback Theory (QFT)

Robust control design for nonlinear Magnetic Levitation Syst...

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IEEE India Conference (INDICON)

作者： P. S. V. Nataraj Mukesh D. Patil Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

There is a growing demand for magnetic suspension systems, especially in the field of high accuracy multi-dimensional positioning. Magnetic levitation (Maglev) systems offer many advantages such as frictionless, low noise, the ability to operate in high vacuum environments and so on. Reliable and robust controller synthesis of this system is of great practical interest. Robustness is a key issue in designing a control system for a magnetic levitation as the models are never 100 percent accurate and the uncertainties in the model must be accounted. In the present work, a new approach using quantitative feedback theory (QFT) is presented for design of a robust two degree of freedom controller for magnetic levitation. Experimental tests are conducted to check the reliability and robustness of the designed control system by subjecting it to disturbances. The experimental test results show the control system design to be reliable and robust.

关键词： Robust control Nonlinear magnetics Feedback Magnetic levitation Noise robustness control system synthesis System testing control systems Working environment noise Magnetic noise

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New results in optimal quadratic supply rates

New results in optimal quadratic supply rates

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IEEE Conference on Decision and control

作者： Debasattam Pal Subhrajit Sinha Madhu N. Belur Harish K. Pillai Department of Electrical Engineering Indian Institute of Technology Bombay Mumbai India Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9781424431236

This paper concerns studying dissipativity of a system with supply rates that depend on one or more parameters. We show that suitable choice of supply rate turns out to make dissipativity equivalent to traditional gain/phase margin conditions for stability. Further, the well-known circle criterion corresponds to a different supply rate, and here optimizing the supply rate is nothing but finding the largest circle such that circle criterion implies absolute stability for time-varying nonlinearities. L ¿ -control is another example of dissipativity with respect to a relevant supply rate, and here we show that, in fact, improper L ¿ -controllers are easily dealt with using our approach (unlike the standard state space methods). We formulate and prove necessary and sufficient conditions for L ¿ -control, and then conclude that optimal controllers always exist (under suboptimal solvability conditions).

关键词： Optimal control control systems Stability criteria State-space methods Sufficient conditions Vectors Kernel Absorption control system synthesis control engineering

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