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Sliding Mode control Design via Reduced Order Model Approach

International Journal of Automation and computing 2007年第4期4卷 329-334页

作者： B.Bandyopadhyay Alemayehu G/Egziabher Abera S.Janardhanan Victor Sreeram Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology BombayMumbai 400076India Department of Electrical Engineering Indian Institute of Technology DelhiNew Delhi 110016India School of Electrical Electronicand Computer EngineeringThe University of Western AustraliaWestern Australia 6009Australia

This paper presents a design of continuous-time sliding mode control for the higher order systems via reduced order model. It is shown that a continuous-time sliding mode control designed for the reduced order model gives similar performance for thc higher order system. The method is illustrated by numerical examples. The paper also introduces a technique for design of a sliding surface such that the system satisfies a cost-optimality condition when on the sliding surface.

关键词： Sliding mode control order reduction reduced order model higher order system optimal control.

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Experiments with range computations using extrapolation

Experiments with range computations using extrapolation

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作者： Paluri, Nataraj S.V. Sondur, Shanta Systems and Control Engineering Group ACRE Building Indian Institute of Technology Bombay Mumbai 400 0076 India

The natural interval extension (NIE) used widely in interval analysis has the first order convergence property, i.e., the excess width of the range enclosures obtained with the NIE goes down at least linearly with the domain width. Here, we show how range approximations of higher convergence orders can be obtained from the sequence of range enclosures generated with the NIE and uniform subdivision. We combine the well-known Richardson Extrapolation Process (Sidi, A., Practical Extrapolation Methods, Cambridge University Press, Cambridge, 2003) with Brezinski's error control method (Brezinski, C., Error control in Convergence Acceleration Processes, IMA J. Nunerical Analysis 3 (1983), pp. 65-80) to generate non-validated range approximations to the true range. We demonstrate the proposed method for accelerating the convergence orders on several multidimensional examples, varying from one to six dimensions. These numerical experiments also show that considerable computational savings can be obtained with the proposed procedure. However, the theoretical basis of the proposed method remains to be investigated. © Springer Science + Business Media B.V. 2007.

关键词： Extrapolation

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Hierarchical supply chain planning architecture for integrated analysis of stability and performance

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International Journal of Simulation and Process Modelling 2007年第3期3卷 153-169页

作者： Son, Young-Jun Venkateswaran, Jayendran Systems and Industrial Engineering The University of Arizona Tucson AZ United States Industrial Engineering and Operations Research Indian Institute of Technology Bombay India

In this paper, a novel architecture that allows a multi-scale federation of interwoven simulations and decision models to support integrated analysis of stability and performance in hierarchical production planning for supply chain networks is proposed. The proposed scheme is divided into four stages: plan stability analysis, plan optimisation, schedule optimisation and concurrent decision evaluation. The plans are more robust against future disturbances and more feasible for implementation than those from the conventional methods. Detailed functional and process models of the proposed system are specified using formal IDEF tools. The proposed approach is demonstrated using a realistic three-echelon supply chain system. © 2007, Inderscience Publishers.

关键词： Supply chains

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Direct methane proton exchange membrane fuel cell

Direct methane proton exchange membrane fuel cell

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Electrochemistry of Novel Electrode Materials for Energy Conversion and Storage - 211th ECS Meeting

作者： Tyagi, S. Ganesh, A. Aghalayam, P. Department of Energy Systems Engineering Indian Institute of Technology Bombay Mumbai 400076 India Department of Chemical Engineering Indian Institute of Technology Bombay Mumbai 400076 India

ISBN: (纸本)9781605603094

The direct methane proton exchange membrane fuel cell was demonstrated for the first time. A Nafion membrane doped with phosphoric acid was used as the electrolyte. Pd/C, Pd-Ru/C and Pd-Au/C were studied as the anode catalysts with catalyst loading of 0.2mg/cm2. Selection of these catalysts for the studies was made based on the activation energy obtained by calculation using the UBI-QEP method. It was shown among these catalysts;Pd-Au/C anode exhibited a maximum open circuit voltage of 0.55V with current density of 30mA/cm 2. It was also seen that by bleeding oxygen on anode side, open circuit voltage was 0.74V and current density was increased to 160mA/cm 2. © The Electrochemical Society.

关键词： Open circuit voltage

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Design and implementation of a user friendly JAVA based GUI software for manoeuvring mobile robot

Design and implementation of a user friendly JAVA based GUI ...

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作者： Manjunath, T.C. Interdisciplinary Programme in Systems and Control Engineering ACRE Building Indian Institute of Technology Bombay Powai Mumbai-400076 Maharashtra India

ISBN: (纸本)9784990288013

The main objective of this work is to develop a user friendly GUI developed in JAVA language for manoeuvring a mobile robot named 'OCTAGON' with algorithms for obstacle avoidance in its path of motion. A user-friendly module is designed and successfully implemented for the operation of the entire system to do some specific operations. OCTAGON employs a sophisticated application - controlling interface created in JAVA, as it is a fantastic programming language for any application software development. The software module application facilitates the user interaction with OCTAGON and has many in built features such as the security and authentication. When the java code is executed, the default GUI screen appears as shown in the Fig. 2 and all the motors status is displayed. For activating a particular motion, we can navigate to its page by selected the left hand menu. The software is designed for maximum robot control & working efficiency. It is so designed such that the user can have complete control over each movable part of the robot. Also, the user can easily maneuver the robot & make it traverse a path towards the object to be picked. He or she can then manipulate the different limbs of the robotic arm so that the gripper comes closer to the object & eventually picks it up. Throughout this process the software interface guides the user through the usage of various parts of the robot & provides him with responses from the robot. Given the time on hand, the ease of programming and power of JAVA, it was an ideal choice for use in designing our application interface to the octagon. The software is designed for maximum robot control & working efficiency. It is so designed that the user can have complete control over each movable part of the robot. Also the user can easily maneuver the robot & make it traverse in a path towards the object to be picked. He/she can then manipulate the different limbs of the robotic arm so that the gripper comes closer to the object & even

关键词： Geometry

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Analyzing Effect of Demand Rate on Safety of systems with Periodic Proof-tests

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International Journal of Automation and computing 2007年第4期4卷 335-341页

作者： Manoj Kumar A.K.Verma A.Srividya Control Instrumentation Division Bhabha Atomic Research CentreTrombayMumbai 400085India Reliability Engineering Group Indian Institute of Technology BombayPowaiMumbai 400076India

Quantitative safety assessment of safety systems plays an important role in decision making at all stages of system lifecycle, i.e., design, deployment and phase out. Most safety assessment methods consider only system parameters, such as configuration, hazard rate, coverage, repair rate, etc. along with periodic proof-tests （or inspection）. Not considering demand rate will give a pessimistic safety estimate for an application with low demand rate such as nuclear power plants, chemical plants, etc. In this paper, a basic model of IEC 61508 is used. The basic model is extended to incorporate process demand and behavior of electronic- and/or computer-based system following diagnosis or proof-test. A new safety index, probability of failure on actual demand （PFAD） based on extended model and demand rate is proposed. Periodic proof-test makes the model semi-Markovian, so a piece-wise continuous time Markov chain （CTMC） based method is used to derive mean state probabilities of elementary or aggregated state. Method to determine probability of failure on demand （PFD）（IEC 61508） and PFAD based on these state probabilities are described. In example, safety indices of PFD and PFAD are compared.

关键词： Probability of failure on demand fail safe Markov model continuous time Markov chain IEC 61508 diagnosis repair proof-test demand safety system.

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MPC relevant identification using Generalized orthonormal basis filters 8th

MPC relevant identification using Generalized orthonormal ba...

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8th IFAC Symposium on Dynamics and control of Process systems, 2007

作者： Palnitkar, Koustubh Badwe, Abhijit S. Patwardhan, Sachin C. Gudi, Ravindra D. Systems and Control Engineering Indian Institute of Technology Powai Mumbai400076 India Department of Chemical Engineering Indian Institute of Technology Powai Mumbai400076 India

In MPC relevant identification, it is necessary to identify models that are suited for multi-step ahead predictions. This can be achieved by minimizing the multi-step ahead prediction error in the identification stage. This work aims at the development of a methodology for identification of MPC relevant models based on Generalized orthonormal basis filters (GOBF). Specifically, ARX models parameterized using GOBF are identified. The efficacy of the proposed modeling technique is demonstrated by carrying out simulation studies on the benchmark Shell control problem. The relative quality of the obtained models is evaluated through closed-loop performance with MPC. © Copyright 2007 IFAC.

关键词： Model predictive control

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Multirate output feedback based sliding mode spatial control for a large PHWR

Multirate output feedback based sliding mode spatial control...

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作者： Reddy, G. Datatreya Bandyopadhyay, B. Tiwari, A.P. IEEE IDP in Systems and Control Engineering Indian Institute of Technology Bombay Powai Mumbai 400076 India Reactor Control Division Bhabha Atomic Research Centre Trombay Mumbai 400085 India

The paper presents a novel method to design a spatial control system based on multirate output feedback robust sliding mode control for a large Pressurized Heavy Water Reactor (PHWR). The non-linear model of 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 multirate output feedback based discrete sliding mode spatial controller is designed for the linearized model of the reactor. The proposed control method does not require state information of the system for feedback purposes and hence may be easier to implement. From simulation of the non-linear model of the reactor in representative transients, the proposed control scheme is found to be superior to other methods. © 2007 IEEE.

关键词： Sliding mode control

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LQG control WITH RECONFIGURABLE STATE ESTIMATOR UNDER SENSOR AND ACTUATOR FAILURES

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IFAC Proceedings Volumes 2007年第5期40卷 147-152页

作者： Ujjwal S. Zamad Anjali P. Deshpande Sachin C. Patwardhan Systems and Control Engineering and Department of Chemical Engineering Indian Institute of Technology Bombay Powai Mumbai 400076 India

Occurrences of sensor / actuator failures can lead to significant degradation in the closed loop performance when conventional feedback controllers are used. In this work, we propose an active failure tolerant LQG (FTLQG) control scheme, which employs model based fault diagnosis for on-line reconfiguration of state estimator on diagnosis of failures. Generalized likelihood ratio (GLR) method proposed in the literature is extended for diagnosis of sensor failures. Recurrence relationships are derived for diagnosing sensor failures, which are amenable for on-line computations. The efficacy of the proposed FTLQG scheme is demonstrated using simulation and experimental studies on a laboratory scale heater-mixer setup.

关键词： Sensor and Actuator Failures Generalized Likelihood Ratio Kalman Filter LQG

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Peak seeking control using OBF-Wiener model based nonlinear IMC scheme

Peak seeking control using OBF-Wiener model based nonlinear ...

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International Conference on control, Automation and systems ( ICCAS)

作者： Shraddha Deshpande N. Kalpana P. S. Bedi Sachin Patwardhan Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India Department of Chemical Engineering Indian Institute of Technology Madras India Department of Chemical Engineering Indian Institute of Technology Bombay Mumbai India

In this work, a nonlinear output error type model with Weiner structure has been developed for capturing dynamics of multivariable nonlinear systems with fading memory. The linear dynamic part of the Wiener model is parameterized using ortho-normal basis filters (OBF).The identified OBF-Wiener model is further used to derive a closed form multi-step quadratic control law in nonlinear internal model control framework. The efficacy of the proposed closed form control law is demonstrated by conducting simulation studies on peak seeking control of (a) Proton Exchange Membrane Fuel Cell (PEMFC) system and (b) Continuous Fermenter system. As these systems exhibit input multiplicities and change in the sign of the steady state gain(s) in the operating region, the resulting control problems are difficult to handle. In both the cases, the proposed control law achieves a smooth transition form a sub-optimal operating point to the optimum operating point without causing large variation in manipulated inputs.

关键词： Open loop systems control system synthesis Chemical technology Chemical engineering Nonlinear systems Filters Steady-state Power system modeling Automatic control Nonlinear control systems

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