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This paper introduces a Networked Control System Laboratory (NCSLab) at http://www.ncslab.net, which provides a web-based solution for real-time control experiments. By interactively incorporating a web server, a MySQL database server, a MATLAB/RTW server, several experiment servers, ARM based control unit and physical test rigs, the NCSLab achieves the complicated process of automatic real-time code...
This paper presents an analysis of the noise attenuation properties of dead-time compensator controllers. Two recently proposed control schemes are used to illustrate the limitations imposed by the controller structure on the noise attenuation: the disturbance observer dead-time compensator (DODTC) and the new dead-time compensator (NDTC). A new tuning procedure for the DODTC filter is presented to...
In this paper a control algorithm for the reduced port-Controlled Hamiltonian model (PCH) of the shallow water equations (PDEs) is developed. This control is developed using the Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) method on the reduced PCH model without the natural dissipation. It allows to assign desired structure and energy function to the closed loop system...
This paper describes the design and implementation of a model predictive controller (MPC) for a pilot scale binary distillation column containing a mixture of methanol and isopropanol. In a first step experimental data are collected and linear black box models are identified. Secondly, the MPC is configured based on given requirements and restrictions and it is tested offline for several scenarios...
Mechanical systems can be asymptotically stabilized without velocity measurements by applying a dynamic extension. By interconnecting the system with a (virtual) controller damping is indirectly injected into the system making velocity measurements unnecessary, provided that this damping propagates to the mechanical system. The approach has been shown for the case of potential energy shaping and for...
Passivity-based controllers (PBCs) achieve stabilization of nonlinear systems, rendering the closed-loop passive with a desired energy (storage) function. A natural question is under which conditions is it possible to make this function equal to the difference between the plant and controller energies—when the controller is said to be energy-balancing. In this paper we prove that a necessary and sufficient...
This paper studies the data driven update of a model for a system where the number of inputs or outputs increased. Often existing control systems are equipped with an additional sensor or actuator to improve performance. If a good model for the present system is available it is advantageous to only estimate the additional part while keeping the present model, compared to estimating the whole model...
In this study one considers the tracking control problem of a class of nonsmooth Lagrangian systems with flexible joints and subject to frictionless unilateral constraints. The task under consideration consists of a succession of free-motion and constrained-motion phases. A particular attention is paid to impacting and detachment phases. A passivity-based switching controller that allows to extend...
This paper discusses the state feedback stabilization problem of a deterministic finite automaton (DFA), based on its state equation representation recently proposed by the authors. First, a linear state equation representation of the DFA is briefly explained. Next, after the notion of equilibrium points and stabilizability of the DFA are defined, a necessary and sufficient condition for the DFA to...
This paper presents a novel model-based design procedure for ouput-based switching policies of discretely controlled continuous systems (DCCS). The design objective is to stabilize a prespecified periodic operation while satisfying a quadratic performance critieron. As a key contribution, it is shown how to reformulate the original design problem in terms of an equivalent periodic dynamic output-feedback...
The conflict in the design of automobile suspension systems between ride-comfort, safe driveability in the sense of low dynamic wheel loads and limited suspension deflection can be eased by active suspensions. The versatility and performance of an active suspension system is further increased if its controller parametrization is adapted to the current driving state. This can be achieved by interpreting...
This paper presents a robot simulation software developed in Matlab environment for mostly educational purposes. The software works with open-chain, series robots, and is able to compute models, plan trajectory, and simulate the robot motion according to its dynamics. In order to increase visuality, the software generates a virtual model of the robot. Several ways of model calculation are implemented,...
In the paper, new discrete inversion formulas suitable for the design of lead and lag discrete compensators in the frequency domain are presented. These formulas can be very useful for teaching in Automatic Control courses. The links of these discrete formulas with the continuous inversion formulas are deeply investigated. A simple graphical procedure for the design of discrete compensators on the...
The new information technologies provides great opportunities in control education. One of them is the using of remote laboratories to teach the behaviour of the control systems. In this work a new approach to create interactive remote laboratories (labs for short) will be described. Two main software tools are used: Matlab and Easy Java Simulations. The first one is a widely used tool in the control...
This paper is devoted to the study of nonlinear observer design for state estimation and parameter estimation of discrete-time nonlinear systems. The observer is an extension into MIMO case of that presented by Cicarella et al. The convergence of this observer is demonstrated and an example illustrates its performances.
This paper investigates the problem of unknown input estimation for a class of nonlinear systems. The goal of the proposed approach is to estimate the inputs using a reduced-order observer that does not need to estimate the entire state of the considered system. By means of regular transformations and using the constrained generalized Sylvester equation, we exhibit mild conditions for the asymptotic...
This paper presents an experience of teaching automatic control for multidisciplinary audiences within the master course Real-time Control of Irrigation Canals. This course is a part of the specialty module Decision Support Systems, offered by the Technical University of Catalonia (UPC) in the framework of the European Erasmus Mundus Master Program Hydro-Informatics and Water Management (EUROAQUAE)...
Speed up movement to increase productivity may cause problems such as vibration. This paper proposes a vibration suppression tool with visual graphical interface to solve the vibration problem based on input shaping approach. The proposed tool was then applied in real industry processes to solve the vibration problems of semiconductor wafer transfer robot and gantry loader in high speed operation...
We report on our investigation of an industrial case study of a system distributed over a network, namely a large-scale hydraulic network which underlies a district heating system. The network comprises an arbitrarily large number of end-users and actuators distributed along the network. After introducing the model for such a class of networks, we show how to achieve practical pressure regulation...
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