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The paper compares several methods for robust state-feedback controller design via LMI for a two tank coupled system and discusses qualities of the respective LMI solutions. LMI approach is used to design a controller guaranteeing quadratic or parameter dependent robust stability, H2 and Hinf performance specification for uncertain linearized model of two tank system. The results obtained using LMI...
A problem of inner convex approximation of a stability domain is addressed in the paper for continuous-time linear control systems. A constructive procedure for generating stable cones of polynomials is provided. The main idea is based on the construction of so-called Routh rays (stable half-lines) starting from a given stable point. These lines serve as edges for the corresponding polyhedral Routh...
The paper is devoted to the problem of fault isolation in technical systems described by nonlinear dynamic models containing non-smooth nonlinearities. So-called “model-free” or “data-driven” method is used to solve the problem. The feature of this method is that parameters of the system under consideration may be unknown. The algebra of functions is used to solve the problem under consideration.
This paper presents an approach intended for tracking of biological non-stationary signals. The proposed approach utilizes a Kalman filter autoregressive model together with a method for estimation of covariance matrices of the uncorrelated process noise and measurement noise. The method was tested in simulations, where the ability of tracking of a class of time varying autoregressive processes was...
This paper deals with the robust discrete gain-scheduled controller design for uncertain linear parameter-varying (LPV) systems which ensures closed-loop stability and guaranteed cost for all scheduled parameter changes. The novel procedure is based on LPV paradigm, Lyapunov theory of stability and guaranteed cost from LQ theory. To access the performance quality a quadratic cost function is used,...
The paper deals with a systematic observer design for a robust frequency identification of electromechanical systems. The observer estimates the frequency response of the system which is excited by a swept harmonic signal with a variable frequency, amplitude and DC component. The paper presents a computationally efficient algorithm based on the recursive discretization of a Kalman filter. An application...
In this paper neuro-fuzzy predictive controller for nonlinear system is addressed, proposed and tested. The proposed neuro-fuzzy convolution model consists of a steady-state neuro-fuzzy model and a gain independent impulse response model. The proposed model is tested in model based predictive control of a real laboratory plant. The basic principles of predictive control algorithm for thermo-optical...
Various kinds of processes can be controlled using predictive control. In certain cases of predictive control of fast-dynamics processes, a predictive control algorithm may not be feasible within the sampling-period time. These situations occur when requirements on control are more complex. For higher horizons and many constraints on control variables, the overloading of the sampling period can occur...
For a network of identical linear objects an output synchronization problem is considered. Problem of synchronization is solved under conditions of incomplete measurements, incomplete control and without constructing observers. Parameters of of static controller and sufficient synchronization conditions are obtained by means of passification method.
This paper describes the development of nonlinear state-space predictive controller based on distributed fuzzy-neural model. The presented approach assumes a state-space representation in order to obtain more compact form of the model, without statement of a great number of parameters needed to represent nonlinear relations. To increase the flexibility of the network, a set of fuzzy inferences is...
A specific efficient solution of constrained system outputs is presented. The solution is based on on-line weighting of individual system outputs or output components representing in fact a specific on-line tuning/applification of the components of weighting control parameters. Thus, the predictive control design retains flexibility without any increase of time-computational demands. The proposed...
In this paper, we focus on robust decentralized controller design for Benchmark PID problem brought recently by Morilla [5]: nonlinear drum boiler, having integration term and significant right half plane (RHP) zero in the interaction. We present the linearized uncertain model identified for the working area determined by working points. Robust decentralized controller is designed by Equivalent Subsystem...
An approach to recursive identification of nonlinear cascade systems with a linear dynamic system followed by an output hysteresis is presented. The proposed mathematical model is based on the application of the key term separation principle and a special form of Coleman-Hodgdon hysteresis model. The recursive least-squares algorithm with internal variable estimation is used for the cascade systems...
Pollution of groundwater requires appropriate technical solutions which can be deployed for remediation. For as much as the local groundwater contamination and its subsequent spread may result in contamination of drinking water resources or other disasters. This publication aims to design and demonstrate a model task of groundwater remediation process as distributed parameter system. The model problem...
This paper deals with identification and control of a laboratory binary distillation column used for separation of methanol from water. Main goals of this work are to identify a state-space model of the column, to design a suitable controller using model predictive control (MPC) concepts, and to implement on-line predictive controller on the laboratory device in real time framework.
Individualized type 1 diabetes mellitus (T1DM) subject model is presented in this paper. Insulin-glucose subsystem based on Bergman's minimal model is coupled with subcutaneous insulin absorption and absorption of digested carbohydrates. Identification of model parameters was performed on pharmacokinetics and pharmacodynamics characteristics of administered insulin and data collected from continuous...
In many practical applications, that can be found in control engineering, the functionality and safety of the overall control process rely on a proper function of the respective operating system. This fact makes the software one of the most safety critical elements of such practical applications, especially when the control process is placed in an inhospitable environment not directly accessible to...
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