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In this paper, model predictive control is applied to an inverted pendulum apparatus and the effect of input disturbance are studied. The optimization problem is solved on-line using quadratic programming approach on a PC hardware platform.
The simulation of induction motor frames are presented in this paper. The voltage, torque and current waveforms are included in the comparison of the induction motor frames. The main objective of the paper is to propose a Simulink building block model. Students will be able to resolve problems relating to mathematical reference frame transformations will be able to apply reference-frame theory to...
This paper reviews new approaches in modern research using Artificial Intelligent (AI) techniques to develop power system stabilizer (PSS). These techniques are Artificial Neural Network (ANN), fuzzy logic, hybrid artificial intelligent, expert systems, and optimization techniques base AI such as Genetic Algorithm (GA), Particle Swarm Optimization (PSO), Tabu Search (TS) algorithm, etc. Research showed...
This paper assesses the dynamic stability of the Iraqi National Super Grid System (INSGS) using the eigenvalue analysis method. A two-axis dynamic model is proposed to study electromechanical oscillations. The mathematical model of the power system is formed after establishing the initial conditions. Then, the high order nonlinear differential equations are linearized by using the perturbation method...
The principle of vector control of electrical drives is based on the control of both the magnitude and the phase of each phase current and voltage. Matlab/Simulink has been performed for assessment of operating features of the proposed scheme. PI speed controller are designed in this paper, Test response of the developed variable speed drive along with simulated response are given and discussed in...
This paper presents parameter tuning of model predictive controller. The effect of prediction horizon on the stability of the system is studied. The performances of model predictive controller and linear quadratic regulator on the inverted pendulum are compared.
Obtaining the joint variables that result in a desired position of the robot end-effector called as inverse kinematics is one of the most important problems in robot kinematics and control. As the complexity of robot increases, obtaining the inverse kinematics solution requires the solution of non linear equations having transcendental functions are difficult and computationally expensive. This paper...
Motion planning capability is an essential part of an industrial robot system. Therefore research in robot motion planning remains as one of the important fields of study in the task of building industrial robot systems. A new method for the motion planning is presented in this paper. The basic idea is to find a smooth path consisting of points close enough to each other. Then the computation of the...
This paper addresses the usage of the boundary-layer concept in removing the chatter that occurs in sliding mode control applications in the area of controlling the speed and flux of induction motors. Although this concept succeeds in removing the chatter from the system, it introduces a stability problem. This paper proposes a fuzzy controller that acts as a supervisory controller for a sliding mode...
An iterative method using the neural networks to solve the inverse kinematics problem for equal length links redundant manipulators is presented in this paper. The training phase, calculating the neural networks weights, is accomplished for a new proposed geometrical method to solve the problem of multi-solution caused by redundancy. The use of this geometrical method results in one solution among...
This paper considers in particular the design of a controller based on model predictive control and feedback linearization methods for gantry systems. In order to meet the operation requirements of fast anti-swaying and precise positioning of gantry crane systems, a practical optimal control scheme is presented. This controller is designed to guarantee the performance in presence of a class of nonlinear...
This paper presents the design of a fuzzy logic sliding mode controller to control a permanent magnet synchronous motor. Fuzzy logic is introduced to the system to solve the chattering problem associated with sliding mode controllers. Based on the proposed switching surface, a switching control law that satisfies the hitting condition and guarantees the existence of the sliding mode is designed using...
This paper proposes a new fuzzy gain scheduled proportional, integral and derivative (FGPID) controller by using Takagi-Sugeno (TS) fuzzy system to the load frequency control problem in multi-area power systems. The TS fuzzy inference engine is chosen and the range of the controller is selected suitably to enhance the output performance of the system. Simulation results demonstrate the ability of...
This paper presents the design of a set of sliding mode controllers for a quadrotor vertical take-off and landing (VTOL) unmanned air vehicle. To facilitate the design process of this under-actuated system, this paper proposes the use of a simple yet effective method to plan the action of each variable controller in the system and hence enhance the performance of the quadrotor. To stabilize the overall...
Differential thermal analyzer (DTA) is an instrument used to characterize the new materials and it works based on the themoanalytic qualitatively technique. In this paper a digital design of a programmable temperature controller for the DTA has been presented. This programmable controller has been designed using very high speed integrated circuit hardware description language (VHDL) and implemented...
Faults in process control systems can cause undesired reactions and shut-down of a plant, and could be damaging to components, to personnel or the environment. The improvement of reliability, safety and efficiency of the system has become increasingly important. The fundamental purpose of a FTCS scheme is to ensure that faults do not result in system breakdown and although at a lower degree of system...
This paper presents a model based approach for real time leakage detection in a nonlinear multi tank flow rig. A state space model of the process was derived based on the expansion of the nonlinear function into a Taylor's series about the operating point and the retention of only the linear term. The model based approach performs consistency checks of the process against the state space model of...
This paper carries out the design and real time implementation of an internal model controller (IMC) to control the speed of an induction motor and precisely a squirrel cage type. The scheme in this paper is constructed using a model and a controller both being artificial neural network (ANN) based. This ANN-based control scheme has been chosen because of its ability to handle the strong nonlinearities...
The fundamental purpose of an FTCS scheme is to ensure that faults do not result in system failure and ensure the achievement of best performance at a lower degree of system performance. In this paper we propose a fault tolerant control design consisting of two parts: a nominal performance controller and a fault detection element to provide fault compensating signals to the feedback loop. The nominal...
This paper presents the design and implementation of a bang-bang-like sliding mode control (SMC) methodology to control the flux and speed of an induction motor. The proposed control structure uses a fuzzy logic membership function to combine the bang-bang controller with a PI controller to reduce the chatter created by the switching control input. In this strategy, SMC is responsive during transient...
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