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The paper presents the application of the tensor product (TP)‐based model transformation technique to model and control the cart position of single‐input multi‐output pendulum‐cart systems (PCSs). The modeling is first carried out. The derived TP model, the nonlinear model of PCS, and the laboratory equipment are tested in the same open‐loop scenario, and their corresponding outputs are collected,...
This paper presents a Tensor Product (TP)-based model transformation as an application to the level control of vertical three tank systems. At first the TP model of the plant is obtained from the linear parameter-varying model of the controlled process by applying the TP-based model transformation. The TP controller design is then based by a parallel distributed compensation technique. The obtained...
A combination of fuzzy control and sliding mode control (FCSMC) dedicated to control a ferromagnetic sphere in magnetic levitation systems is suggested. Since the process is unstable and nonlinear, it is first linearized at several operating points and a stabilizing state feedback control structure (SFCS) is designed. A proportional-integral (PI) sliding mode control (SMC) is next designed such that...
This paper presents an application of the Tensor Product-based model transformation to the real-time position control of magnetic levitation systems. Three cases that depend on the number of singular values are presented. All case studies are validated by experiments conducted related to the sphere position control of a laboratory magnetic levitation system.
This paper suggests evolving Takagi-Sugeno-Kang (T-S-K) fuzzy models that characterize the nonlinear dynamics phenomena occurring in the longitudinal slip of Anti-lock Braking Systems (ABSs). The rule bases and the parameters of the T-S-K fuzzy models are evolved by an incremental online identification algorithm (IOIA). A set of real-time experiments is conducted in order to validate the evolving...
This paper proposes evolving Takagi-Sugeno (T-S) fuzzy models that characterize the nonlinear dynamics phenomena occurring in the position of magnetic levitation systems. A state feedback control structure is first designed to stabilize the nonlinear process by linearization at certain operating points, and the evolving T-S fuzzy models are next derived for the stabilized closed-loop system. The rule...
The paper presents the design of a proportional-integral gain-scheduling control for the position control of the sphere in a magnetic levitation system laboratory equipment. The unstable and nonlinear mathematical model of the process is linearized at seven operating points. A state feedback control structure is first designed to stabilize the process. Proportional-integral and proportional-integral...
The paper presents the design of two low-cost control solutions (CSs) for a laboratory equipment, a state feedback CS and a proportional-integral-derivative CS. The two CSs are dedicated to the position control of a ferromagnetic sphere in a Magnetic Levitation System with Two Electromagnets (MLS2EM) and are designed in order to stabilize and to ensure the zero steady-state control error. The nonlinear...
The electric drive systems dedicated to speed and position control must ensure very good quality requirements both in dynamic and in static regimes. Moreover, the variations of the process parameters and also of the operating conditions require the development of performant control algorithms based on both the classical input-output strategy with conventional controllers as well as on advanced control...
This paper proposes an approach to the optimal fuzzy modeling of a nonlinear servo system application represented by an electromagnetic actuated clutch system. The nonlinear model of the process is first linearized around several operating points of the input-output static map of the process. Discrete-time Takagi-Sugeno (T-S) fuzzy models of the process are derived on the basis of the modal equivalence...
The paper proposes a simple Takagi-Sugeno PI-fuzzy controller for an anaerobic digestion process. A fifth order nonlinear model of the anaerobic digestion process is first presented. A second order linear model of the process is next proposed, and the parameters of the linear model are obtained from an optimization problem solved by a Gravitational Search Algorithm. A PI controller is designed for...
The paper presents aspects related to the design and implementation of a Takagi-Sugeno (TS) proportionalderivative (PD) + integral (I) fuzzy controller for processes with variable moment of inertia. A two-step design method for the TS PD+I fuzzy controller applied to position control systems is proposed. The first step concerns the Extended Symmetrical Optimum method-based tuning of the parameters...
The paper presents aspects related to the design and implementation of a cascade control solution (CCS), which is tested on laboratory equipment meant for the position control of a ferromagnetic sphere in a Magnetic Levitation System with Two Electromagnets (MLS2EM). The nonlinear mathematical model (MM) of the MLS2EM is derived on the basis of the first principles equations with experimentally identified...
The mechatronic system with variable parameters operating under varying conditions discussed in this paper refers to an electric drive system for winding a strip with constant linear velocity on a drum. The continuously variation of the plant inputs, namely reference and load disturbance, is determined by the increasing radius and hence moment of inertia of the drum. This paper suggests a conventional...
The paper presents the design and the implementation of two model predictive controllers (MPCs) for magnetic levitation systems. The presentation is focused on the position control of a sphere in a magnetic levitation system with two electromagnets laboratory equipment in order to test the proposed controllers. A state feedback control structure is first designed to stabilize the system. In order...
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