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The startup of a chemical plate reactor is investigated. A hybrid startup control scheme is presented and a discussion is made on how hybrid transition points may be chosen to allow safe startup despite actuator limitations, process nonlinearities and model uncertainties. The event-driven startup improves the robustness to uncertainties and disturbances, since each part of the startup is associated...
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In this paper, a quadratic linearisation technique based on Poincare's work is proposed. Unlike the existing feedback linearisation techniques, the proposed method does not introduce singularities in the system. Moreover, we make the quadratic linearisation for a class of systems complete in the sense that higher order terms are not left behind in the system as is common with existing quadratic linearisation...
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Synchronous planar actuators with moving magnets, stationary coils and a 6-DOF magnetic suspension are complicated to control. It is not possible to decouple forces and torques by applying a sinusoidal commutation scheme as is common in regular synchronous AC motors. Several commutation methods are developed based on the coupling matrix, that links the current in each coil to the force and torque...
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Advanced electronic-based control systems demand a satisfactory performance over a wide range of operating conditions while at the same their low fabrication cost is a desired feature. These counteracting attributes can be satisfied if a detailed system modelling is employed in the controller design process. Rather than residing on reprogramming the intricate model-details in a control framework,...
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This paper presents a novel approach to modeling of a brush-less direct current motor (BLDCM) driven by an inverter using hybrid systems theory. Hybrid systems combine continuous and discrete (event-based) dynamics, which is exactly the case in an inverter-driven BLDCM. The model presented in this work consists of a general automaton with discrete states, combined with a set of continuous dynamic...
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Power system stabilizers are widely used to damp out the low frequency oscillations in power systems. In power system control literature, there is a lack of stability analysis for proposed controller designs. This paper proposes a Neural Network (NN) based stabilizing controller design based on a sixth order single machine infinite bus power system model. The NN is used to compensate the complex nonlinear...
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This paper presents a global control strategy for multi-machine power systems to enhance transient stability. The global control system models are proposed to represent the power systems with abrupt structure changes. Multi-machine power systems are first represented by interconnected subsystems with uncertainties and nonlinearities. Then each subsystem is decomposed into four nonlinear partial systems...
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In repetitive control system, the period of exogenous signals must be the integer number of sampling points. However, it can not be always satisfied in real applications. In this paper, a systematic approach for non-integer delay repetitive control system with fixed sampling rate is proposed. The proposed fractional delay based repetitive control scheme employs the design techniques in digital signal...
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This paper studies the H_/Hinfin fault detection problem in the low frequency domain with the aid of the recently developed generalized Kalman-Yakubovic-Popov (KYP) lemma, which gives an accurate characterization of the H_ index in the low frequency domain. The low frequency H_ index and another important performance index Hinfin norm are used to measure the low frequency fault and disturbance effects...
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This paper is an extension of the generalized parity vector (GPV) approach presented in Omana and Taylor (2005, 2006). In the present work, this fault detection and isolation (FDI) technique is implemented on a two-phase separator followed by a three-phase gravity separator model used in oil production facilities. This model simulates a larger scale process, which allows the technique to be tested...
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Plant-wide oscillations are common in many industrial processes. During the past few years, various methods have been proposed for the detection of plant-wide oscillations, including methods based on the autocorrelation function, the independent components analysis (ICA) and the spectral envelope. This article is aimed at understanding the advantages and limitations of the available methods using...
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This paper extends an existing sensor mapping procedure, defines compatibility of models and proposes an integrated methodology based on existing methodologies for the construction of diagnosers for discrete event systems modeled by Petri Nets. An industrial application is used as a case study to illustrate the theoretical results of the paper.
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This paper presents a new approach to residual-based fault detection in dynamic systems by introducing the "total measurable fault information residual", ToMFIR for short, which contains the essential fault information and remains unaffected by control actions in a closed-loop system. For linear time-invariant systems, this fault indicator is simple to calculate because it is an algebraic...
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This paper focuses on maintaining a bridge's safety by developing a daily management system. And the purpose of this study is the development of the health monitoring system. It supports the maintenance by using sensor network and Independent Component Analysis (ICA) when there are some troubles in a bridge. The result of this study brings out the vibration behavior of the overall structure in a bridge...
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A second order statistics based blind identification technique is used to recover the physical sources from disturbances acting on a multivariable system. The results are then used to find the physical location of disturbance sources in an active vibration isolation platform. Furthermore, implications for multivariable controller design are discussed.
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In this paper, an overview is given of how the path from vision to motion has been developed in the TechUnited team. The vision module includes: (i) color calibration using a union of convex hulls to select an area in the 3D-colorspace, (ii) automatic calibration of the mapping from the camera image to the field via a genetic algorithm, (iii) self localization based on field lines. The output of the...
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We study the problem of formation control and trajectory tracking for a group of robotic systems modeled as second order linear dynamics. The objective is to achieve and maintain a stable formation for a group of multi-agent systems, while guaranteeing tracking of a specified trajectory. The group should appear to the external operator that steers the fleet as a rigid body. We partition the state...
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This paper deals with robust stabilization of running self-sustaining two-wheeled vehicle. Some researches about stabilization of two-wheeled vehicle have been reported. These researches have achieved the stabilization running only by the steering control. However, an actual two-wheeled vehicle is running while accompanying stabilization by the rider. We have proposed the stabilization of two-wheeled...
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This paper considers an experimental study on shape parameter estimation of a multi-input/multi-output (MIMO) bioprocess. The estimation method is based on a score function approach for the bioprocess with non-Gaussian noises, where the bioprocess is defined as a time varying human multijoint arm dynamics. By using the proposed experimental system, the estimation experiment is successfully conducted.
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Many researches of active steering systems have been proceeding to improve the driving safety of automobiles. The authors proposed a design method of model reference adaptive nonlinear controllers to treat uncertainties and non-linearities of tire's lateral forces directly. But the designed controller is very complicated because it has many estimated parameters for adaptive control. In this research,...
