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The paper applies the pseudo-linear algebra to unify the study of irreducibility and reduction problems for continuous- and discrete-time multi-input multi-output nonlinear control systems. The necessary and sufficient condition for irreducibility of the set of nonlinear input-output equations is presented in terms of the greatest common left divisor of two polynomial matrices describing the behaviour...
The concept of canalizing Boolean function is generalized to multi-input multi-output canalizing Boolean mapping. Using the semi-tensor product of matrices and the matrix expression of logical functions, an easily verifiable condition is provided for testing whether a Boolean mapping is a canalizing Boolean mapping. Using it, the disturbance decoupling problem (DDP) of Boolean control networks is...
Lumped parameter differential equation models are a common approach to modeling the cardiovascular system. However, there are highly non-linear valve dynamics inherent in these models which makes parameter identification difficult. Standard methods for parameter identification rely on gradient descent, which can often converge to wrong solutions, particularly as the number of parameters increases...
In hard disk drive servo system, the rejection of disturbances at low frequencies is degraded due to the nonlinearities of pivot friction and flex-cable bias. In this paper, a novel parametrized dynamic model is proposed with the parameters being functions of position. The proposed model provides good matching in both time domain and frequency domain. Based on this nonlinear parametrized model, a...
The disturbance observer is widely used in various applications, since it can effectively reject the external disturbances. And it also compensates the plant uncertainties if the system has matched uncertainties. Actual system has actuator to regulate the physical control input. Generally, the response time of actuator is very small enough to be ignored. But, in case of high power system, the response...
In this paper we present a systematic procedure to design robust fuzzy controller for exponentially stabilizing affine nonlinear systems, based on their TS fuzzy model. For robust design we consider modeling error in TS model and as well as perturbation in the original nonlinear system. Minimization of cost function along with mapping closed loop poles to desired poles are considered simultaneously...
In this paper, basic biological immune systems and their responses to external elements to maintain an organism's health state are described. The relationship between immune systems and multi-robot systems are also discussed. Our proposed algorithm is based on immune network theories that have many similarities with the multi-robot systems domain. The paper describes a memory-based immune network...
This paper deals with the robust control problem of two coupled tank subjected to parameters uncertainties and external disturbance. The Standard Sliding Mode (SSM) controller produces oscillations (or??chattering??) in the closed-loop system. The new approach High Order Sliding Mode (HOSM) is proposed to eliminate the undesired chattering effect by using the robust differentiator. The application...
In order to cope with the increasing functionality of today's machine tools, software development for programmable logical controllers (PLC) needs systematic approaches for testing implemented routines. An automatic test machine executing test runs as workflows is able to fulfill the given requirements. A prototype, developed at Laboratory for Machine Tools (WZL) of RWTH Aachen University, combines...
In order to obtain a control system for a wave energy power plant a linear dynamic model of the buoyancy system is presented. The plant ??Wave Dragon?? is a floating device using the potential energy in overtopping waves to produce power. A water reservoir is placed on top of the Wave Dragon, and hydro turbines lead the water to the sea producing electrical power. It is important to control the level,...
Multiple sampling of processes is a common practice in most large scale chemical industry. This together with the presence of interactions has often made controlling large scale chemical plants expensive and difficult. This paper aims to address these issues by assigning a common sampling window to account for the multi-sampling rates of processes while using a network approach to model large scale...
This paper presents the design of a robust fractional order controller using particle swarm optimization (PSO) enabled automated quantitative feedback theory (QFT). In this work, a fractional-order compensator, with a minimum number of parameters, is introduced into the QFT design to give a flexible controller structure in the frequency domain. The PSO technique has been employed to tune the controller...
In discrete event systems, sensors can be used to observe occurrences of an event or to distinguish the occurrences of an observable event. In a previous paper, we formulate the supervisory control problem with distinguishing sensors to refine the set of events in a way that specifications can be represented by simpler models while the behavior of sensor is incorporated into the plant model. To avoid...
Assuming the desired time-varying reference trajectory is available to all the rigid bodies, we consider distributed attitude synchronization for multiple rigid bodies only with attitude measurement. Based on two lead filters which remove the requirement of angular velocity, we propose control law composed of two parts to reduce tracking error and to achieve attitude synchronization, respectively...
In this paper global L2 stabilisation of a network of dynamical systems is attained. Local decentralised static output feedback control is employed. The proposed synthesis procedure guarantees an upper bound on the achievable L2 performance in the presence of disturbances. The conditions for the existence of such a controller are posed as an iterative LMI optimisation problem. A randomly generated...
The performance of systems that exhibit repetitive disturbances can be significantly improved using repetitive control (RC). If the period-time of the repetitive disturbance is exactly known and constant in time, perfect asymptotic disturbance rejection can be achieved. In this paper, we apply RC to a high-precision stage driven by a walking piezo actuator with four bimorph piezoelectric legs. The...
This paper considers the design of compensator for systems with quantized input in order to reduce the influence of quantization. For systems with (vector) relative degree, we propose a kind of compensator which can compensate for the accumulated output deviation completely caused by quantization. The proposed compensator is capable of keeping the difference of the input-output responses between the...
Automatic vision inspection (AVI) systems automatically detect defect features and measure their sizes via camera vision. AVI systems usually report different measurements on same defect with some variations on position or rotation mainly because we get different image. It is caused by possible variations from image acquisition process including optical factors, non-uniform illumination, random noises,...
Single-input multiple-output (SIMO) channels can arise from radio propagation between a single transmitter and multiple receivers/sensors. The transmitter precoding strategy introduces algebraic redundancy to transmitted symbols, which can be exploited to facilitate channel estimation. In this paper we propose a zero prefix precoder-based blind SIMO channel estimation method. Compared to the existing...
A novel robust adaptive control based on neural state observer is proposed for strict-feedback nonlinear systems with state delays. A state observer with neural networks approximators is established to estimate the system states. By using the backstepping method, adaptive output feedback controller is constructed which can achieve the output trajectory. Both the designed observer and controller are...
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