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This paper presents a system for dynamic measuring of leg length discrepancy (LLD). The system consists of two 3-RPS parallel manipulators with three degrees of freedom. Parallel manipulators have force sensors that determine the patient's center of gravity (COG) displacement. By changing the height of the moving platform of the parallel manipulator, COG returns in its expected position. The difference...
This paper is focused on two major problems within the ceramics industry. The reproduction of a desired color from pigments (which is time-intensive), and the correction of colors on the production line (which is costly) are processes which still rely heavily on numerous experiments carried out by human operators. This study presents the key aspects of these two processes and suggests some mathematical...
We perform a local sensitivity study taking into account the variation of the parameters and initial conditions applied to a model governing the chronic myelogenous leukemia (CML) evolution, a cancer of the white blood cells. The interaction mechanism between naïve T cells, effector T cells, and CML cancer cells in the body is modeled by a system of ordinary differential equations which defines rates...
A simple but versatile approach to robust control design for linear systems with system and exogenous disturbances is proposed. The proposed approach is based on the technique of linear matrix inequalities and the concept of invariant ellipsoids. The approach is easily implemented computationally, its efficacy is demonstrated on the benchmark example of the F-16 aircraft model.
Processes showing an initial response that is opposite to the final steady-state are present in industrial applications. Control of such processes involves difficulties and recently researchers have started paying great attention to the control of such processes. This paper reports on deriving optimal tuning rules for controlling integrating processes with inverse response. Simple and optimal analytical...
This paper focuses on the design of a linear Kalman filter and an extended Kalman filter for the estimation of an octorotor unmanned aerial vehicle's (UAV) state in the context of Synthetic Aperture Radar image reconstruction. A comparison to a linear interpolation method is also proposed. The Kalman filters are developed based on a complete nonlinear model of the UAV and its linearized form. A particularity...
Recently Ntogramatzidis et al [1] gave a design method for a linear time-invariant state feedback controller to monotonically track a constant step reference at any desired rate of convergence for any initial condition. In this paper we describe a new public-domain MATLAB® toolbox to implement this control scheme. The toolbox enables interested users to implement the controller design methods of [1]...
This paper defines an optimal quadratic cost bound as a performance index for linear time varying systems subject to a finite time stability constraint. In particular, a sufficient condition for achieving such a guaranteed cost bound satisfying simultaneously the finite time stable constraint is given in terms of differential linear matrix inequalities. This condition is then exploited for the design...
For stability analysis of discrete-time arbitrary switching positive linear systems, we introduce a new class of switched copositive Lyapunov functions (abbreviated as CLFs) and we investigate their test power. The new class means “switched max-type CLFs” and it is defined by generalizing the “mode-independent max-type CLFs” (that were introduced and characterized by our previous works). This generalization...
The model-based control of building heating systems for energy saving encounters severe physical, mathematical and calibration difficulties in the numerous attempts that has been published until now. This topic is addressed here via a new model-free control setting, where the need of any mathematical description disappears. Several convincing computer simulations are presented. Comparisons with classic...
Unmanned Aerial Vehicles (UAV) have found many applications in the areas such as remote sensing, surveillance, filming, and other scientific research. Due to the fact that multirotor UAVs are unstable systems in nature, feedback control is paramount in ensuring successful flight missions. Hexacopter is a type of UAV that is capable of carrying heavier payload with increased stability while being less...
This paper presents a vibration control design to the string-tip-mass system by using a non-symmetric peak-detector mechanism. Previously, this peak-detector system was used as an easy algorithm to mitigate vibration on a real flexible structure. Moreover, its mathematical representation is simple and it just has two parameters to tune. Following this former experience, we adequate this strategy to...
In this paper we focus on the supervisory control problem of a parallel hybrid electric vehicle (HEV): minimize fuel consumption while ensuring self-sustaining State-of-Charge (SoC). We reapply the state of the art methodology by comparing optimal results of Dynamic Programming (DP) against a real-time control candidate. After careful selection, we opted for an Equivalent Consumption Minimization...
Inverted pendulum is one of the fundamental benchmarks in application areas of control engineering and robotics. It is a good example of single input multi output (SIMO) systems. In this paper, identification of a cart inverted pendulum system is carried out and real time control of the system is accomplished by using the PI-PD controller. PI-PD controller is a good approach to control integrating...
This work faces the problem of frequency deviation in microgrid systems. The considered microgrid includes renewable energy sources such as wind and solar photovoltaic. As long as these sources provide an irregular power supply or there is a sudden change in the system load, the power system frequency deviates. In order to compensate such deviations, alternative, conventional energy sources should...
The paper provides new results for testing the flow-invariance of time-dependent sets with arbitrary shapes, with respect to trajectories of continuous-time nonlinear systems. The approach represents a generalization of a criterion used in the qualitative analysis of ordinary differential equations with solutions in closed sets with hyper-rectangular form. Given a nonlinear dynamical system for investigation,...
Optimization of anti-windup controller design is achieved for non-linear systems with actuator saturation. The systems are represented as Euler-Lagrange systems, and the proportional and integral (PI) controller, in which the gravity term is cancelled by a non-linear compensation technique, is used. The goal of optimization is to minimize the saturated input, i.e., the difference between the control...
In this paper, an algorithm for the integration of output tracking and trajectory generation via analytic left inversion is provided. The first step is to identify an output path using a known trajectory generation algorithm, and then a spline approximation of the path is computed. The second step is to solve the output tracking problem by explicitly computing the left inverse of the input-output...
To implement efficient control solutions for energy micro-systems a key issue is to predict the difference between the power generated by renewable resources and the load determined by local consumers. This paper explores linear, based on AR and ARMA models, and nonlinear solutions, based on neural networks, for predicting the power balance in a micro-grid. The predictions can be used at the top level...
A quasi-optimal regulator design problem is solved for nonlinear control objects described in the state-space by nonlinear matrix ordinary differential equations with quadratically-cubic nonlinearities, where polynomial terms are constructed using the Kronecker matrix product. A.A. Krasovskiy's generalized work criterion is used as the cost functional. The Lyapunov function is determined by the integration...
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