Sample records for monopulse controller design

  1. Precomparator and postcomparator errors in monopulse.

    Bickel, Douglas Lloyd


    Monopulse radar is a well-established technique for extracting accurate target location information in the presence of target scintillation. It relies on the comparison of at least two patterns being received simultaneously by the antenna. These two patterns are designed to differ in the direction in which we wish to obtain the target angle information. The two patterns are compared to each other through a standard method, typically by forming the ratio of the difference of the patterns to the sum of the patterns. The key to accurate angle information using monopulse is that the mapping function from the target angle to this ratio is well-behaved and well-known. Errors in the amplitude and phase of the signals prior and subsequent to the comparison operation affect the mapping function. The purpose of this report is to provide some intuition into these error effects upon the mapping function.

  2. Design, construction and testing of a prototype fin-line magic-tee and fin-line monopulse system suitable for millimeter-wave applications

    Rowley, J. W.


    This thesis describes a fin-line 180 degree hybrid (magic-tee) that is suitable for use in monopulse radar antennas at microwave and millimeter-wave frequencies. The three-dimensional junction of a waveguide magic-tee is replaced with fin-line slots, coupled fin-line slots and microstrip lines mounted in a waveguide fixture. The planar geometry on the substrate provides significant reduction in size and eliminates the waveguide rat race that is associated with conventional hybrids. Ports one and two are flared into fin-line horns to produce a fin-line monopulse system. Suggestions for further development of the fin-line magic-tee and monopulse system are presented.

  3. Low-elevation monopulse radar and tracking simulator (LEMRATS)

    Conte, Jeffrey E.; Groves, Gordon W.; Blair, W. Dale


    A simulation program is presented for studying the problem of tracking a low- flying target over the sea with an amplitude comparison monopulse radar. The simulation models the essential physical and logical processes involved in the tracking environment, which include specular and diffuse reflections from a spherical sea surface, target RCS scintillation, channel noise. Realistic monopulse angle measurements are generated by means of a four-lobe antenna model. The simulator allows easy substitution of the default radar-pointing and tracking algorithms by alternatives that the user may construct. Target trajectories and radar size, height, and frequency can be selected to study of the relative merits of various trade-offs. A common application is to put the simulator under the control of a driver that carries out multiple Monte Carlo experiments to test different parameter sets.

  4. Ka-Band Slot-Microstrip-Covered and Waveguide-Cavity-Backed Monopulse Antenna Array

    Li-Ming Si


    Full Text Available A slot-microstrip-covered and waveguide-cavity-backed monopulse antenna array is proposed for high-resolution tracking applications at Ka-band. The monopulse antenna array is designed with a microstrip with 2×32 slots, a waveguide cavity, and a waveguide monopulse comparator, to make the structure simple, reduce the feeding network loss, and increase the frequency bandwidth. The 2×32 slot-microstrip elements are formed by a metal clad dielectric substrate and slots etched in the metal using the standard printed circuit board (PCB process with dimensions of 230 mm  ×  10 mm. The proposed monopulse antenna array not only maintains the advantages of the traditional waveguide slot antenna array, but also has the characteristics of wide bandwidth, high consistence, easy of fabrication, and low cost. From the measured results, it exhibits good monopulse characteristics, including the following: the maximum gains of sum pattern are greater than 24 dB, the 3 dB beamwidth of sum pattern is about 2.2 degrees, the sidelobe levels of the sum pattern are less than −18 dB, and the null depths of the difference pattern are less than −25 dB within the operating bandwidth between 33.65 GHz and 34.35 GHz for VSWR ≤ 2.

  5. Performance Analysis of Ultra-Wideband Channel for Short-Range Monopulse Radar at Ka-Band

    Naohiko Iwakiri


    Full Text Available High-range resolution is inherently provided with Ka-band ultra-wideband (UWB vehicular radars. The authors have developed a prototype UWB monopulse radar equipped with a two-element receiving antenna array and reported its measurement results. In this paper, a more detailed verification using these measurements is presented. The measurements were analyzed employing matched filtering and eigendecomposition, and then multipath components were extracted to examine the behavior of received UWB monopulse signals. Next, conventional direction finding algorithms based on narrowband assumption were evaluated using the extracted multipath components, resulting in acceptable angle-of-arrival (AOA from the UWB monopulse signal regardless of wideband signals. Performance degradation due to a number of averaging the received monopulses was also examined to design suitable radar's waveforms.

  6. Single-Axis Three-Beam Amplitude Monopulse Antenna-Signal Processing Issues

    Doerry, Armin W. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Bickel, Douglas L. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)


    Typically, when three or more antenna beams along a single axis are required, the answer has been multiple antenna phase-centers, essentially a phase-monopulse system. Such systems and their design parameters are well-reported in the literature. Less appreciated is that three or more antenna beams can also be generated in an amplitude-monopulse fashion. Consequently, design guidelines and performance analysis of such antennas is somewhat under-reported in the literature. We provide discussion herein of three beams arrayed in a single axis with an amplitude-monopulse configuration. Acknowledgements The preparation of this report is the result of an unfunded research and development activity. Sandia National Laboratories is a multi-program laboratory managed and operated by Sandia Corporation, a wholly owned subsidiary of Lockheed Martin Corporation, for the U.S. Department of Energy's National Nuclear Security Administ ration under contract DE-AC04-94AL85000.

  7. Robust adaptive beamforming for MIMO monopulse radar

    Rowe, William; Ström, Marie; Li, Jian; Stoica, Petre


    Researchers have recently proposed a widely separated multiple-input multiple-output (MIMO) radar using monopulse angle estimation techniques for target tracking. The widely separated antennas provide improved tracking performance by mitigating complex target radar cross-section fades and angle scintillation. An adaptive array is necessary in this paradigm because the direct path from any transmitter could act as a jammer at a receiver. When the target-free covariance matrix is not available, it is critical to include robustness into the adaptive beamformer weights. This work explores methods of robust adaptive monopulse beamforming techniques for MIMO tracking radar.

  8. Two target localization using passive monopulse radar

    Jardak, Seifallah


    The simultaneous lobing technique, also known as monopulse technique, has been widely used for fast target localization and tracking purposes. Many works focused on accurately localizing one or two targets laying within a narrow beam centered around the monopulse antenna boresight direction. In this work, however, a new approach uses the outputs of a four quadrant antenna receiver to rapidly localize two point targets present in the hemisphere. A second set of antennas can be required to localize two targets sharing the same elevation or azimuth angles. To combine the outputs of both antenna sets and enhance the estimation performance of the algorithm, two methods are presented and compared.

  9. A Novel Monopulse Technique for Adaptive Phased Array Radar

    Xinyu Zhang


    Full Text Available The monopulse angle measuring technique is widely adopted in radar systems due to its simplicity and speed in accurately acquiring a target’s angle. However, in a spatial adaptive array, beam distortion, due to adaptive beamforming, can result in serious deterioration of monopulse performance. In this paper, a novel constrained monopulse angle measuring algorithm is proposed for spatial adaptive arrays. This algorithm maintains the ability to suppress the unwanted signals without suffering from beam distortion. Compared with conventional adaptive monopulse methods, the proposed algorithm adopts a new form of constraint in forming the difference beam with the merit that it is more robust in most practical situations. At the same time, it also exhibits the simplicity of one-dimension monopulse, helping to make this algorithm even more appealing to use in adaptive planar arrays. The theoretical mean and variance of the proposed monopulse estimator is derived for theoretical analysis. Mathematical simulations are formulated to demonstrate the effectiveness and advantages of the proposed algorithm. Both theoretical analysis and simulation results show that the proposed algorithm can outperform the conventional adaptive monopulse methods in the presence of severe interference near the mainlobe.

  10. Digital Monopulse Receivers for Phase Modulated Signals


    Mateo Burgos-García, Gema Ferreiro-Collar, Alberto Asensio Ló Grupo de Microondas y Dpto. Señales, Sistemas y Radio E.T.S.I. Telecomunic Universidad...Politécnica d Ciudad Universitaria 28040 Madrid, Spa Email: mateo@gmr.ssr. Digital Monopulse Rec Modulated Si T ∆ Σ Z1(t) Z2(t)log-amplifier of each...Microondas y Radar Dpto. Señales, Sistemas y Radiocomunicaciones E.T.S.I. Telecomunicación Universidad Politécnica de Madrid Ciudad Universitaria s/n

  11. 单脉冲雷达多模馈源分析与设计%Analysis and Design of Multimode Feed Horn for Monopulse Radar

    崔卫东; 钟华


    The theory and design of a feed with four horns and three modes is analyzed in detail in the paper. The changes of mode ratio and the horn aperture phase non-uniform distribution can bring about effects on the feed pattern. Considering the above factors, the analytic expression of feed pattern is provided through strict derivation. According to the result, the effects of frequency and mode ratio on the feed pattern are analyzed and the optimal mode ration of the feed is designed. The perfect sum and difference pattern is showed. The phase center of the feed is analyzed. The effects of frequency and phase distribution on phase center are given. These conclusions have certain instructional significance to engineering design.%详细分析了单脉冲雷达四喇叭三模馈源的原理和设计方法,指出馈源模比的变化和口径面相位分布的不一致,都会对馈源的方向图产生影响,考虑这些因素,经过严格推导,得出了这种馈源方向图的完整解析表达式.利用该结果,分析频率和模比对馈源方向图的影响,设计最优的馈源模比,计算出理想的馈源的和差方向图.并进一步对馈源的相位中心进行了分析,给出了频率和喇叭口面的相位分布对相位中心的影响结果.这些都会对工程设计具有一定的指导意义.

  12. Modeling and control of antennas and telescopes

    Gawronski, Wodek


    The book shows, step-by-step, the design, implementation, and testing of the antenna/telescope control system, from the design stage (analytical model) to fine tuning of the RF beam pointing (monopulse and conscan). It includes wide use of Matlab and Simulink..

  13. Polarimetric monopulse radar scattering measurements of targets at 95 GHz

    Wellman, R. J.; Nemarich, J.; Dropkin, H.; Hutchins, D. R.; Silvious, J. L.; Wikner, D. A.


    This paper describes a 95-GHz polarimetric monopulse instrumentation radar and selected scattering measurement results for an armored vehicle. The radar is all-solid-state, coherent, frequency steppable over a 640-MHz bandwidth, and completely polarimetric for linearly or circularly polarized radiation. Details of the methods used to perform the amplitude and phase calibrations and the effectiveness of polarization distortion matrix corrections are included in the paper. Measurements made with the radar of various vehicles on a turntable have allowed quasi-three-dimensional polarimetric ISAR images of the targets to be generated. Sample images for an infantry combat vehicle are presented together with high-resolution range profiles of the target for all monopulse channels.

  14. Generalised two target localisation using passive monopulse radar

    Jardak, Seifallah


    The simultaneous lobing technique, also known as monopulse technique, has been widely used for fast target localisation and tracking purposes. Many works focused on accurately localising one or two targets lying within a narrow beam centred around the monopulse antenna boresight. In this study, a new approach is proposed, which uses the outputs of four antennas to rapidly localise two point targets present in the hemisphere. If both targets have the same elevation angle, the proposed scheme cannot detect them. To detect such targets, a second set of antennas is required. In this study, to detect two targets at generalised locations, the antenna array is divided into multiple overlapping sets each of four antennas. Two algorithms are proposed to combine the outputs from multiple sets and improve the detection performance. Simulation results show that the algorithm is able to localise both targets with <;2° mean square error in azimuth and elevation.

  15. A Novel Monopulse Angle Estimation Method for Wideband LFM Radars

    Yi-Xiong Zhang


    Full Text Available Traditional monopulse angle estimations are mainly based on phase comparison and amplitude comparison methods, which are commonly adopted in narrowband radars. In modern radar systems, wideband radars are becoming more and more important, while the angle estimation for wideband signals is little studied in previous works. As noise in wideband radars has larger bandwidth than narrowband radars, the challenge lies in the accumulation of energy from the high resolution range profile (HRRP of monopulse. In wideband radars, linear frequency modulated (LFM signals are frequently utilized. In this paper, we investigate the monopulse angle estimation problem for wideband LFM signals. To accumulate the energy of the received echo signals from different scatterers of a target, we propose utilizing a cross-correlation operation, which can achieve a good performance in low signal-to-noise ratio (SNR conditions. In the proposed algorithm, the problem of angle estimation is converted to estimating the frequency of the cross-correlation function (CCF. Experimental results demonstrate the similar performance of the proposed algorithm compared with the traditional amplitude comparison method. It means that the proposed method for angle estimation can be adopted. When adopting the proposed method, future radars may only need wideband signals for both tracking and imaging, which can greatly increase the data rate and strengthen the capability of anti-jamming. More importantly, the estimated angle will not become ambiguous under an arbitrary angle, which can significantly extend the estimated angle range in wideband radars.

  16. Multibeam monopulse radar for airborne sense and avoid system

    Gorwara, Ashok; Molchanov, Pavlo


    The multibeam monopulse radar for Airborne Based Sense and Avoid (ABSAA) system concept is the next step in the development of passive monopulse direction finder proposed by Stephen E. Lipsky in the 80s. In the proposed system the multibeam monopulse radar with an array of directional antennas is positioned on a small aircaraft or Unmanned Aircraft System (UAS). Radar signals are simultaneously transmitted and received by multiple angle shifted directional antennas with overlapping antenna patterns and the entire sky, 360° for both horizontal and vertical coverage. Digitizing of amplitude and phase of signals in separate directional antennas relative to reference signals provides high-accuracy high-resolution range and azimuth measurement and allows to record real time amplitude and phase of reflected from non-cooperative aircraft signals. High resolution range and azimuth measurement provides minimal tracking errors in both position and velocity of non-cooperative aircraft and determined by sampling frequency of the digitizer. High speed sampling with high-accuracy processor clock provides high resolution phase/time domain measurement even for directional antennas with wide Field of View (FOV). Fourier transform (frequency domain processing) of received radar signals provides signatures and dramatically increases probability of detection for non-cooperative aircraft. Steering of transmitting power and integration, correlation period of received reflected signals for separate antennas (directions) allows dramatically decreased ground clutter for low altitude flights. An open architecture, modular construction allows the combination of a radar sensor with Automatic Dependent Surveillance - Broadcast (ADS-B), electro-optic, acoustic sensors.

  17. Ka-Band Monopulse Antenna Pointing Calibration Using Wideband Radio Sources

    Buu, C.; Calvo, J.; Cheng, T.-H.; Vazquez, M.


    A new method of performing a system end-to-end monopulse antenna calibration using widely available wideband astronomical radio sources is presented as an alternative to the current method of using a spacecraft signal. Current monopulse calibration requires a spacecraft carrier signal to measure amplitude and phase differences in the monopulse feed and low-noise amplifiers (LNAs). The alternative method presented here will allow the ground station to perform monopulse calibrations during maintenance periods instead of spacecraft track time, and provide an end-to-end system check-out capability without requiring a spacecraft signal. In this article, we give an overview of the current calibration approach, describe a new method for calibrating with radio sources, and present results from field testing of this new method.

  18. Monopulse radar 3-D imaging and application in terminal guidance radar

    Xu, Hui; Qin, Guodong; Zhang, Lina


    Monopulse radar 3-D imaging integrates ISAR, monopulse angle measurement and 3-D imaging processing to obtain the 3-D image which can reflect the real size of a target, which means any two of the three measurement parameters, namely azimuth difference beam elevation difference beam and radial range, can be used to form 3-D image of 3-D object. The basic principles of Monopulse radar 3-D imaging are briefly introduced, the effect of target carriage changes(including yaw, pitch, roll and movement of target itself) on 3-D imaging and 3-D moving compensation based on the chirp rate μ and Doppler frequency f d are analyzed, and the application of monopulse radar 3-D imaging to terminal guidance radars is forecasted. The computer simulation results show that monopulse radar 3-D imaging has apparent advantages in distinguishing a target from overside interference and precise assault on vital part of a target, and has great importance in terminal guidance radars.

  19. Design of Fuzzy Controllers

    Jantzen, Jan


    Design of a fuzzy controller requires more design decisions than usual, for example regarding rule base, inference engine, defuzzification, and data pre- and post processing. This tutorial paper identifies and describes the design choices related to single-loop fuzzy control, based...... on an international standard which is underway. The paper contains also a design approach, which uses a PID controller as a starting point. A design engineer can view the paper as an introduction to fuzzy controller design....


    Zhang Tao; Ma Changzheng; Zhang Qun; Zhang Shouhong


    A method for mono-pulse radar 3-D imaging in stepped tracking mode is presented and the amplitude linear modulation of error signals in stepped tracking mode is analyzed with its compensation method followed, so the problem of precisely tracking of target is solved. Finally the validity of these methods is proven by the simulation results.

  1. Delivering both sum and difference beam distributions to a planar monopulse antenna array

    Strassner, II, Bernd H.


    A planar monopulse radar apparatus includes a planar distribution matrix coupled to a planar antenna array having a linear configuration of antenna elements. The planar distribution matrix is responsive to first and second pluralities of weights applied thereto for providing both sum and difference beam distributions across the antenna array.

  2. A Novel Monopulse Antenna Based on Quasi-Optical Technology at Sub-millimeter Wavelengths

    Zhang, Long; Dou, Wenbin; Su, Hongyan; Zhang, Xiaojing


    In this paper, a novel monopulse antenna operating at sub-millimeter wavelengths is firstly proposed and developed based on quasi-optical (QO) technology. The developed monopulse antenna is composed of spherical thin lens, ellipsoid mirrors, plane mirrors, quasi-optical sum-difference comparator, and dielectric prisms. The parameters of quasi-optical elements are determined by using Gaussian-Beam theory. Then, the antenna configuration is simulated and further optimized by finite-difference time-domain (FDTD) method. The simulated results show good sum-difference performance, with the sidelobe levels below -10.0 dB and the null-depth approximately -35.0 dB at the center frequency of 375 GHz. A prototype of the proposed monopulse antenna is fabricated and measured. The measured results have a good agreement with the simulated results in the near-field test process. This type of QO monopulse antenna may be used as an excellent candidate for tracking system over 300 GHz.

  3. Control system design guide

    Sellers, David; Friedman, Hannah; Haasl, Tudi; Bourassa, Norman; Piette, Mary Ann


    The ''Control System Design Guide'' (Design Guide) provides methods and recommendations for the control system design process and control point selection and installation. Control systems are often the most problematic system in a building. A good design process that takes into account maintenance, operation, and commissioning can lead to a smoothly operating and efficient building. To this end, the Design Guide provides a toolbox of templates for improving control system design and specification. HVAC designers are the primary audience for the Design Guide. The control design process it presents will help produce well-designed control systems that achieve efficient and robust operation. The spreadsheet examples for control valve schedules, damper schedules, and points lists can streamline the use of the control system design concepts set forth in the Design Guide by providing convenient starting points from which designers can build. Although each reader brings their own unique questions to the text, the Design Guide contains information that designers, commissioning providers, operators, and owners will find useful.

  4. Estimation of break-lock in PLL synthesizers for monopulse radar applications: Experimental and simulation approach

    Harikrishna Paik


    Full Text Available This work presents and estimates the break-lock in phase locked loop (PLL synthesizers for monopulse radar applications through experimental measurements and computer simulation. Sinusoidal continuous wave (CW and linear frequency modulated (LFM signals are used as repeater jamming signals. The CW jamming signal power as a function of radar echo signal power at break-lock is estimated for different values of frequency difference between these two signals, and from these results the jammer to echo signal power (J/S ratio (in dB is computed. Break-lock is achieved at a J/S ratio of 1.9 dB (measured at 1.8 dB for a typical echo signal power of −5 dBm with a 1 MHz frequency difference. The frequency deviation as a function of J/S ratio required to break-lock is estimated for different modulation rates in the presence of LFM jamming signal. Break-lock is achieved at a frequency deviation of 0.34 MHz (measured at 0.32 MHz for a J/S ratio of 2 dB and 200 kHz modulation rate. The simulation models are proposed accordingly to the data obtained from the experimental setups. Good and consistent agreements between the measured and simulated results are observed and can be useful in the design of CW and LFM jammers in the target platform.

  5. On a Monopulse Ring-Focus Shaped ReflectorAntenna with Arbitrary Polarization


    The near-field distribution and far-field pattern of a monopulse ring-focus shaped reflector antenna are studied. The four-fold integral appearing in the formulation by using PO method is converted into a triple integral for the near-field case and a double integral for the far-field case by applying the Fourier series expansion. Good agreements have been achieved between theoretical and experimental results.

  6. Pulsed laser deposition of PbTe under monopulse and multipulse regime

    Alvira, F. C.; Cabrera, L. Ponce; Peñaloza Mendoza, Y.; Martinez Ricci, M. L.; Videla, F.


    The aim of this paper is to compare PLD technique with monopulse and multipulse nanosecond laser excitation. We show the feasibility of depositing nanometric layers of PbTe employing the regimes already mentioned. Each of the grown layers were characterized by XRD, EDXS, SEM, Spectroscopic Elipsometry, AFM and the thickness was measured by mechanic profilometry. We have conducted comparative experiments to show the advantages and drawbacks of making PLD with mono and multipulse nanosecond laser.

  7. Applied Control Systems Design

    Mahmoud, Magdi S


    Applied Control System Design examines several methods for building up systems models based on real experimental data from typical industrial processes and incorporating system identification techniques. The text takes a comparative approach to the models derived in this way judging their suitability for use in different systems and under different operational circumstances. A broad spectrum of control methods including various forms of filtering, feedback and feedforward control is applied to the models and the guidelines derived from the closed-loop responses are then composed into a concrete self-tested recipe to serve as a check-list for industrial engineers or control designers. System identification and control design are given equal weight in model derivation and testing to reflect their equality of importance in the proper design and optimization of high-performance control systems. Readers’ assimilation of the material discussed is assisted by the provision of problems and examples. Most of these e...

  8. Induction motor control design

    Marino, Riccardo; Verrelli, Cristiano M


    ""Nonlinear and Adaptive Control Design for Induction Motors"" is a unified exposition of the most important steps and concerns in the design of estimation and control algorithms for induction motors. A single notation and modern nonlinear control terminology is used to make the book accessible to readers who are not experts in electric motors at the same time as giving a more theoretical control viewpoint to those who are. In order to increase readability, the book concentrates on the induction motor, eschewing the much more complex and less-well-understood control of asynchronous motors. The

  9. Control system design method

    Wilson, David G [Tijeras, NM; Robinett, III, Rush D.


    A control system design method and concomitant control system comprising representing a physical apparatus to be controlled as a Hamiltonian system, determining elements of the Hamiltonian system representation which are power generators, power dissipators, and power storage devices, analyzing stability and performance of the Hamiltonian system based on the results of the determining step and determining necessary and sufficient conditions for stability of the Hamiltonian system, creating a stable control system based on the results of the analyzing step, and employing the resulting control system to control the physical apparatus.

  10. Nutrient Control Design Manual

    The purpose of this EPA design manual is to provide updated, state‐of‐the‐technology design guidance on nitrogen and phosphorus control at municipal Wastewater Treatment Plants (WWTPs). Similar to previous EPA manuals, this manual contains extensive information on the principles ...

  11. Pattern Recognition Control Design

    Gambone, Elisabeth A.


    Spacecraft control algorithms must know the expected vehicle response to any command to the available control effectors, such as reaction thrusters or torque devices. Spacecraft control system design approaches have traditionally relied on the estimated vehicle mass properties to determine the desired force and moment, as well as knowledge of the effector performance to efficiently control the spacecraft. A pattern recognition approach was used to investigate the relationship between the control effector commands and spacecraft responses. Instead of supplying the approximated vehicle properties and the thruster performance characteristics, a database of information relating the thruster ring commands and the desired vehicle response was used for closed-loop control. A Monte Carlo simulation data set of the spacecraft dynamic response to effector commands was analyzed to establish the influence a command has on the behavior of the spacecraft. A tool developed at NASA Johnson Space Center to analyze flight dynamics Monte Carlo data sets through pattern recognition methods was used to perform this analysis. Once a comprehensive data set relating spacecraft responses with commands was established, it was used in place of traditional control methods and gains set. This pattern recognition approach was compared with traditional control algorithms to determine the potential benefits and uses.

  12. Dual-Channel Particle Filter Based Track-Before-Detect for Monopulse Radar

    Fei Cai


    Full Text Available A particle filter based track-before-detect (PF-TBD algorithm is proposed for the monopulse high pulse repetition frequency (PRF pulse Doppler radar. The actual measurement model is adopted, in which the range is highly ambiguous and the sum and difference channels exist in parallel. A quantization method is used to approximate the point spread function to reduce the computation load. The detection decisions of the PF-TBD are fed to a binary integrator to further improve the detection performance. Simulation results show that the proposed algorithm can detect and track the low SNR target efficiently. The detection performance is improved significantly for both the single frame and the multiframe detection compared with the classical detector. A performance comparison with the PF-TBD using sum channel only is also supplied.

  13. Moving target detection in foliage using along track monopulse synthetic aperture radar imaging.

    Soumekh, M


    This paper presents a method for detecting moving targets embedded in foliage from the monostatic and bistatic synthetic aperture radar (SAR) data obtained via two airborne radars. The two radars, which are mounted on the same aircraft, have different coordinates in the along track (cross-range) domain. However, unlike the interferometric SAR systems used for topographic mapping, the two radars possess a common range and altitude (i.e., slant range). The resultant monopulse SAR images are used to construct difference and interferometric images for moving target detection. It is shown that the signatures of the stationary targets are weakened in these images. Methods for estimating a moving target's motion parameters are discussed. Results for an ultrawideband UHF SAR system are presented.

  14. Numerical analysis of thermal effect in aluminum alloy by monopulse laser

    Gu, Xiuying; Chen, Guibo; Jin, Guangyong; Zhang, Wei; Li, Mingxin


    A spatial axisymmetric finite element model is established to investigate the distribution characteristics of temperature field that monopulse millisecond laser act on aluminum alloy. The thermal process of laser acting on aluminum alloy (melting, gasification and temperature drop) is simulated. Using the specific quivalent heat capacity method to simulate the solid-liquid, liquid-gas phase transition of aluminum alloy, and considering the differences of thermal physical parameters between different states (solid-liquid, liquid-gas) of aluminum alloy in the process of numerical simulation. The distribution of temperature field of aluminum alloy caused by the change of energy density, pulse width and spot radius of monopulse millisecond laser are investigated systematically by using numerical simulation model. The numerical results show that the temperature of target no longer rises after reaching the target gasification. Given the pulse width and spot radius, the temperature of target rise as the energy density increases, the laser intensity distribution is gaussian, so the temperature distribution of the target surface also shows Gaussian. The energy absorption mechanism of aluminum alloy is surface absorption mechanism, the temperature gradient in axial of the target is much lager than the temperature gradient in radial of the target surface, so the temperature rise in axial only exists a thin layer of target surface. Given the energy density and spot radius, as the pulse width increases, the power density of laser decreases, therefore the temperature of target center point decreases as the pulse width increases, and the temperature difference becomes small. As the pulse width decreases, the heat transfer in axial reduce, the deposition of energy enhances on the surface. Given the energy density and pulse width, the distribution of the temperature is enlarged as the spot radius increases, but the distribution of the temperature in axial is independent of the spot

  15. Design of Controllers for Liquid Level Control

    Augustin Simon,


    Full Text Available The liquid level control system is commonly used in many process control applications. The aim of the process is to keep the liquid level in the tank at the desired value. The conventional proportional-integral-derivative (PID controller is simple, reliable and eliminates the error rate but it cannot handle complex problems. Fuzzy logic controllers are rule based systems which simulates human behavior of the process. The fuzzy controller is combined with the PID controller and then applied to the tank level control system. This paper proposes Inverse fuzzy with fuzzy logic controller for controlling liquid level system for a plant. This paper also compares the transient response as well as error indices of PID, Fuzzy logic controller, inverse fuzzy controllers. The responses of the controllers are verified through simulation. From the simulation results, it is observed that inverse fuzzy-PID controller gives the superior performance than the other controllers. The inverse fuzzy-PID controller gives better performance than the PID and fuzzy controller in terms of overshoot and settling time. Performance analysis is carried out with Liquid Flow Control System Design with Fuzzy logic controller. Results are evaluated by comparing the response time of conventional PID, fuzzy logic and Inverse fuzzy controller. Comparative analysis of the performance of different controllers is done in MATLAB and Simulink.

  16. Earthquake design for controlled structures

    Nikos G. Pnevmatikos


    Full Text Available An alternative design philosophy, for structures equipped with control devices, capable to resist an expected earthquake while remaining in the elastic range, is described. The idea is that a portion of the earthquake loading is under¬taken by the control system and the remaining by the structure which is designed to resist elastically. The earthquake forces assuming elastic behavior (elastic forces and elastoplastic behavior (design forces are first calculated ac¬cording to the codes. The required control forces are calculated as the difference from elastic to design forces. The maximum value of capacity of control devices is then compared to the required control force. If the capacity of the control devices is larger than the required control force then the control devices are accepted and installed in the structure and the structure is designed according to the design forces. If the capacity is smaller than the required control force then a scale factor, α, reducing the elastic forces to new design forces is calculated. The structure is redesigned and devices are installed. The proposed procedure ensures that the structure behaves elastically (without damage for the expected earthquake at no additional cost, excluding that of buying and installing the control devices.

  17. Teaching medical device design using design control.

    May-Newman, Karen; Cornwall, G Bryan


    The design of medical devices requires an understanding of a large number of factors, many of which are difficult to teach in the traditional educational format. This subject benefits from using a challenge-based learning approach, which provides focused design challenges requiring students to understand important factors in the context of a specific device. A course was designed at San Diego State University (CA, USA) that applied challenge-based learning through in-depth design challenges in cardiovascular and orthopedic medicine, and provided an immersive field, needs-finding experience to increase student engagement in the process of knowledge acquisition. The principles of US FDA 'design control' were used to structure the students' problem-solving approach, and provide a format for the design documentation, which was the basis of grading. Students utilized a combination of lecture materials, industry guest expertise, texts and readings, and internet-based searches to develop their understanding of the problem and design their solutions. The course was successful in providing a greatly increased knowledge base and competence of medical device design than students possessed upon entering the course.

  18. Design for controllability

    Tsukaya, Hirokazu


    The safety of genetically modified crops remains a contested issue, given the potential risk for human health and the environment. To further reduce any risks and alleviate public concerns, terminator technology could be used both to tag and control genetically modified plants.

  19. Integrated controls design optimization

    Lou, Xinsheng; Neuschaefer, Carl H.


    A control system (207) for optimizing a chemical looping process of a power plant includes an optimizer (420), an income algorithm (230) and a cost algorithm (225) and a chemical looping process models. The process models are used to predict the process outputs from process input variables. Some of the process in puts and output variables are related to the income of the plant; and some others are related to the cost of the plant operations. The income algorithm (230) provides an income input to the optimizer (420) based on a plurality of input parameters (215) of the power plant. The cost algorithm (225) provides a cost input to the optimizer (420) based on a plurality of output parameters (220) of the power plant. The optimizer (420) determines an optimized operating parameter solution based on at least one of the income input and the cost input, and supplies the optimized operating parameter solution to the power plant.

  20. Receiver-exciter controller design

    Jansma, P. A.


    A description of the general design of both the block 3 and block 4 receiver-exciter controllers for the Deep Space Network (DSN) Mark IV-A System is presented along with the design approach. The controllers are designed to enable the receiver-exciter subsystem (RCV) to be configured, calibrated, initialized and operated from a central location via high level instructions. The RECs are designed to be operated under the control of the DMC subsystem. The instructions are in the form of standard subsystem blocks (SSBs) received via the local area network (LAN). The centralized control provided by RECs and other DSCC controllers in Mark IV-A is intended to reduce DSN operations costs from the Mark III era.

  1. Controlling radiated emissions by design

    Mardiguian, Michel


    The 3rd edition of Controlling Radiated Emissions by Design has been updated to reflect the latest changes in the field. New to this edition is material related to technical advances, specifically super-fast data rates on wire pairs, with no increase in RF interference. Throughout the book, details are given to control RF emissions using EMC design techniques. This book retains the step-by-step approach for incorporating EMC into every new design from the ground up. It describes the selection of quieter IC technologies, their implementation into a noise-free printed circuit layout, and the gathering of these into a low emissions package. Also included is how to design an I/O filter, along with connectors and cable considerations. All guidelines are supported throughout with comprehensive calculated examples. Design engineers, EMC specialists, and technicians will benefit from learning about the development of more efficient and economical control of emissions.

  2. Spacecraft Design Thermal Control Subsystem

    Miyake, Robert N.


    This slide presentation reviews the functions of the thermal control subsystem engineers in the design of spacecraft. The goal of the thermal control subsystem that will be used in a spacecraft is to maintain the temperature of all spacecraft components, subsystems, and all the flight systems within specified limits for all flight modes from launch to the end of the mission. For most thermal control subsystems the mass, power and control and sensing systems must be kept below 10% of the total flight system resources. This means that the thermal control engineer is involved in all other flight systems designs. The two concepts of thermal control, passive and active are reviewed and the use of thermal modeling tools are explained. The testing of the thermal control is also reviewed.

  3. Robust Control Design for Flight Control


    to achieve desired performance over the full flight envelope when linear feedback is employed. Exact linearization methods [48] provide means for...designing nonlinear feedback laws which satisfy these requirements. However, exact linearization is not always compatible with control authority...specific situations. The most promising approaches appear to be those associated with methods of exact linearization . This procedure is based on some

  4. Robust control design with MATLAB

    Gu, Da-Wei; Konstantinov, Mihail M


    Robust Control Design with MATLAB® (second edition) helps the student to learn how to use well-developed advanced robust control design methods in practical cases. To this end, several realistic control design examples from teaching-laboratory experiments, such as a two-wheeled, self-balancing robot, to complex systems like a flexible-link manipulator are given detailed presentation. All of these exercises are conducted using MATLAB® Robust Control Toolbox 3, Control System Toolbox and Simulink®. By sharing their experiences in industrial cases with minimum recourse to complicated theories and formulae, the authors convey essential ideas and useful insights into robust industrial control systems design using major H-infinity optimization and related methods allowing readers quickly to move on with their own challenges. The hands-on tutorial style of this text rests on an abundance of examples and features for the second edition: ·        rewritten and simplified presentation of theoretical and meth...

  5. Aerodynamic design via control theory

    Jameson, Antony


    The question of how to modify aerodynamic design in order to improve performance is addressed. Representative examples are given to demonstrate the computational feasibility of using control theory for such a purpose. An introduction and historical survey of the subject is included.

  6. Consistent Design of Dependable Control Systems

    Blanke, M.


    Design of fault handling in control systems is discussed, and a method for consistent design is presented.......Design of fault handling in control systems is discussed, and a method for consistent design is presented....

  7. Design of reconfigurable logic controllers

    Bukowiec, Arkadiusz; Doligalski, Michał; Tkacz, Jacek


    This book presents the original concepts and modern techniques for specification, synthesis, optimisation and implementation of parallel logical control devices. It deals with essential problems of reconfigurable control systems like dependability, modularity and portability. Reconfigurable systems require a wider variety of design and verification options than the application-specific integrated circuits. The book presents a comprehensive selection of possible design techniques. The diversity of the modelling approaches covers Petri nets, state machines and activity diagrams. The preferences of the presented optimization and synthesis methods are not limited to increasing of the efficiency of resource use. One of the biggest advantages of the presented methods is the platform independence, the FPGA devices and single board computers are some of the examples of possible platforms. These issues and problems are illustrated with practical cases of complete control systems. If you expect a new look at the recon...

  8. Practical design control implementation for medical devices

    Justiniano, Jose


    Bringing together the concepts of design control and reliability engineering, this book is a must for medical device manufacturers. It helps them meet the challenge of designing and developing products that meet or exceed customer expectations and also meet regulatory requirements. Part One covers motivation for design control and validation, design control requirements, process validation and design transfer, quality system for design control, and measuring design control program effectiveness. Part Two discusses risk analysis and FMEA, designing-in reliability, reliability and design verific

  9. Design of Controllers for Liquid Level Control

    Augustin Simon,; Elizabeth Varghese


    The liquid level control system is commonly used in many process control applications. The aim of the process is to keep the liquid level in the tank at the desired value. The conventional proportional-integral-derivative (PID) controller is simple, reliable and eliminates the error rate but it cannot handle complex problems. Fuzzy logic controllers are rule based systems which simulates human behavior of the process. The fuzzy controller is combined with the PID controller and th...

  10. Linear Design Approach to a Fuzzy Controller

    Jantzen, Jan


    A ball-balancer, basically an inverted pendulum problem, is stabilised by a linear controller. With certain design choices, a fuzzy controller is equivalent to a summation; thus it can replace the linear controller. It can be claimed, that the fuzzy controller performs at least as well...... as the linear controller, since the linear controller is contained in the fuzzy controller. The approach makes it somewhat easier to design a fuzzy controller....

  11. Controller Design Automation for Aeroservoelastic Design Optimization of Wind Turbines

    Ashuri, T.; Van Bussel, G.J.W.; Zaayer, M.B.; Van Kuik, G.A.M.


    The purpose of this paper is to integrate the controller design of wind turbines with structure and aerodynamic analysis and use the final product in the design optimization process (DOP) of wind turbines. To do that, the controller design is automated and integrated with an aeroelastic simulation

  12. 10 CFR 72.146 - Design control.


    ... 10 Energy 2 2010-01-01 2010-01-01 false Design control. 72.146 Section 72.146 Energy NUCLEAR... Design control. (a) The licensee, applicant for a license, certificate holder, and applicant for a CoC... shall establish measures for the identification and control of design interfaces and for...

  13. Mechanical engineers' handbook, design, instrumentation, and controls

    Kutz, Myer


    Full coverage of electronics, MEMS, and instrumentation andcontrol in mechanical engineering This second volume of Mechanical Engineers' Handbookcovers electronics, MEMS, and instrumentation and control, givingyou accessible and in-depth access to the topics you'll encounterin the discipline: computer-aided design, product design formanufacturing and assembly, design optimization, total qualitymanagement in mechanical system design, reliability in themechanical design process for sustainability, life-cycle design,design for remanufacturing processes, signal processing, dataacquisition and dis

  14. Design tool for wind turbine control algorithms

    Van der Hooft, E.L.; Van Engelen, T.G.; Schaak, P.; Wiggelinkhuizen, E.J. [ECN Wind Energy, Petten (Netherlands)


    Advanced wind turbine control algorithms have become more important over the last years in order to deal with high requirements on reliability, cost of energy and extreme operating (offshore) conditions. An open source modular 'Design tool for wind turbine control algorithms' within the Matlab environment enables possibilities for wind turbine designers to develop industrial control algorithms and to utilize the benefits of more advanced control solutions. The design tool offers a proven design procedure, which takes the different design stages of a wind turbine into account. It supports initial design and evaluation of control algorithms, linking to aero-elastic codes and implementation in the turbine controller. In addition, the tool assists the designer to operate the design procedure, to avoid design failures and ordering of all the design data, models and versions. Currently, the incorporated design and evaluation models are focussed on design of classic 'rotor speed feedback control' for a variable speed and active pitch turbine and have been verified in practice. More advanced control design modules are within reach as a result of current developments on frequency domain analysis and synthesis of (linearised) turbine models.

  15. Computer Aided Control System Design (CACSD)

    Stoner, Frank T.


    The design of modern aerospace systems relies on the efficient utilization of computational resources and the availability of computational tools to provide accurate system modeling. This research focuses on the development of a computer aided control system design application which provides a full range of stability analysis and control design capabilities for aerospace vehicles.

  16. Integrated design approach for controlled mechanical structures

    Kiriazov, P. [Bulgarian Academy of Sciences, Sofia (Bulgaria). Inst. of Mechanics


    This study is addressed to design problems of controlled mechanical structures (CMS) like robot manipulators and engineering systems with active vibration control that may be subject to arbitrary disturbances. Along with the basic design requirement for strength/load capacity, additional design criteria for CMS are needed to meet the continuously increasing demands for faster response, improved precision and reduced energy consumption. As a CMS is a functionally directed assembly of mutually influencing components: control, actuator, mechanical, and sensor subsystems, a conceptual framework for their integrated design is required. Parameters of these subsystems influencing the dynamic performance of CMS define a matrix that transfers the control inputs into the controlled outputs (accelerations). This transfer matrix plays the key role in the integrated structure-control design. We consider the design optimization problem for CMS having decentralized control architecture. An integrated design criterion for such systems is proposed which is based on optimal trade-off relations between bounds of model uncertainties and control force limits. Optimizing this criterion leads to CMS with maximum degree of robustness. The approach proposed makes it possible a decomposition of the overall design problem into design problems for the CMS`s components. The design concepts are applied to the mechanical subsystem of planar linkage systems. Robust decentralized controllers are designed for a two-degree-of-freedom manipulator with elastic joints. (orig.)

  17. Optimal Control Design with Limited Model Information

    Farokhi, F; Johansson, K H


    We introduce the family of limited model information control design methods, which construct controllers by accessing the plant's model in a constrained way, according to a given design graph. We investigate the achievable closed-loop performance of discrete-time linear time-invariant plants under a separable quadratic cost performance measure with structured static state-feedback controllers. We find the optimal control design strategy (in terms of the competitive ratio and domination metrics) when the control designer has access to the local model information and the global interconnection structure of the plant-to-be-controlled. At last, we study the trade-off between the amount of model information exploited by a control design method and the best closed-loop performance (in terms of the competitive ratio) of controllers it can produce.

  18. Design of Grain Dryers’ Control System

    Li, Shizhuang; Cao, Shukun; Meng, Wenjing


    TMS320F28335 which is a TI high-performance TMS320C28x series 32-bit floating point DSP processor is used as the core of the controller, and the hardware is designed, which includes temperature collection, temperature and humidity collection, moisture detection and motor control. The development environment of the system CCS, and then for the characteristics of grain dryer control system, the control system software modular design, the use of fuzzy control method to achieve food grain motor control, and MATLAB simulation analysis, Fuzzy control is used to control the feasibility of the grain moisture.

  19. Tracking of Range and Azimuth for Continuous Imaging of Marine Target in Monopulse ISAR with Wideband Echoes

    Junhao Xie


    Full Text Available Real-time tracking of maneuvering targets is the prerequisite for continuous imaging of moving targets in inverse synthetic aperture radar (ISAR. In this paper, the range and azimuth tracking (RAT method with wideband radar echoes is first presented for a mechanical scanning monopulse ISAR, which is regarded as the simplest phased array unit due to the two antenna feeds. To relieve the estimation fluctuation and poor robustness of the RAT method with a single snapshot, a modified range and azimuth tracking approach based on centroid algorithm (RATCA with forgotten factor and multiple echoes is then proposed. The performances of different forgotten factors are investigated. Both theoretical analysis and experimental results demonstrate that RATCA is superior to RAT method. Particularly, when target echo is missing occasionally, RAT method fails while RATCA still keeps good performance. The potential of continuous imaging with shipborne ISAR is verified by experimental results. With minor modification, the method proposed in this paper can be potentially applied in the phased array radar.

  20. Design controls for the medical device industry

    Teixeira, Marie B


    The second edition of a bestseller, Design Controls for the Medical Device Industry provides a comprehensive review of the latest design control requirements, as well as proven tools and techniques to ensure your company's design control program evolves in accordance with current industry practice. The text assists in the development of an effective design control program that not only satisfies the US FDA Quality System Regulation (QSR) and ISO 9001 and 13485 standards, but also meets today's third-party auditor/investigator expectations and saves you valuable time and money.The author's cont

  1. A metamorphic controller for plant control system design

    Tomasz Klopot


    Full Text Available One of the major problems in the design of industrial control systems is the selection and parameterization of the control algorithm. In practice, the most common solution is the PI (proportional-integral controller, which is simple to implement, but is not always the best control strategy. The use of more advanced controllers may result in a better efficiency of the control system. However, the implementation of advanced control algorithms is more time-consuming and requires specialized knowledge from control engineers. To overcome these problems and to support control engineers at the controller design stage, the paper describes a tool, i.e., a metamorphic controller with extended functionality, for selection and implementation of the most suitable control algorithm. In comparison to existing solutions, the main advantage of the metamorphic controller is its possibility of changing the control algorithm. In turn, the candidate algorithms can be tested through simulations and the total time needed to perform all simulations can be less than a few minutes, which is less than or comparable to the design time in the concurrent design approach. Moreover, the use of well-known tuning procedures, makes the system easy to understand and operate even by inexperienced control engineers. The application was implemented in the real industrial programmable logic controller (PLC and tested with linear and nonlinear virtual plants. The obtained simulation results confirm that the change of the control algorithm allows the control objectives to be achieved at lower costs and in less time.

  2. 一种基于共形阵的自适应单脉冲测角方法%Adaptive Monopulse Angle Measurement for Conformal Array

    赵英俊; 李荣锋; 王永良; 刘维建


      When conformal antennas array perform angle measurement based on the approach of conventional adaptive monopulse,the curve of monopulse ratio may be seriously distorted if there is mainlobe jamming . Consequently,the precision of the angle measurement is poor .In this paper,we propose a method of adaptive monopulse angle measurement for conformal antennas array .The conventional adaptive sum beam is formed first.Then monopulse ratio restraint is posed,and the adaptive difference beam is formed .Finally,the outputs of the sum beam and difference beam are used to measure the angle .Simulation demonstrated that the proposed method can suppress the mainlobe jamming and guarantee good measurement precision of azimuth and evaluation angles .%  针对主瓣干扰背景下,当共形阵采用常规自适应单脉冲方法测角时,其单脉冲比曲线严重失真,导致测角精度严重下降的问题,提出了一种基于共形阵的自适应单脉冲测角方法。该方法首先对阵列进行常规自适应和波束形成,得到阵列和波束输出;然后通过施加单脉冲比约束求取自适应差波束权矢量,从而形成阵列差波束输出;最后利用输出的和、差波束实现测角。仿真结果表明,和常规方法相比,该方法能在抑制主瓣干扰的同时,较好地保证共形阵对目标方位角、俯仰角的测角精度。

  3. Computer support for mechatronic control system design

    van Amerongen, J.; Coelingh, H.J.; de Vries, Theodorus J.A.


    This paper discusses the demands for proper tools for computer aided control system design of mechatronic systems and identifies a number of tasks in this design process. Real mechatronic design, involving input from specialists from varying disciplines, requires that the system can be represented

  4. Flight Control Design - Best Practices


    certains aspects théoriques. Vient d’abord un débat sur les critères de qualités de vol, en particulier sur les spécifications militaires...was designed such that a failure could not result in an unsafe recovery. The system is credited with saving the test aircraft during the evaluation of a...Recherche et développement - Estado Maior da Força Aérea AnalysisCommunications et gestion de SDFA - Centro de Documentação Institute of Military

  5. Dynamic optimization and adaptive controller design

    Inamdar, S. R.


    In this work I present a new type of controller which is an adaptive tracking controller which employs dynamic optimization for optimizing current value of controller action for the temperature control of nonisothermal continuously stirred tank reactor (CSTR). We begin with a two-state model of nonisothermal CSTR which are mass and heat balance equations and then add cooling system dynamics to eliminate input multiplicity. The initial design value is obtained using local stability of steady states where approach temperature for cooling action is specified as a steady state and a design specification. Later we make a correction in the dynamics where material balance is manipulated to use feed concentration as a system parameter as an adaptive control measure in order to avoid actuator saturation for the main control loop. The analysis leading to design of dynamic optimization based parameter adaptive controller is presented. The important component of this mathematical framework is reference trajectory generation to form an adaptive control measure.

  6. Optimization-based controller design for rotorcraft

    Tsing, N.-K.; Fan, M. K. H.; Barlow, J.; Tits, A. L.; Tischler, M. B.


    An optimization-based methodology for linear control system design is outlined by considering the design of a controller for a UH-60 rotorcraft in hover. A wide range of design specifications is taken into account: internal stability, decoupling between longitudinal and lateral motions, handling qualities, and rejection of windgusts. These specifications are investigated while taking into account physical limitations in the swashplate displacements and rates of displacement. The methodology crucially relies on user-machine interaction for tradeoff exploration.

  7. Recursive design of nonlinear H∞ excitation controller


    This work is concerned with the problem of L2 gain disturbance attenuation for nonlinear systems and nonlinear robust control for power systems. In terms of the recurrence design approach proposed, the nonnegative solution of dissipative inequality and the storage function of nonlinear H∞ control for a generator excitation system are acquired. From this storage function, the excitation controller is constructed. Moreover, simulation results manifest the effectiveness of this design method.

  8. Resilient Control Systems: Next Generation Design Research

    Craig Rieger


    Since digital control systems were introduced to the market more than 30 years ago, the operational efficiency and stability gained through their use have fueled our migration and ultimate dependence on them for the monitoring and control of critical infrastructure. While these systems have been designed for functionality and reliability, a hostile cyber environment and uncertainties in complex networks and human interactions have placed additional parameters on the design expectations for control systems.

  9. Design of Wireless Remote Control Solar Cleaner

    Ma Zhicai


    Full Text Available This paper describes the operation principle and the hardware composition of the wireless remote control cleaner by adopting solar panel power supply mode in detail. The experimental circuit is designed and on based on the designed experimental circuit the wireless remote control solar cleaner is made. The experimental results show that it is feasible that the combination of solar panels and wireless remote control cleaner.

  10. Feedback Control Design for Counterflow Thrust Vectoring


    in Figures 3 thru 6, but enabled the experimentation to much more closely mimic flight conditions. PID controllers were designed using robust -f1...compensation of both delayed and non-delayed processes. 8 PID controllers often display robustness to incorrect process model order assumptions and...valve saturation is also a significant obstacle. PID controllers are the most commonly used controllers in industrial practice.’ PID control was used

  11. Logical design for computers and control

    Dodd, Kenneth N


    Logical Design for Computers and Control Logical Design for Computers and Control gives an introduction to the concepts and principles, applications, and advancements in the field of control logic. The text covers topics such as logic elements; high and low logic; kinds of flip-flops; binary counting and arithmetic; and Boolean algebra, Boolean laws, and De Morgan's theorem. Also covered are topics such as electrostatics and atomic theory; the integrated circuit and simple control systems; the conversion of analog to digital systems; and computer applications and control. The book is recommend

  12. Robust LQR Control Design of Gyroscope

    Ashok S. Chandak


    Full Text Available The basic problem in designing control systems isthe ability to achieve good performance inthepresenceofuncertainties such as outputdisturbances, measurement noise or unmodeleddynamics (i.e. robust controllers. Recentdevelopment in the area has been directed towardsdeveloping a consistent design methodology withinthis uncertain environment. The attitude control/momentum management of the space station posesatypical problem in ahighlyuncertain environment(such asmass properties of the Space Station andenvironmental disturbancesas well as parametricuncertainties. The objective of this research is touse LQR control for the position control of spin axisrotor position at reference value in the presence ofparametric uncertainties, external unmeasurabledisturbances and system inherent non-linearitywithdifferenttype’sreference tracking signal areconsidered extensively in this paper.




    A bifurcation subsystem based model and controller reduction approach is presented. Using this approach a robust {micro}-synthesis SVC control is designed for interarea oscillation and voltage control based on a small reduced order bifurcation subsystem model of the full system. The control synthesis problem is posed by structured uncertainty modeling and control configuration formulation using the bifurcation subsystem knowledge of the nature of the interarea oscillation caused by a specific uncertainty parameter. Bifurcation subsystem method plays a key role in this paper because it provides (1) a bifurcation parameter for uncertainty modeling; (2) a criterion to reduce the order of the resulting MSVC control; and (3) a low order model for a bifurcation subsystem based SVC (BMSVC) design. The use of the model of the bifurcation subsystem to produce a low order controller simplifies the control design and reduces the computation efforts so significantly that the robust {micro}-synthesis control can be applied to large system where the computation makes robust control design impractical. The RGA analysis and time simulation show that the reduced BMSVC control design captures the center manifold dynamics and uncertainty structure of the full system model and is capable of stabilizing the full system and achieving satisfactory control performance.

  14. Improvement on fuzzy controller design techniques

    Wang, Paul P.


    This paper addresses three main issues, which are somewhat interrelated. The first issue deals with the classification or types of fuzzy controllers. Careful examination of the fuzzy controllers designed by various engineers reveals distinctive classes of fuzzy controllers. Classification is believed to be helpful from different perspectives. The second issue deals with the design according to specifications, experiments related to the tuning of fuzzy controllers, according to the specification, will be discussed. General design procedure, hopefully, can be outlined in order to ease the burden of a design engineer. The third issue deals with the simplicity and limitation of the rule-based IF-THEN logical statements. The methodology of fuzzy-constraint network is proposed here as an alternative to the design practice at present. It is our belief that predicate calculus and the first order logic possess much more expressive power.

  15. Design and Control of the MINDWALKER Exoskeleton

    Wang, Shiqian; Wang, Letian; Meijneke, C.; Asseldonk, van E.H.F.; Hoellinger, T.; Cheron, G.; Ivanenko, Y.; Scaleia, La V.; Sylos-Labini, F.; Molinari, M.; Tamburella, F.; Pisotta, I.; Thorsteinsson, F.; Ilzkovitz, M.; Gancet, J.; Nevatia, Y.; Hauffe, R.; Zanow, F.; Kooij, van der H.


    Powered exoskeletons can empower paraplegics to stand and walk. Actively controlled hip ab/adduction (HAA) is needed for weight shift and for lateral foot placement to support dynamic balance control and to counteract disturbances in the frontal plane. Here, we describe the design, control, and prel

  16. Controller Design of Intelligent Lighting Network

    RONG Xue-juan; NIU Ping-juan; XU Xiu-zhi


    Studied are the controller design and basic principles of intelligent lighting network. TI's MSP430F123 is used as a main controller.By using the ZigBee modules (Xbee/Xbee-PRO) and the GSM module(SIM300C) for wireless communications,the lighting control is enabled to access wireless network.This system uses a mobile phone to achieve light on-off directly,which can accomplish wireless control of intelligent lighting in families.

  17. Wind energy systems control engineering design

    Garcia-Sanz, Mario


    IntroductionBroad Context and MotivationConcurrent Engineering: A Road Map for EnergyQuantitative Robust ControlNovel CAD Toolbox for QFT Controller DesignOutline Part I: Advanced Robust Control Techniques: QFT and Nonlinear SwitchingIntroduction to QFTQuantitative Feedback TheoryWhy Feedback? QFT OverviewInsight into the QFT TechniqueBenefits of QFTMISO Analog QFT Control SystemIntroductionQFT Method (Single-Loop MISO System)Design Procedure OutlineMinimum-Phase System Performance SpecificationsJ LTI Plant ModelsPlant Templates of P?(s), P( j_i )Nominal PlantU-Contour (Stability Bound)Trackin

  18. Design Robust Controller for Rotary Kiln

    Omar D. Hernández-Arboleda


    Full Text Available This paper presents the design of a robust controller for a rotary kiln. The designed controller is a combination of a fractional PID and linear quadratic regulator (LQR, these are not used to control the kiln until now, in addition robustness criteria are evaluated (gain margin, phase margin, strength gain, rejecting high frequency noise and sensitivity applied to the entire model (controller-plant, obtaining good results with a frequency range of 0.020 to 90 rad/s, which contributes to the robustness of the system.

  19. Integrated Design Tools for Embedded Control Systems

    Jovanovic, D.S.; Hilderink, G.H.; Broenink, Johannes F.; Karelse, F.


    Currently, computer-based control systems are still being implemented using the same techniques as 10 years ago. The purpose of this project is the development of a design framework, consisting of tools and libraries, which allows the designer to build high reliable heterogeneous real-time embedded systems in a very short time at a fraction of the present day costs. The ultimate focus of current research is on transformation control laws to efficient concurrent algorithms, with concerns about...

  20. Progress in multirate digital control system design

    Berg, Martin C.; Mason, Gregory S.


    A new methodology for multirate sampled-data control design based on a new generalized control law structure, two new parameter-optimization-based control law synthesis methods, and a new singular-value-based robustness analysis method are described. The control law structure can represent multirate sampled-data control laws of arbitrary structure and dynamic order, with arbitrarily prescribed sampling rates for all sensors and update rates for all processor states and actuators. The two control law synthesis methods employ numerical optimization to determine values for the control law parameters. The robustness analysis method is based on the multivariable Nyquist criterion applied to the loop transfer function for the sampling period equal to the period of repetition of the system's complete sampling/update schedule. The complete methodology is demonstrated by application to the design of a combination yaw damper and modal suppression system for a commercial aircraft.

  1. Integrated Design Tools for Embedded Control Systems

    Jovanovic, D.S.; Hilderink, G.H.; Broenink, Johannes F.; Karelse, F.


    Currently, computer-based control systems are still being implemented using the same techniques as 10 years ago. The purpose of this project is the development of a design framework, consisting of tools and libraries, which allows the designer to build high reliable heterogeneous real-time embedded

  2. Biological Systems Thinking for Control Engineering Design

    D. J. Murray-Smith


    Full Text Available Artificial neural networks and genetic algorithms are often quoted in discussions about the contribution of biological systems thinking to engineering design. This paper reviews work on the neuromuscular system, a field in which biological systems thinking could make specific contributions to the development and design of automatic control systems for mechatronics and robotics applications. The paper suggests some specific areas in which a better understanding of this biological control system could be expected to contribute to control engineering design methods in the future. Particular emphasis is given to the nonlinear nature of elements within the neuromuscular system and to processes of neural signal processing, sensing and system adaptivity. Aspects of the biological system that are of particular significance for engineering control systems include sensor fusion, sensor redundancy and parallelism, together with advanced forms of signal processing for adaptive and learning control

  3. Remote Control Guidance Law Design Using Variable Structure Control


    A method of sliding mode variable structure control for the missile body being a time varying system is presented. A remote control guidance law is designed. The method has strong robustness to target's maneuver. To reduce the chattering phenomena, quasi-sliding mode variable structure control method is used. Simulation results show that the proposed method has small miss distance for any kind of maneuvering targets and requires small control energy.

  4. Remote Pressure Control - Considering Pneumatic Tubes in Controller Design

    Rager, David; Neumann, Rüdiger; Murrenhoff, Hubertus


    In pneumatic pressure control applications the influence of tubes that connect the valve with the control volume ist mainly neglected. This can lead to stability and robustness issues and limit either control performance or tube length. Modeling and considering tube behavior in controller design procedure allows longer tubes while maintaining the required performance and robustness properties without need for manual tuning. The author\\'s previously published Simplified Fluid Transmission Line...

  5. Controlled air incinerator conceptual design study


    This report presents a conceptual design study for a controlled air incinerator facility for incineration of low level combustible waste at Three Mile Island Unit 2 (TMI-2). The facility design is based on the use of a Helix Process Systems controlled air incinerator. Cost estimates and associated engineering, procurement, and construction schedules are also provided. The cost estimates and schedules are presented for two incinerator facility designs, one with provisions for waste ash solidification, the other with provisions for packaging the waste ash for transport to an undefined location.

  6. Flying qualities criteria and flight control design

    Berry, D. T.


    Despite the application of sophisticated design methodology, newly introduced aircraft continue to suffer from basic flying qualities deficiencies. Two recent meetings, the DOD/NASA Workshop on Highly Augmented Aircraft Criteria and the NASA Dryden Flight Research Center/Air Force Flight Test Center/AIAA Pilot Induced Oscillation Workshop, addressed this problem. An overview of these meetings is provided from the point of view of the relationship between flying qualities criteria and flight control system design. Among the items discussed are flying qualities criteria development, the role of simulation, and communication between flying qualities specialists and control system designers.

  7. Analysis and design of hybrid control systems

    Malmborg, J.


    Different aspects of hybrid control systems are treated: analysis, simulation, design and implementation. A systematic methodology using extended Lyapunov theory for design of hybrid systems is developed. The methodology is based on conventional control designs in separate regions together with a switching strategy. Dynamics are not well defined if the control design methods lead to fast mode switching. The dynamics depend on the salient features of the implementation of the mode switches. A theorem for the stability of second order switching together with the resulting dynamics is derived. The dynamics on an intersection of two sliding sets are defined for two relays working on different time scales. The current simulation packages have problems modeling and simulating hybrid systems. It is shown how fast mode switches can be found before or during simulation. The necessary analysis work is a very small overhead for a modern simulation tool. To get some experience from practical problems with hybrid control the switching strategy is implemented in two different software environments. In one of them a time-optimal controller is added to an existing PID controller on a commercial control system. Successful experiments with this hybrid controller shows the practical use of the method 78 refs, 51 figs, 2 tabs

  8. Humanoid robot Lola: design and walking control.

    Buschmann, Thomas; Lohmeier, Sebastian; Ulbrich, Heinz


    In this paper we present the humanoid robot LOLA, its mechatronic hardware design, simulation and real-time walking control. The goal of the LOLA-project is to build a machine capable of stable, autonomous, fast and human-like walking. LOLA is characterized by a redundant kinematic configuration with 7-DoF legs, an extremely lightweight design, joint actuators with brushless motors and an electronics architecture using decentralized joint control. Special emphasis was put on an improved mass distribution of the legs to achieve good dynamic performance. Trajectory generation and control aim at faster, more flexible and robust walking. Center of mass trajectories are calculated in real-time from footstep locations using quadratic programming and spline collocation methods. Stabilizing control uses hybrid position/force control in task space with an inner joint position control loop. Inertial stabilization is achieved by modifying the contact force trajectories.

  9. Design, modeling and control of nanopositioning systems

    Fleming, Andrew J


    Covering the complete design cycle of nanopositioning systems, this is the first comprehensive text on the topic. The book first introduces concepts associated with nanopositioning stages and outlines their application in such tasks as scanning probe microscopy, nanofabrication, data storage, cell surgery and precision optics. Piezoelectric transducers, employed ubiquitously in nanopositioning applications are then discussed in detail including practical considerations and constraints on transducer response. The reader is then given an overview of the types of nanopositioner before the text turns to the in-depth coverage of mechanical design including flexures, materials, manufacturing techniques, and electronics. This process is illustrated by the example of a high-speed serial-kinematic nanopositioner. Position sensors are then catalogued and described and the text then focuses on control. Several forms of control are treated: shunt control, feedback control, force feedback control and feedforward control (...

  10. Circulation control STOL aircraft design aspects

    Loth, John L.


    Since Davidson patented Circulation Control Airfoils in 1960, there have been only 2 aircraft designed and flown with circulation control (CC). Designing with CC is complex for the following reasons: the relation between lift increase and blowing momentum is nonlinear; for good cruise performance one must change the wing geometry in flight from a round to a sharp trailing edge. The bleed air from the propulsion engines or an auxiliary compressor, must be used efficiently. In designing with CC, the propulsion and control aspects are just as important as aerodynamics. These design aspects were examined and linearized equations are presented in order to facilitate a preliminary analysis of the performance potential of CC. The thrust and lift requirements for takeoff make the calculated runway length very sensitive to the bleed air ratio. Thrust vectoring improves performance and can offset nose down pitching moments. The choice of blowing jet to free stream velocity ratio determines the efficiency of applying bleed air power.

  11. Robust Structured Control Design via LMI Optimization

    Adegas, Fabiano Daher; Stoustrup, Jakob


    This paper presents a new procedure for discrete-time robust structured control design. Parameter-dependent nonconvex conditions for stabilizable and induced L2-norm performance controllers are solved by an iterative linear matrix inequalities (LMI) optimization. A wide class of controller...... structures including decentralized of any order, fixed-order dynamic output feedback, static output feedback can be designed robust to polytopic uncertainties. Stability is proven by a parameter-dependent Lyapunov function. Numerical examples on robust stability margins shows that the proposed procedure can...

  12. Matlab as a robust control design tool

    Gregory, Irene M.


    This presentation introduces Matlab as a tool used in flight control research. The example used to illustrate some of the capabilities of this software is a robust controller designed for a single stage to orbit air breathing vehicles's ascent to orbit. The global requirements of the controller are to stabilize the vehicle and follow a trajectory in the presence of atmospheric disturbances and strong dynamic coupling between airframe and propulsion.

  13. Controller Architecture Design for MMC-HVDC

    ZHANG, B.


    Full Text Available Compared with high voltage direct current (HVDC, the primary and secondary systems of modular multilevel converter based HVDC (MMC-HVDC are complicated. And the characteristics of the control system determine the properties of the MMC-HVDC system to a certain extent. This paper investigates the design of control architecture. First, the structure and parameters of the 21-level MMC-HVDC are designed. Second, the framework of the control system is studied in details and a complete control system is established. The communication mode and content are built between each layer, and the control system program is developed and debugged. Then The steady state test platform of the sub-module and the relevant control system are designed. Finally, the steady-state tests and the system test of the physical MMC-HVDC simulation system are conducted, which prove that the SMC can control the sub-module (SM efficiently, and the control system could realize efficient start and stop of the physical system. Meanwhile, the capacitor voltage balance between the sub-modules and the basic fault protection and control of the DC voltage and power are verified to be effective.

  14. Control/structure interaction conceptual design tool

    Briggs, Hugh C.


    The JPL Control/Structure Interaction Program is developing new analytical methods for designing micro-precision spacecraft with controlled structures. One of these, the Conceptual Design Tool, will illustrate innovative new approaches to the integration of multi-disciplinary analysis and design methods. The tool will be used to demonstrate homogeneity of presentation, uniform data representation across analytical methods, and integrated systems modeling. The tool differs from current 'integrated systems' that support design teams most notably in its support for the new CSI multi-disciplinary engineer. The design tool will utilize a three dimensional solid model of the spacecraft under design as the central data organization metaphor. Various analytical methods, such as finite element structural analysis, control system analysis, and mechanical configuration layout, will store and retrieve data from a hierarchical, object oriented data structure that supports assemblies of components with associated data and algorithms. In addition to managing numerical model data, the tool will assist the designer in organizing, stating, and tracking system requirements.

  15. Robust LQR Control Design of Gyroscope

    Ashok S. Chandak


    Full Text Available The basic problem in designing control systems is the ability to achieve good performance in the presence of uncertainties such as output disturbances, measurement noise or unmodeled dynamics (i.e. robust controllers. Recent development in the area has been directed towards developing a consistent design methodology within this uncertain environment. The attitude control/ momentum management of the space station poses a typical problem in a highly uncertain environment (such as mass properties of the Space Station and environmental disturbances as well as parametric uncertainties. The objective of this research is to use LQR control for the position control of spin axis rotor position at reference value in the presence of parametric uncertainties, external unmeasurable disturbances and system inherent non-linearity with different type’s reference tracking signal are considered extensively in this paper.

  16. Unfalsified Control; Application to automatic flight control system design

    Adrian-Mihail STOICA


    Full Text Available Unfalsified Control Theory has been developed to provide a way for avoiding modeling uncertainties in controller design. It belongs to the class of control methods called Adaptive Supervisory Switching Control, which work by introducing in the control scheme a supervisory unit which chooses, from a set of candidate controllers the one most suited for the current plant. Unfalsified Control works by using a switching logic that dispenses with the need for a-priori knowledge of the dynamic model. At discrete moments of time, using the input/output data recorded up to that point, the supervisory calculates for each candidate controller a performance index, and compares it to a given threshold. Controllers surpassing that threshold are removed from the candidate controller set. This process is called falsification. If the controller in the loop is one such falsified controller it is replaced. In this paper we investigate the suitability of this method for aeronautical control applications. We review the theory behind this control scheme and adapt it to the case of controlling a fighter aircraft. We also provide a case study, where we test this control scheme on a simulated fighter aircraft.

  17. Parametric control systems design with applications in missile control

    DUAN GuangRen; YU HaiHua; TAN Feng


    This paper considers parametric control of high-order descriptor linear systems via proportional plus derivative feedback.By employing general parametric solutions to a type of so-called high-order Sylvester matrix equations,complete parametric control approaches for high-order linear systems are presented.The proposed approaches give simple complete parametric expressions for the feedback gains and the closed-loop eigenvector matrices,and produce all the design degrees of freedom.Furthermore,Important special cases are particularly treated.Based on the proposed parametric design approaches,a parametric method for the gain-scheduling controller design of a linear time-varying system is proposed and the design of a BTT missile autopilot is carried out.The simulation results show that the method is superior to the traditional one in sense of either global stability or system performance.


    D.C. Randle


    The primary purpose of this document is to develop a preliminary high-level functional and physical control system architecture for the potential repository at Yucca Mountain. This document outlines an overall control system concept that encompasses and integrates the many diverse process and communication systems being developed for the subsurface repository design. This document presents integrated design concepts for monitoring and controlling the diverse set of subsurface operations. The Subsurface Repository Integrated Control System design will be composed of a series of diverse process systems and communication networks. The subsurface repository design contains many systems related to instrumentation and control (I&C) for both repository development and waste emplacement operations. These systems include waste emplacement, waste retrieval, ventilation, radiological and air monitoring, rail transportation, construction development, utility systems (electrical, lighting, water, compressed air, etc.), fire protection, backfill emplacement, and performance confirmation. Each of these systems involves some level of I&C and will typically be integrated over a data communications network throughout the subsurface facility. The subsurface I&C systems will also interface with multiple surface-based systems such as site operations, rail transportation, security and safeguards, and electrical/piped utilities. In addition to the I&C systems, the subsurface repository design also contains systems related to voice and video communications. The components for each of these systems will be distributed and linked over voice and video communication networks throughout the subsurface facility. The scope and primary objectives of this design analysis are to: (1) Identify preliminary system-level functions and interfaces (Section 6.2). (2) Examine the overall system complexity and determine how and on what levels the engineered process systems will be monitored, controlled, and

  19. Actuator topology design using the controllability Gramian

    Alves da Silveira, Otávio Augusto; Ono Fonseca, Jun Sérgio; Santos, Ilmar


    This work develops a methodology for the optimal design of actuators for the vibration control of flexible structures. The objective is the maximization of a measure of the controllability Gramian. The test case is the embedding of piezoelectric inserts in elastic structures for vibration control...... in modal space. A topology optimization was formulated to distribute two material phases in the domain: a passive linear elastic material and an active linear piezoelectric material, with a volume constraint in the latter. The objective function is the trace of the controllability Gramian of a LQR control...... system. Analytical sensitivities for the finite element model are derived for the objective function and constraints. Results are shown for two dimensional vibration control of a short beam with varying number of electrodes (control inputs) and vibration modes....

  20. Design Intelligent Robust Back stepping Controller

    Zahra Esmaieli


    Full Text Available The increasing demand for multi-degree-of-freedom (DOF continuum robot in presence of highly nonlinear dynamic parameters in a number of industries has motivated a flurry of research in the development of soft computing nonlinear methodology. The robust backstopping controller proposed in this research is used to further demonstrate the appealing features exhibited by the continuum robot. Robust feedback controller is used to position control of continuum robot in presence of uncertainties. Using Lyapunov type stability arguments, a robust backstopping controller is designed to achieve this objective. The controller developed in this research is designed into two steps. Firstly, a robust stabilizing torque is designed for the nominal continuum robot dynamics derived using the constrained Lagrangian formulation based on modified PD backstopping controller. Next, the fuzzy logic methodology applied to it to solution uncertainty problem. The fuzzy model free problem is formulated to estimate the nonlinear formulation of continuum robot. The eventual stability of the controller depends on the torque generating capabilities of the continuum robots.

  1. Control/structure interaction design methodology

    Briggs, Hugh C.; Layman, William E.


    The Control Structure Interaction Program is a technology development program for spacecraft that exhibit interactions between the control system and structural dynamics. The program objectives include development and verification of new design concepts (such as active structure) and new tools (such as a combined structure and control optimization algorithm) and their verification in ground and possibly flight test. The new CSI design methodology is centered around interdisciplinary engineers using new tools that closely integrate structures and controls. Verification is an important CSI theme and analysts will be closely integrated to the CSI Test Bed laboratory. Components, concepts, tools and algorithms will be developed and tested in the lab and in future Shuttle-based flight experiments. The design methodology is summarized in block diagrams depicting the evolution of a spacecraft design and descriptions of analytical capabilities used in the process. The multiyear JPL CSI implementation plan is described along with the essentials of several new tools. A distributed network of computation servers and workstations was designed that will provide a state-of-the-art development base for the CSI technologies.

  2. Infection control in design and construction work.

    Collinge, William H


    To clarify how infection control requirements are represented, communicated, and understood in work interactions through the medical facility construction project life cycle. To assist project participants with effective infection control management by highlighting the nature of such requirements and presenting recommendations to aid practice. A 4-year study regarding client requirement representation and use on National Health Service construction projects in the United Kingdom provided empirical evidence of infection control requirement communication and understanding through design and construction work interactions. An analysis of construction project resources (e.g., infection control regulations and room data sheets) was combined with semi-structured interviews with hospital client employees and design and construction professionals to provide valuable insights into the management of infection control issues. Infection control requirements are representationally indistinct but also omnipresent through all phases of the construction project life cycle: Failure to recognize their nature, relevance, and significance can result in delays, stoppages, and redesign work. Construction project resources (e.g., regulatory guidance and room data sheets) can mask or obscure the meaning of infection control issues. A preemptive identification of issues combined with knowledge sharing activities among project stakeholders can enable infection control requirements to be properly understood and addressed. Such initiatives should also reference existing infection control regulatory guidance and advice. © The Author(s) 2015.

  3. Design of control systems with uncertain parameters

    Auslander, D. M.; Spear, R. C.; Young, G. E.


    A design method for control systems with uncertain parameters is presented. The method utilizes a generalized sensitivity approach which separates the parameter space into regions which produce a system response that satisfies given design criteria and regions which do not. Nonparametric statistics and confidence limits for the binomial distribution are used to determine degree of parameter sensitivity and to locate regions in the parameter space which maximize the probability of producing a desirable system response. In an example it is shown that a given parameter may have to be known to a lesser degree of uncertainty to be able to specify a satisfactory design.

  4. Monitoring and design of stormwater control basins

    Veenhuis, J.E.; Parrish, J.H.; Jennings, M.E.


    The City of Austin, Texas, has played a pioneering role in the control of urban nonpoint source pollution by enacting watershed and stormwater ordinances, overseeing detailed monitoring programs, and improving design criteria for stormwater control methods. The effectiveness of the methods used in Austin, and perhaps in other areas of the United States, to protect urban water resources has not yet been fully established. Therefore, detailed monitoring programs capable of quantitatively determining the effectiveness of control methods and of stormwater ordinances, are required. The purpose of this report is to present an overview of the City of Austin's stormwater monitoring program, including previous monitoring programs with the U.S. Environmental Protection Agency and the U.S. Geological Survey, and to describe the relation of monitoring to design of stormwater control basins.

  5. Quadrocopter Control Design and Flight Operation

    Karwoski, Katherine


    A limiting factor in control system design and analysis for spacecraft is the inability to physically test new algorithms quickly and cheaply. Test flights of space vehicles are costly and take much preparation. As such, EV41 recently acquired a small research quadrocopter that has the ability to be a test bed for new control systems. This project focused on learning how to operate, fly, and maintain the quadrocopter, as well as developing and testing protocols for its use. In parallel to this effort, developing a model in Simulink facilitated the design and analysis of simple control systems for the quadrocopter. Software provided by the manufacturer enabled testing of the Simulink control system on the vehicle.

  6. The design of multirate digital control systems

    Berg, M. C.


    The successive loop closures synthesis method is the only method for multirate (MR) synthesis in common use. A new method for MR synthesis is introduced which requires a gradient-search solution to a constrained optimization problem. Some advantages of this method are that the control laws for all control loops are synthesized simultaneously, taking full advantage of all cross-coupling effects, and that simple, low-order compensator structures are easily accomodated. The algorithm and associated computer program for solving the constrained optimization problem are described. The successive loop closures , optimal control, and constrained optimization synthesis methods are applied to two example design problems. A series of compensator pairs are synthesized for each example problem. The succesive loop closure, optimal control, and constrained optimization synthesis methods are compared, in the context of the two design problems.

  7. Robust Control Design via Linear Programming

    Keel, L. H.; Bhattacharyya, S. P.


    This paper deals with the problem of synthesizing or designing a feedback controller of fixed dynamic order. The closed loop specifications considered here are given in terms of a target performance vector representing a desired set of closed loop transfer functions connecting various signals. In general these point targets are unattainable with a fixed order controller. By enlarging the target from a fixed point set to an interval set the solvability conditions with a fixed order controller are relaxed and a solution is more easily enabled. Results from the parametric robust control literature can be used to design the interval target family so that the performance deterioration is acceptable, even when plant uncertainty is present. It is shown that it is possible to devise a computationally simple linear programming approach that attempts to meet the desired closed loop specifications.


    C.J. Fernado


    The purpose of this document is to develop preliminary high-level functional and physical control system architectures for the proposed subsurface repository at Yucca Mountain. This document outlines overall control system concepts that encompass and integrate the many diverse systems being considered for use within the subsurface repository. This document presents integrated design concepts for monitoring and controlling the diverse set of subsurface operations. The subsurface repository design will be composed of a series of diverse systems that will be integrated to accomplish a set of overall functions and objectives. The subsurface repository contains several Instrumentation and Control (I&C) related systems including: waste emplacement systems, ventilation systems, communication systems, radiation monitoring systems, rail transportation systems, ground control monitoring systems, utility monitoring systems (electrical, lighting, water, compressed air, etc.), fire detection and protection systems, retrieval systems, and performance confirmation systems. Each of these systems involve some level of I&C and will typically be integrated over a data communication network. The subsurface I&C systems will also integrate with multiple surface-based site-wide systems such as emergency response, health physics, security and safeguards, communications, utilities and others. The scope and primary objectives of this analysis are to: (1) Identify preliminary system level functions and interface needs (Presented in the functional diagrams in Section 7.2). (2) Examine the overall system complexity and determine how and on what levels these control systems will be controlled and integrated (Presented in Section 7.2). (3) Develop a preliminary subsurface facility-wide design for an overall control system architecture, and depict this design by a series of control system functional block diagrams (Presented in Section 7.2). (4) Develop a series of physical architectures that

  9. Sliding Mode Control Applied to Reconfigurable Flight Control Design

    Hess, R. A.; Wells, S. R.; Bacon, Barton (Technical Monitor)


    Sliding mode control is applied to the design of a flight control system capable of operating with limited bandwidth actuators and in the presence of significant damage to the airframe and/or control effector actuators. Although inherently robust, sliding mode control algorithms have been hampered by their sensitivity to the effects of parasitic unmodeled dynamics, such as those associated with actuators and structural modes. It is known that asymptotic observers can alleviate this sensitivity while still allowing the system to exhibit significant robustness. This approach is demonstrated. The selection of the sliding manifold as well as the interpretation of the linear design that results after introduction of a boundary layer is accomplished in the frequency domain. The design technique is exercised on a pitch-axis controller for a simple short-period model of the High Angle of Attack F-18 vehicle via computer simulation. Stability and performance is compared to that of a system incorporating a controller designed by classical loop-shaping techniques.

  10. Simplified microprocessor design for VLSI control applications

    Cameron, K.


    A design technique for microprocessors combining the simplicity of reduced instruction set computers (RISC's) with the richer instruction sets of complex instruction set computers (CISC's) is presented. They utilize the pipelined instruction decode and datapaths common to RISC's. Instruction invariant data processing sequences which transparently support complex addressing modes permit the formulation of simple control circuitry. Compact implementations are possible since neither complicated controllers nor large register sets are required.

  11. Controller Design Of Unicycle Mobile Robot

    Mohd Zamzuri Abd Rashid


    Full Text Available ABSTRACT: The ability of unicycle mobile robot to stand and move around using one wheel has attracted a lot of researchers to conduct studies about the system, particularly in the design of the system mechanisms and the control strategies. This paper reports the investigation done on the design of the controller of the unicycle mobile robot system to maintain its stability in both longitudinal and lateral directions. The controller proposed is a Linear Quadratic Controller (LQR type which is based on the linearized model of the system. A thorough simulation studies have been carried out to find out the performance of the LQR controller. The best controller gain, K acquired through the simulation is selected to be implemented and tested in the experimental hardware. Finally, the results obtained from the experimental study are compared to the simulation results to study the controller efficacy. The analysis reveals that the proposed controller design is able to stabilize the unicycle mobile robot.ABSTRAK: Kemampuan robot satu roda untuk berdiri dan bergerak di sekitar telah menarik minat ramai penyelidik untuk mengkaji sistem robot terutamanya didalam bidang rangka mekanikal dan strategi kawalan robot. Kertas kajian ini melaporkan hasil penyelidikan ke atas strategi kawalan robot bagi memastikan sistem robot satu roda dapat distabilkan dari arah sisi dan hadapan. Strategi kawalan yang dicadang, menggunakan teknik kawalan kuadratik sejajar (Linear Quadratic Control yang berdasarkan model robot yang telah dipermudahkan. Kajian simulasi secara terperinci telah dijalankan bagi mengkaji prestasi strategi kawalan yang dicadangkan. Dari kajian simulasi sistem robot, pemilihan faktor konstan, K yang sesuai di dalam strategi kawalan telah dibuat, agar dapat dilaksanakan ke atas sistem robot yang dibangunkan. Keputusan dari kajian simulasi dan tindak balas oleh sistem robot yang dibangunkan akhirnya dibandingkan bagi melihat kesesuaian faktor kostan, K

  12. Design of Threshold Controller Based Chaotic Circuits

    Mohamed, I. Raja; Murali, K.; Sinha, Sudeshna


    We propose a very simple implementation of a second-order nonautonomous chaotic oscillator, using a threshold controller as the only source of nonlinearity. We demonstrate the efficacy and simplicity of our design through numerical and experimental results. Further, we show that this approach of ...

  13. Analysis, Control and Design of Walking Robots

    van Oort, Gijs


    In this thesis five research questions are discussed that are related to the development of two-legged (bipedal) walking robots. The research questions are categorized in three main topics: analysis, control and actuation and design. The research questions are: - How can we analyze the behavior of a

  14. Design of POLCA material control systems

    Riezebos, J.


    POLCA is a material control system designed for make-to-order or engineer-to-order companies. These firms have to cope with a high variety of customised products, and strong pressure to provide short throughput times. POLCA constrains the amount of work in progress on the shop floor in order to achi

  15. Main Strategies for Autonomous Robotic Controller Design

    Paterega, I.


    This review gives an overall introduction to the artificial evolution mechanism. It presents the main strategies for robotic controller design. It gives a review of the pertinent literature, focusing on approaches that use neural networks, evolutionary computing, and fuzzy logic. Various applications of artificial evolution in robotics are surveyed and classified.

  16. Agile Design of Sewer System Control

    Van Nooijen, R.P.; Kolechkina, A.G.; Van Leeuwen, P.E.R.M.; Van Velzen, E.


    We describe the first part of an attempt to include stakeholder participation in the design of a central automatic controller for a sewer system in a small pilot project (five subcatchments) and present lessons learned so far. The pilot is part of a project aimed at the improvement of water quality

  17. Design of POLCA material control systems

    Riezebos, J.


    POLCA is a material control system designed for make-to-order or engineer-to-order companies. These firms have to cope with a high variety of customised products, and strong pressure to provide short throughput times. POLCA constrains the amount of work in progress on the shop floor in order to

  18. Controller design approach based on linear programming.

    Tanaka, Ryo; Shibasaki, Hiroki; Ogawa, Hiromitsu; Murakami, Takahiro; Ishida, Yoshihisa


    This study explains and demonstrates the design method for a control system with a load disturbance observer. Observer gains are determined by linear programming (LP) in terms of the Routh-Hurwitz stability criterion and the final-value theorem. In addition, the control model has a feedback structure, and feedback gains are determined to be the linear quadratic regulator. The simulation results confirmed that compared with the conventional method, the output estimated by our proposed method converges to a reference input faster when a load disturbance is added to a control system. In addition, we also confirmed the effectiveness of the proposed method by performing an experiment with a DC motor.

  19. Basic design of beamline and polarization control


    The basic concept of synchrotron radiation beamlines for vacuum ultraviolet and X-ray experiments has been introduced to beginning users and designers of beamlines. The beamline defined here is composed of a front end,pre-mirrors, and a monochromator with refocusing mirrors, which are connected by beam pipes, providing monochromatic light for the experiments. Firstly, time characteristics of the synchrotron radiation are briefly reviewed.Secondly, the basic technology is introduced as the fundamental knowledge required to both users and designers. The topics are photoabsorption by air and solids, front ends and beam pipes, mirrors, monochromators, and filters. Thirdly,the design consideration is described mainly for the designers. The topics are design principle, principle of ray tracing,optical machinery and control, and vacuum. Fourthly, polarization control is considered. The topics are polarizers,polarization diagnosis of beamline, and circularly-polarized light generation. Finally, a brief summary is given introducing some references for further knowledge of the users and the designers.

  20. Designing MPC controllers by reverse-engineering existing LTI controllers

    Hartley, Edward N


    This technical report presents a method for designing a constrained output-feedback model predictive controller (MPC) that behaves in the same way as an existing baseline stabilising linear time invariant output-feedback controller when constraints are inactive. The baseline controller is cast into an observer-compensator form and an inverse-optimal cost function is used as the basis of the MPC controller. The available degrees of design freedom are explored, and some guidelines provided for the selection of an appropriate observer-compensator realisation that will best allow exploitation of the constraint-handling and redundancy management capabilities of MPC. Consideration is given to output setpoint tracking, and the method is demonstrated with three different multivariable plants of varying complexity.

  1. Design of Dependable Control System Using a Component Based Approach

    Blanke, M.


    Design of fault handling in control systems is discussed and a consistent method for design is presented.......Design of fault handling in control systems is discussed and a consistent method for design is presented....

  2. Implementation of Echo in Monopulse Radar Simulation System%单脉冲雷达仿真系统中回波的实现



    单脉冲雷达仿真系统中,建立回波的数学模型是实现回波信号模拟的关键.在分析雷达回波相关特性的基础上,给出了回波的数学模型,并实现了逼真的雷达回波信号的模拟.%In Monopulse radar simulation system, the key to building mathematics model of echo is implementation of echo signal simulation. In this paper ,we give the mathematics model of echo based on analyzing correlated character of radar echo, and implement realistic simulation of radar echo signal.

  3. CV controls from design to operation

    Blanc, D


    The cooling and Ventilation (CV) group has emphasised the need to redefine its organisational structure at the end of 98. The main objective of this operation was to ensure the CV group to be more competitive and efficient through the growing tasks of the LHC projects. The main evolution given to this reorganisation is that the new structure is more project oriented and then operates on three distinct axes: Design, Work and Operation. Process control project management requires a complete and early interaction and participation of all the actors involved. This procedure to be efficient and constructive must be considered and performed not only during the design stage but along the project planning phases and must go beyond the completion work including the process control operation activity. The paper explains the present project management for process control. It describes the present constraints and gives suggestions to a different approach to these projects to improve performances and efficiency of a contr...

  4. System identification for robust control design

    Dohner, J.L.


    System identification for the purpose of robust control design involves estimating a nominal model of a physical system and the uncertainty bounds of that nominal model via the use of experimentally measured input/output data. Although many algorithms have been developed to identify nominal models, little effort has been directed towards identifying uncertainty bounds. Therefore, in this document, a discussion of both nominal model identification and bounded output multiplicative uncertainty identification will be presented. This document is divided into several sections. Background information relevant to system identification and control design will be presented. A derivation of eigensystem realization type algorithms will be presented. An algorithm will be developed for calculating the maximum singular value of output multiplicative uncertainty from measured data. An application will be given involving the identification of a complex system with aliased dynamics, feedback control, and exogenous noise disturbances. And, finally, a short discussion of results will be presented.

  5. Sun Safe Mode Controller Design for LADEE

    Fusco, Jesse C.; Swei, Sean S. M.; Nakamura, Robert H.


    This paper presents the development of sun safe controllers which are designed to keep the spacecraft power positive and thermally balanced in the event an anomaly is detected. Employed by NASA's Lunar Atmosphere and Dust Environment Explorer (LADEE), the controllers utilize the measured sun vector and the spacecraft body rates for feedback control. To improve the accuracy of sun vector estimation, the least square minimization approach is applied to process the sensor data, which is proven to be effective and accurate. To validate the controllers, the LADEE spacecraft model engaging the sun safe mode was first simulated and then compared with the actual LADEE orbital fight data. The results demonstrated the applicability of the proposed sun safe controllers.

  6. Automated design of controlled diffusion blades

    Sanz, Jose M.


    A numerical automation procedure was developed to be used in conjunction with an inverse hodograph method for the design of controlled diffusion blades. With this procedure a cascade of airfoils with a prescribed solidity, inlet Mach No., inlet air flow angle and air flow turning can be produced automatically. The trailing edge thickness of the airfoil, an important quantity in inverse methods, is also prescribed. The automation procedure consists of a multi-dimensional Newton iteration in which the objective design conditions are achieved by acting on the hodograph input parameters of the underlying inverse code. The method, although more general in scope, is applied to the design of axial flow turbomachinery blade sections, both compressors and turbines. A collaborative effort with U.S. Engine Companies to identify designs of interest to the industry will be described.

  7. HETDEX tracker control system design and implementation

    Beno, Joseph H.; Hayes, Richard; Leck, Ron; Penney, Charles; Soukup, Ian


    To enable the Hobby-Eberly Telescope Dark Energy Experiment, The University of Texas at Austin Center for Electromechanics and McDonald Observatory developed a precision tracker and control system - an 18,000 kg robot to position a 3,100 kg payload within 10 microns of a desired dynamic track. Performance requirements to meet science needs and safety requirements that emerged from detailed Failure Modes and Effects Analysis resulted in a system of 13 precision controlled actuators and 100 additional analog and digital devices (primarily sensors and safety limit switches). Due to this complexity, demanding accuracy requirements, and stringent safety requirements, two independent control systems were developed. First, a versatile and easily configurable centralized control system that links with modeling and simulation tools during the hardware and software design process was deemed essential for normal operation including motion control. A second, parallel, control system, the Hardware Fault Controller (HFC) provides independent monitoring and fault control through a dedicated microcontroller to force a safe, controlled shutdown of the entire system in the event a fault is detected. Motion controls were developed in a Matlab-Simulink simulation environment, and coupled with dSPACE controller hardware. The dSPACE real-time operating system collects sensor information; motor commands are transmitted over a PROFIBUS network to servo amplifiers and drive motor status is received over the same network. To interface the dSPACE controller directly to absolute Heidenhain sensors with EnDat 2.2 protocol, a custom communication board was developed. This paper covers details of operational control software, the HFC, algorithms, tuning, debugging, testing, and lessons learned.

  8. Design of Air Traffic Control Operation System

    Gabriela STROE


    Full Text Available This paper presents a numerical simulation for a different aircraft, based on the specific aircraft data that can be incorporated in the model and the equations of motions which can be consequently solved. The aircraft flight design involves various technical steps and requires the use of sophisticated software having modeling and simulation capabilities. Within the flight simulation model, the aerodynamic model can be regarded as the most complex and most important. With appropriate aerodynamic modeling the aerodynamic forces and moments acting on the aircraft's center of gravity can be numerically solved with accuracy. These forces and moments are further used to solve the equations of motion. The development of control and computing technology makes it possible for advanced flight control strategy. The advanced control techniques tend to make the control design and their implementation much more complicated with more control loops or channels; in this line, the autopilot of modern aircrafts includes a variety of automatic control systems that aid and support the flight navigation, flight management, and perform the enhancing and/or augmenting of the stability characteristics of the airplane. Therefore in this context it is very important to choose the dynamic that will satisfy the performance and robustness specifications.

  9. Design of PI Controllers for Hydraulic Control Systems

    LJubiša Dubonjić


    Full Text Available The paper proposes a procedure for design of PI controllers for hydraulic systems with long transmission lines which are described by models of high order. Design is based on the combination of the IE criterion and engineering specifications (settling time and relative stability as well as on the application of D-decomposition. In comparison with some known results, the method is of graphical character, and it is very simple (solving nonlinear algebraic equations is eliminated. The paper presents the algorithm of software procedure for design of the controller. The method is compared with other methods at the level of simulation, and its superiority is shown. By applying the Nyquist criterion, it is shown that the method possesses robustness in relation to non modelled dynamics.

  10. The design of image stabilization control system

    Lin, Zhe; Wu, Chunnan; Yu, Fei; Kang, Xiaojun


    For high resolution satellite remote sensing cameras, the line of sight (LOS) moving during the image exposure period will cause the modulation transfer function (MTF) degradation and image blurring. Image stabilization component is used to improve image quality by actively removing the apparent motion induced by vibration, tracking error and attitude instability. In this paper, the image stabilization component is considered as a kind of closed loop servo control system, and the image stabilization effect is converted into servo control performance for research. Firstly, the image stabilization servo loop scheme and transfer function model are constructed and the LOS jitter is considered as the output of a stochastic system derived by white-Gaussian noise. Based on the proposed model, the demand boundary of jitter rejection function is described, and the design criterion to be satisfied is obtained according to the requirement of image stabilization performance. And then, a discrete Kalman estimation algorithm is introduced into image stabilization servo loop to filter out the noise caused by pixel-shift sensor (PSS) and compensate for the delay due to the PSS measurement. Based on the given design criterion, the control law is designed by using the output of Kalman filter. The computer simulation is achieved to show that the proposed control strategy can significantly improve the image stabilization performance.

  11. Quantitative resilience analysis through control design.

    Sunderland, Daniel; Vugrin, Eric D.; Camphouse, Russell Chris (Sandia National Laboratories, Carlsbad, NM)


    Critical infrastructure resilience has become a national priority for the U. S. Department of Homeland Security. System resilience has been studied for several decades in many different disciplines, but no standards or unifying methods exist for critical infrastructure resilience analysis. Few quantitative resilience methods exist, and those existing approaches tend to be rather simplistic and, hence, not capable of sufficiently assessing all aspects of critical infrastructure resilience. This report documents the results of a late-start Laboratory Directed Research and Development (LDRD) project that investigated the development of quantitative resilience through application of control design methods. Specifically, we conducted a survey of infrastructure models to assess what types of control design might be applicable for critical infrastructure resilience assessment. As a result of this survey, we developed a decision process that directs the resilience analyst to the control method that is most likely applicable to the system under consideration. Furthermore, we developed optimal control strategies for two sets of representative infrastructure systems to demonstrate how control methods could be used to assess the resilience of the systems to catastrophic disruptions. We present recommendations for future work to continue the development of quantitative resilience analysis methods.

  12. Evaluation of Design Methods for Geometric Control

    Kymmel, Mogens; Beran, M.; Foldager, L.;


    Geometric control can produce desirable control by decoupling the input disturbances from the selected output variables. The basic principle for this method was originally introduced by Wonham. The mathematical complexity involved, however, makes the method very hard to get accepted by the chemical...... community. The paper evaluates Wonham's original method together with three other methods, i.e. eigenvalue/eigenvector methods by Shah et al, the graph theory by Schizas and Evans and the simplified method by Kümmel et al. The evaluation considers the basic potential of the methods, the prerequisite...... of the designer, transparency, computer demand, and potential for pole shift....

  13. Designer's handbook of instrumentation and control circuits

    Carr, Joseph J


    Here is a comprehensive, practical guide to the entire process of analog instrumentation and control, from sensor input to data conversion circuitry and final output. This readable handbook avoids complex mathematical treatments, instead taking an applications-oriented approach and presenting many sample circuits and concrete examples. It is an essential reference for engineers and high-level technicians in a variety of scientific and engineering fields--anywhere data is collected electronically and where such data is used to control physical processes.Key Features* Covers design o

  14. Design and control of swarm dynamics

    Bouffanais, Roland


    The book is about the key elements required for designing, building and controlling effective artificial swarms comprised of multiple moving physical agents. Therefore this book presents the fundamentals of each of those key elements in the particular frame of dynamic swarming, specifically exposing the profound connections between these elements and establish some general design principles for swarming behaviors. This scientific endeavor requires an inter-disciplinary approach: biomimetic inspiration from ethology and ecology, study of social information flow, analysis of temporal and adaptive signaling network of interaction, considerations of control of networked real-time systems, and lastly, elements of complex adaptive dynamical systems. This book offers a completely new perspective on the scientific understanding of dynamic collective behaviors thanks to its multi-disciplinary approach and its focus on artificial swarm of physical agents. Two of the key problems in understanding the emergence of swarm ...

  15. Hospital design for better infection control

    Lateef Fatimah


    Full Text Available The physical design and infrastructure of a hospital or institution is an essential component of its infection control measure. Thus is must be a prerequisite to take these into consideration from the initial conception and planning stages of the building. The balance between designing a hospital to be an open, accessible and public place and the control to reduce the spread of infections diseases is a necessity. At Singapore General Hospital, many lessons were learnt during the SARS outbreak pertaining to this. During and subsequent to the SARS outbreak, many changes evolved in the hospital to enable us to handle and face any emerging infectious situation with calm, confidence and the knowledge that staff and patients will be in good stead. This paper will share some of our experiences as well as challenges

  16. Automated design of controlled-diffusion blades

    Sanz, J. M.


    A numerical automation procedure has been developed to be used in conjunction with an inverse hodograph method for the design of controlled diffusion blades. With this procedure a cascade of airfoils with a prescribed solidity, inlet Mach number, inlet air flow angle, and air flow turning can be produced automatically. The trailing edge thickness of the airfoil, an important quantity in inverse methods, is also prescribed. The automation procedure consists of a multidimensional Newton iteration in which the objective design conditions are achieved by acting on the hodograph input parameters of the underlying inverse code. The method, although more general in scope, is applied in this paper to the design of axial flow compressor blade sections, and a wide range of examples is presented.

  17. Computational Methods for Design, Control and Optimization


    34scenario" that applies to channel flows ( Poiseuille flows , Couette flow ) and pipe flows . Over the past 75 years many complex "transition theories" have...other areas of flow control, optimization and aerodynamic design. approximate sensitivity calculations and optimization codes. The effort was built on a...for fluid flow problems. The improved robustness and computational efficiency of this approach makes it practical for a wide class of problems. The

  18. Controller Design Considerations for ACM APFC Systems

    Alexander Abramovitz


    Full Text Available This paper is concerned with performance of the current shaping network in Average Current Mode (ACM Active Power Factor Correction (APFC systems. Theoretical expressions for the ripple components are derived. Then, ripple interaction and impact on the current loop reference signal are investigated. A modification of the controller network is suggested that results in an improved Total Harmonic Distortion (THD. Design guidelines are suggested. The theoretical predictions were validated by simulation.

  19. Advanced Control Design for Wind Turbines; Part I: Control Design, Implementation, and Initial Tests

    Wright, A. D.; Fingersh, L. J.


    The purpose of this report is to give wind turbine engineers information and examples of the design, testing through simulation, field implementation, and field testing of advanced wind turbine controls.

  20. Designing hydrogels for controlled drug delivery

    Li, Jianyu; Mooney, David J.


    Hydrogel delivery systems can leverage therapeutically beneficial outcomes of drug delivery and have found clinical use. Hydrogels can provide spatial and temporal control over the release of various therapeutic agents, including small-molecule drugs, macromolecular drugs and cells. Owing to their tunable physical properties, controllable degradability and capability to protect labile drugs from degradation, hydrogels serve as a platform on which various physiochemical interactions with the encapsulated drugs occur to control drug release. In this Review, we cover multiscale mechanisms underlying the design of hydrogel drug delivery systems, focusing on physical and chemical properties of the hydrogel network and the hydrogel-drug interactions across the network, mesh and molecular (or atomistic) scales. We discuss how different mechanisms interact and can be integrated to exert fine control in time and space over drug presentation. We also collect experimental release data from the literature, review clinical translation to date of these systems and present quantitative comparisons between different systems to provide guidelines for the rational design of hydrogel delivery systems.

  1. Design of computer controlled combustion engines

    Isermann, R.; Mueller, N. [Darmstadt University of Technology (Germany). Inst. of Automatic Control


    Globalization and growing new markets, as well as increasing emission and fuel consumption requirements, force the car manufacturers and their suppliers to develop new engine control strategies in shorter time periods. This can mainly be reached by development tools and an integrated hardware and software environment enabling rapid implementation and testing of advanced engine control algorithms. The structure of a rapid control prototyping (RCP) system is explained, which allows fast measurement signal evaluation, and rapid prototyping of advanced engine control algorithms. A hardware-in-the-loop simulator for diesel engine control design is illustrated, simulation results for a 40 tons truck are presented. Providing efficient engine models for the proposed development tools, a dynamic local linear neural network approach is explained and applied for modelling the NO{sub x} emission characteristics of a 1.9 1 direct injection diesel engine. Furthermore the application of a RCP system is exemplified by the application of combustion pressure based closed-loop ignition timing control for a SI engine. Experimental results are shown for a 1.01 SI engine on a dynamic engine test stand. (author)

  2. Design of Controller for New EAST Fast Control Power Supply

    HUANG Haihong; YIN Ming; WANG Haixin


    The effectiveness of the magnetic confinement of plasma can be improved by elongating the plasma cross-section in tokamak devices.But elongated plasma has vertical displacement instability,so a feedback control system is needed to restrain the plasma's vertical displacement.A fast control power supply is needed to excite the active feedback coils,which produces a magnetic field to control the plasma's displacement.With the development of EAST,the fast control power supply needs to keep on enhancing the fast response and output current.The structure of a new power supply is introduced in this paper.The method of multiple inverters paralleled with the current sharing reactor is presented to meet the need for large current and fast control.According to the design demands of the EAST fast control power supply,the adjuster of the current close loop is applied to the inverter,which can advance its ability to restrain the loop current in low frequency and DC output.The result of the experiment confirms the validity of the proposed scheme and control strategy.

  3. Solar Power Station Output Inverter Control Design

    J. Bauer


    Full Text Available The photovoltaic applications spreads in these days fast, therefore they also undergo great development. Because the amount of the energy obtained from the panel depends on the surrounding conditions, as intensity of the sun exposure or the temperature of the solar array, the converter must be connected to the panel output. The Solar system equipped with inverter can supply small loads like notebooks, mobile chargers etc. in the places where the supplying network is not present. Or the system can be used as a generator and it shall deliver energy to the supply network. Each type of the application has different requirements on the converter and its control algorithm. But for all of them the one thing is common – the maximal efficiency. The paper focuses on design and simulation of the low power inverter that acts as output part of the whole converter. In the paper the design of the control algorithm of the inverter for both types of inverter application – for islanding mode and for operation on the supply grid – is discussed. Attention is also paid to the design of the output filter that should reduce negative side effects of the converter on the supply network.

  4. MAP Attitude Control System Design and Analysis

    Andrews, S. F.; Campbell, C. E.; Ericsson-Jackson, A. J.; Markley, F. L.; ODonnell, J. R., Jr.


    The Microwave Anisotropy Probe (MAP) is a follow-on to the Differential Microwave Radiometer (DMR) instrument on the Cosmic Background Explorer (COBE) spacecraft. The MAP spacecraft will perform its mission in a Lissajous orbit around the Earth-Sun L(sub 2) Lagrange point to suppress potential instrument disturbances. To make a full-sky map of cosmic microwave background fluctuations, a combination fast spin and slow precession motion will be used. MAP requires a propulsion system to reach L(sub 2), to unload system momentum, and to perform stationkeeping maneuvers once at L(sub 2). A minimum hardware, power and thermal safe control mode must also be provided. Sufficient attitude knowledge must be provided to yield instrument pointing to a standard deviation of 1.8 arc-minutes. The short development time and tight budgets require a new way of designing, simulating, and analyzing the Attitude Control System (ACS). This paper presents the design and analysis of the control system to meet these requirements.

  5. On the design of chemical processes with improved controllability characteristics

    Meeuse, F.M.


    Traditionally, process design and control system design are carried out sequentially. The premise underlying this sequential approach is that the decisions made in the process design phase do not limit the control design. However, it is generally known that incongruent designs can occur quite easily. In the literature two different classes of approaches are being described that consider the control performance of the design alternatives from the earliest design stages: (i) Anticipating sequen...

  6. Conceptual design report for site drainage control

    Hunter, M.R.


    The Mound Plant (Mound), located in Miamisburg, Ohio, is a Department of Energy (DOE) development and production facility performing support work for DOE`s weapons and energy-related programs. EG&G Mound Applied Technologies, Inc. (EG&G) is the Operating Contractor (OC) for this Government-Owned, Contractor-Operated (GOCO) facility. The work performed at Mound emphasizes nuclear energy and explosives technology. Mound is currently implementing an Environmental, Safety & Health (ES&H) Upgrades Program designed to protect its employees, the public, and the environment from adverse effects caused by facility activities. The first project of this multiphase program is now in the final stages of construction, and the second project is currently under design. Four additional projects, one of which is presented in this report, are in the conceptual design stage. At Mound, 22 soil zones have become contaminated with radioactive material. These zones cover approximately 20 percent of the total area of developed property at the site. During a storm event, the rainwater washes contaminated soil from these zones into the storm sewer system. These radioactive contaminants may then be discharged along with the stormwater into the Great Miami River via the Miami Erie Canal. This conceptual design report (CDR), Site Drainage Control, the fourth project in the ES&H program, describes a project that will provide improvements and much needed repairs to inadequate and deteriorating portions of the storm drainage system on the developed property. The project also will provide a stormwater retention facility capable of storing the stormwater runoff, from the developed property, resulting from a 100-year storm event. These improvements will permit the effective control and monitoring of stormwater to prevent the spread of radioactive contaminants from contaminated soil zones and will provide a means to collect and contain accidental spills of hazardous substances.

  7. Design, fabrication and control of soft robots

    Rus, Daniela; Tolley, Michael T.


    Conventionally, engineers have employed rigid materials to fabricate precise, predictable robotic systems, which are easily modelled as rigid members connected at discrete joints. Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies. Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates such as humans achieve dynamic gaits by storing elastic energy in their compliant bones and soft tissues. Inspired by nature, engineers have begun to explore the design and control of soft-bodied robots composed of compliant materials. This Review discusses recent developments in the emerging field of soft robotics.

  8. Design, fabrication and control of soft robots.

    Rus, Daniela; Tolley, Michael T


    Conventionally, engineers have employed rigid materials to fabricate precise, predictable robotic systems, which are easily modelled as rigid members connected at discrete joints. Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies. Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates such as humans achieve dynamic gaits by storing elastic energy in their compliant bones and soft tissues. Inspired by nature, engineers have begun to explore the design and control of soft-bodied robots composed of compliant materials. This Review discusses recent developments in the emerging field of soft robotics.

  9. Design of the MPRI Control System

    Collins, J C; Broderick, B; Katuin, J; Manwaring, W; Schreuder, N; Manwaring, Wm.


    The Indiana University Cyclotron Facility (IUCF) is in the process of building the Midwest Proton Radiation Institute (MPRI). This involves refurbishing the 200MeV cyclotron and building new facilities for the purpose of providing clinical treatment of human cancer tumors. First patients are expected in the Spring of 2003. This paper presents the design and implementation to date of the controls, hardware and software, for both accelerator and treatment areas. Particular attention is placed on issues of personnel safety and control system security, development of inexpensive VMEbus boards with emphasis on the use of MicroChip PIC processors, beam diagnostics and monitoring and the use of commercial robots and vision systems for patient positioning.

  10. Method for designing and controlling compliant gripper

    Spanu, A. R.; Besnea, D.; Avram, M.; Ciobanu, R.


    The compliant grippers are useful for high accuracy grasping of small objects with adaptive control of contact points along the active surfaces of the fingers. The spatial trajectories of the elements become a must, due to the development of MEMS. The paper presents the solution for the compliant gripper designed by the authors, so the planar and spatial movements are discussed. At the beginning of the process, the gripper could work as passive one just for the moment when it has to reach out the object surface. The forces provided by the elements have to avoid the damage. As part of the system, the camera is taken picture of the object, in order to facilitate the positioning of the system. When the contact is established, the mechanism is acting as an active gripper by using an electrical stepper motor, which has controlled movement.

  11. Randomized controlled trials - a matter of design.

    Spieth, Peter Markus; Kubasch, Anne Sophie; Penzlin, Ana Isabel; Illigens, Ben Min-Woo; Barlinn, Kristian; Siepmann, Timo


    Randomized controlled trials (RCTs) are the hallmark of evidence-based medicine and form the basis for translating research data into clinical practice. This review summarizes commonly applied designs and quality indicators of RCTs to provide guidance in interpreting and critically evaluating clinical research data. It further reflects on the principle of equipoise and its practical applicability to clinical science with an emphasis on critical care and neurological research. We performed a review of educational material, review articles, methodological studies, and published clinical trials using the databases MEDLINE, PubMed, and The most relevant recommendations regarding design, conduction, and reporting of RCTs may include the following: 1) clinically relevant end points should be defined a priori, and an unbiased analysis and report of the study results should be warranted, 2) both significant and nonsignificant results should be objectively reported and published, 3) structured study design and performance as indicated in the Consolidated Standards of Reporting Trials statement should be employed as well as registration in a public trial database, 4) potential conflicts of interest and funding sources should be disclaimed in study report or publication, and 5) in the comparison of experimental treatment with standard care, preplanned interim analyses during an ongoing RCT can aid in maintaining clinical equipoise by assessing benefit, harm, or futility, thus allowing decision on continuation or termination of the trial.

  12. Total energy control system autopilot design with constrained parameter optimization

    Ly, Uy-Loi; Voth, Christopher


    A description is given of the application of a multivariable control design method (SANDY) based on constrained parameter optimization to the design of a multiloop aircraft flight control system. Specifically, the design method is applied to the direct synthesis of a multiloop AFCS inner-loop feedback control system based on total energy control system (TECS) principles. The design procedure offers a structured approach for the determination of a set of stabilizing controller design gains that meet design specifications in closed-loop stability, command tracking performance, disturbance rejection, and limits on control activities. The approach can be extended to a broader class of multiloop flight control systems. Direct tradeoffs between many real design goals are rendered systematic by proper formulation of the design objectives and constraints. Satisfactory designs are usually obtained in few iterations. Performance characteristics of the optimized TECS design have been improved, particularly in the areas of closed-loop damping and control activity in the presence of turbulence.

  13. On the design of chemical processes with improved controllability characteristics

    Meeuse, F.M.


    Traditionally, process design and control system design are carried out sequentially. The premise underlying this sequential approach is that the decisions made in the process design phase do not limit the control design. However, it is generally known that incongruent designs can occur quite

  14. On the design of chemical processes with improved controllability characteristics

    Meeuse, F.M.


    Traditionally, process design and control system design are carried out sequentially. The premise underlying this sequential approach is that the decisions made in the process design phase do not limit the control design. However, it is generally known that incongruent designs can occur quite easily

  15. Status of a UAVSAR designed for repeat pass interferometry for deformation measurements

    Hensley, Scott; Wheeler, Kevin; Sadowy, Greg; Miller, Tim; Shaffer, Scott; Muellerschoen, Ron; Jones, Cathleen; Zebker, Howard; Madsen, Soren; Paul, Rose


    NASA's Jet Propulsion Laboratory is currently implementing a reconfigurable polarimetric L-band synthetic aperture radar (SAR), specifically designed to acquire airborne repeat track interferometric (RTI) SAR data, also known as differential interferometric measurements. Differential interferometry can provide key deformation measurements, important for the scientific studies of Earthquakes and volcanoes. Using precision real-time GPS and a sensor controlled flight management system, the system will be able to fly predefined paths with great precision. The expected performance of the flight control system will constrain the flight path to be within a 10 m diameter tube about the desired flight track. The radar wilI be designed to operate on a UAV (Unpiloted Aria1 Vehicle) but will initially be demonstrated on a minimally piloted vehicle (MPV), such as the Proteus buitt by Scaled Composites or on a NASA Gulfstream III. The radar design is a fully polarimetric with an 80 MHz bandwidth (2 m range resolution) and 16 km range swath. The antenna is an electronically steered along track to assure that the actual antenna pointing can be controlled independent of the wind direction and speed. Other features supported by the antenna include an elevation monopulse option and a pulse-to-pulse resteering capability that will enable some novel modes of operation. The system will nominally operate at 45,000 ft (13800 m). The program began out as an Instrument Incubator Project (IIP) funded by NASA Earth Science and Technology Office (ESTO).

  16. Introduction to multicopter design and control

    Quan, Quan


    This book is the first textbook specially on multicopter systems in the world. It provides a comprehensive overview of multicopter systems, rather than focusing on a single method or technique. The fifteen chapters are divided into five parts, covering the topics of multicopter design, modeling, state estimation, control, and decision-making. It differs from other books in the field in three major respects: it is basic and practical, offering self-contained content and presenting hands-on methods; it is comprehensive and systematic; and it is timely. It is also closely related to the autopilot that users often employ today and provides insights into the code employed. As such, it offers a valuable resource for anyone interested in multicopters, including students, teachers, researchers, and engineers.

  17. Scheduled Controller Design of Congestion Control Considering Network Resource Constraints

    Naito, Hiroyuki; Azuma, Takehito; Fujita, Masayuki

    In this paper, we consider a dynamical model of computer networks and derive a synthesis method for congestion control. First, we show a model of TCP/AQM (Transmission Control Protocol/Active Queue Management) as a dynamical model of computer networks. The dynamical model of TCP/AQM networks consists of models of TCP window size, queue length and AQM mechanisms. Second, we propose to describe the dynamical model of TCP/AQM networks as linear systems with self-scheduling parameters, which also depend on information delay. Here we focus on the constraints on the maximum queue length and TCP window-size, which are the network resources in TCP/AQM networks. We derive TCP/AQM networks as the LPV system (linear parameter varying system) with information delay and self-scheduling parameter. We design a memoryless state feedback controller of the LPV system based on a gain-scheduling method. Finally, the effectiveness of the proposed method is evaluated by using MATLAB and the well-known ns-2 (Network Simulator Ver.2) simulator.

  18. Analysis and design of networked control systems

    You, Keyou; Xie, Lihua


    This monograph focuses on characterizing the stability and performance consequences of inserting limited-capacity communication networks within a control loop. The text shows how integration of the ideas of control and estimation with those of communication and information theory can be used to provide important insights concerning several fundamental problems such as: ·         minimum data rate for stabilization of linear systems over noisy channels; ·         minimum network requirement for stabilization of linear systems over fading channels; and ·         stability of Kalman filtering with intermittent observations. A fundamental link is revealed between the topological entropy of linear dynamical systems and the capacities of communication channels. The design of a logarithmic quantizer for the stabilization of linear systems under various network environments is also extensively discussed and solutions to many problems of Kalman filtering with intermittent observations are de...

  19. The design of traffic signal coordinated control

    Guo, Xueting; Sun, Hongsheng; Wang, Xifu


    Traffic as the tertiary industry is an important pillar industry to support the normal development of the economy. But now China's road traffic development and economic development has shown a great imbalance and fault phenomenon, which greatly inhibited the normal development of China's economy. Now in many large and medium-sized cities in China are implementing green belt construction. The so-called green band is when the road conditions to meet the conditions for the establishment of the green band, the sections of the intersection of several planning to a traffic coordination control system, so that when the driver at a specific speed can be achieved without stopping the continuous Through the intersection. Green belt can effectively reduce the delay and queuing length of vehicle driving, the normal function of urban roads and reduce the economic losses caused by traffic congestion is a great help. In this paper, the theoretical basis of the design of the coordinated control system is described. Secondly, the green time offset is calculated by the analytic method and the green band is established. And then the VISSIM software is used to simulate the traffic system before and after the improvement. Finally, the results of the two simulations are compared.

  20. Feedback Control Systems Loop Shaping Design with Practical Considerations

    Kopsakis, George


    This paper describes loop shaping control design in feedback control systems, primarily from a practical stand point that considers design specifications. Classical feedback control design theory, for linear systems where the plant transfer function is known, has been around for a long time. But it s still a challenge of how to translate the theory into practical and methodical design techniques that simultaneously satisfy a variety of performance requirements such as transient response, stability, and disturbance attenuation while taking into account the capabilities of the plant and its actuation system. This paper briefly addresses some relevant theory, first in layman s terms, so that it becomes easily understood and then it embarks into a practical and systematic design approach incorporating loop shaping design coupled with lead-lag control compensation design. The emphasis is in generating simple but rather powerful design techniques that will allow even designers with a layman s knowledge in controls to develop effective feedback control designs.

  1. A New Approach to Design of Dependable Control Systems

    Blanke, M.; Jørgensen, R.B.; Svavarsson, M.


    This paper presents a new method for design of fault handling as a supervisory part of a control system.......This paper presents a new method for design of fault handling as a supervisory part of a control system....

  2. A New Approach to Design of Dependable Control Systems

    Blanke, M.; Jørgensen, R.B.; Svavarsson, M.


    This paper presents a new method for design of fault handling as a supervisory part of a control system.......This paper presents a new method for design of fault handling as a supervisory part of a control system....

  3. Design package for programmable controller and hydronic subsystem


    Information used in the evaluation of design of Sunkeeper Control's electronic controllers and hydronic packages is discussed. This information includes system performance specifications, a design data brochure, drawings, and qualification and acceptance test procedures.

  4. West Valley transfer cart control system design description

    Bradley, E.C.; Crutcher, R.I.; Halliwell, J.W.; Hileman, M.S.; Moore, M.R.; Nodine, R.N.; Ruppel, F.R.; Vandermolen, R.I.


    Detail design of the control system for the West Valley Nuclear Services Vitrification Facility transfer cart has been completed by Oak Ridge National Laboratory. This report documents the requirements and describes the detail design of that equipment and control software. Copies of significant design documents including analysis and testing reports and design drawings are included in the Appendixes.

  5. Ometanje radarskih glava za samonavođenje amplitudno modulisanom metodom ometanja "cross eye" / Monopulse homing missile jamming with the amplitude modulated cross eye method

    Bojan Milanović


    Full Text Available U radu je prikazan uticaj metode ometanja "Cross eye" na uspešno vođenje rakete monoimpulsnom radarskom glavom za samonavođenje. Analiza dobijenih rezultata pokazala je: da se maksimalna greška određivanja položaja cilja postiže kada ometači emituju koherentne signale čija je fazna razlika 180°, da je greška veća što je međusobno rastojanje između antena ometača veće, da je, suprotno očekivanju, efikasnost ometanja veća što je rastojanje između ometača i rakete koja se ometa manje. / This article shows the effect of the "Cross eye" jamming method on successful guidance of monopulse homing missiles. The analysis of the results has shown that the maximal tracking error is made if the jamming signals are coherent and out of phase, that a larger distance between jamming antennas causes a greater error, and that, opposite to expectations, a smaller distance between the jammer and the missile results in better jamming effects.

  6. Electromagnetic Compatibility Design for Powertrain Control Module

    WANG Yu-ming; CUI Tao; LIU Bo-lan; ZHANG Fu-jun


    In order to improve the electromaagnetic compatibility of powertrain control module (PCM),a system procedure of vehicular PCM electromagnetic alteration is presented in this paper.First of all,the box of the PCM is divided into different cabins to eliminate interferences between power supply circuit,analog circuit and digital circuit.Secondly,the working principle and electromagnetic (EM) characters of all the signals adopted by a typical PCM are analyzed.Then according to specific electromagnetic characters,different measures are adopted in corresponding signal process circuits or signal transfer cables,such as ground layout designing,power supply protecting,signal shielding and drive cable interference suppressing.Finally,further improvement may also needed regarding to practical electromagnetic compatibility test effects.The final test shows that,with all the measures mentioned above,the conducted emission of a PCM can be reduced by 20 dB;meanwhile,the radiated emission can be reduced by 30 dB comparing to the original system.

  7. System design and control integration for advanced manufacturing

    Li, Han-Xiong


    Most existing robust design books address design for static systems, or achieve robust design from experimental data via the Taguchi method. Little work considers model information for robust design particularly for the dynamic system. This book covers robust design for both static and dynamic systems using the nominal model information or the hybrid model/data information, and also integrates design with control under a large operating region. This design can handle strong nonlinearity and more uncertainties from model and parameters.

  8. Design of saturated controllers for linear singular systems

    Wang Ruliang; Liu Yongqing


    A designing method is presented to find stabilizing saturated linear controllers for linear continuous time and discrete time singular systems with control constraints. The idea is as follows: The system is first stabilized by a low-gain linear state feedback control. A general Lyapunov function is found, on the basis of which another linear state feedback control is computed.The second step is very similar to a relay control design. The two controls are added and saturated.

  9. Mechanical Engineering Design Project report: Enabler control systems

    Cullen, Christian; Delvecchio, Dave; Scarborough, Alan; Havics, Andrew A.


    The Controls Group was assigned the responsibility for designing the Enabler's control system. The requirement for the design was that the control system must provide a simple user interface to control the boom articulation joints, chassis articulation joints, and the wheel drive. The system required controlling hydraulic motors on the Enabler by implementing 8-bit microprocessor boards. In addition, feedback to evaluate positions and velocities must be interfaced to provide the operator with confirmation as well as control.

  10. Autonomous underwater vehicles modeling, control design and simulation

    Wadoo, Sabiha


    Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simula

  11. Embedded Control System Design A Model Based Approach

    Forrai, Alexandru


    Control system design is a challenging task for practicing engineers. It requires knowledge of different engineering fields, a good understanding of technical specifications and good communication skills. The current book introduces the reader into practical control system design, bridging  the gap between theory and practice.  The control design techniques presented in the book are all model based., considering the needs and possibilities of practicing engineers. Classical control design techniques are reviewed and methods are presented how to verify the robustness of the design. It is how the designed control algorithm can be implemented in real-time and tested, fulfilling different safety requirements. Good design practices and the systematic software development process are emphasized in the book according to the generic standard IEC61508. The book is mainly addressed to practicing control and embedded software engineers - working in research and development – as well as graduate students who are face...

  12. Use of self-controlled designs in pharmacoepidemiology

    Hallas, J.; Pottegård, Anton


    Self-controlled observational study designs, such as the case-crossover design and the self-controlled case series, are reviewed, and their respective rationale, strengths and limitations are compared. Although no single design is generally superior to the others, they share the trait of being...... robust towards confounders that are stable over time. The self-controlled designs can be particularly useful when using secondary healthcare data for pharmacoepidemiological research and might be useful in screening for adverse drug effects. The main limitations of self-controlled designs...

  13. Optimal Tracking Controller Design for a Small Scale Helicopter

    Agus Budiyono; Singgih S. Wibowo


    A model helicopter is more difficult to control than its full scale counterpart. This is due to its greater sensitivity to control inputs and disturbances as well as higher bandwidth of dynamics. This work is focused on designing practical tracking controller for a small scale helicopter following predefined trajectories. A tracking controller based on optimal control theory is synthesized as a part of the development of an autonomous helicopter. Some issues with regards to control constraints are addressed.The weighting between state tracking performance and control power expenditure is analyzed. Overall performance of the control design is evaluated based on its time domain histories of trajectories as well as control inputs.

  14. Feedback control design for discrete-time piecewise affine systems

    XU Jun; XIE Li-hua


    This paper investigates the design of state feedback and dynamic output feedback stabilizing controllers for discrete-time piecewise affine (PWA) systems. The main objective is to derive design methods that will incorporate the partition information of the PWA systems so as to reduce the design conservatism embedded in existing design methods. We first introduce a transformation that converts the feedback control design problem into a bilinear matrix inequality (BMI) problem. Then, two iterative algorithms are proposed to compute the feedback controllers characterized by the BMI. Several simulation examples are given to demonstrate the advantages of the proposed design.

  15. Nonlinear Passive Control and Observer Design for Ships

    Thor Inge Fossen


    Full Text Available Starting with passivity of the ambient water-ship system this article proceeds with nonlinear observer design, design of dynamic ship positioning systems and weather optimal positioning control systems exploiting the passivity properties of the vessel and the surrounding water. The article gives an overview of methods for passive ship control and observer design.

  16. 10 CFR 71.107 - Package design control.


    ... 10 Energy 2 2010-01-01 2010-01-01 false Package design control. 71.107 Section 71.107 Energy... Assurance § 71.107 Package design control. (a) The licensee, certificate holder, and applicant for a CoC shall establish measures to assure that applicable regulatory requirements and the package design, as...

  17. Control-based operating system design

    Leva, Alberto; Papadopoulos, AV; Terraneo, F


    This book argues that computer operating system components should be conceived from the outset as controllers, synthesised and assessed in the system-theoretical world of dynamic models, and then realised as control algorithms.


    AKÇAYOL, M. Ali


    In this study, output voltage of automatic transformer-rectifier (TR) unit of impressed current cathodic protection has been controlled by using fuzzy logic controller. To prevent corrosion, voltage between the protection metal and the auxiliary anode has to be controlled on a desired level. Because soil resistance in the environment changes with humidity and soil characteristics, TRs must control the output voltage between protection metal and auxiliary anode automatically. In this study, a ...

  19. Cooperative adaptive cruise control: design and experiments

    Naus, G.; Vugts, R.; Ploeg, J.; Molengraft, R. van de; Steinbuch, M.


    The design of a CACC system and corresponding experiments are presented. The design targets string stable system behavior, which is assessed using a frequency-domain-based approach. Following this approach, it is shown that the available wireless information enables small inter-vehicle distances, wh

  20. Cooperative adaptive cruise control: design and experiments

    Naus, G.; Vugts, R.; Ploeg, J.; Molengraft, R. van de; Steinbuch, M.


    The design of a CACC system and corresponding experiments are presented. The design targets string stable system behavior, which is assessed using a frequency-domain-based approach. Following this approach, it is shown that the available wireless information enables small inter-vehicle distances, wh

  1. LMI–based robust controller design approach in aircraft multidisciplinary design optimization problem

    Qinghua Zeng


    Full Text Available This article proposes a linear matrix inequality–based robust controller design approach to implement the synchronous design of aircraft control discipline and other disciplines, in which the variation in design parameters is treated as equivalent perturbations. Considering the complicated mapping relationships between the coefficient arrays of aircraft motion model and the aircraft design parameters, the robust controller designed is directly based on the variation in these coefficient arrays so conservative that the multidisciplinary design optimization problem would be too difficult to solve, or even if there is a solution, the robustness of design result is generally poor. Therefore, this article derives the uncertainty model of disciplinary design parameters based on response surface approximation, converts the design problem of the robust controller into a problem of solving a standard linear matrix inequality, and theoretically gives a less conservative design method of the robust controller which is based on the variation in design parameters. Furthermore, the concurrent subspace approach is applied to the multidisciplinary system with this kind of robust controller in the design loop. A multidisciplinary design optimization of a tailless aircraft as example is shown that control discipline can be synchronous optimal design with other discipline, especially this method will greatly reduce the calculated amount of multidisciplinary design optimization and make multidisciplinary design optimization results more robustness of flight performance.



    The problem of analysis and synthesis of robust control is addressed in this work. The approach transferring the robust control design into Linear Matrix Inequality(LMI) is provided. The LMI standard structure of robust controller is also given and the controller is obtained through solving three LMIs. As an example, a robust control law is designed to the twin-spool turbojet engine system using the given approach. The result shows that LMI approach is feasible.

  3. Flight Control Design for a Tailless Aircraft Using Eigenstructure Assignment

    Clara Nieto-Wire; Kenneth Sobel


    We apply eigenstructure assignment to the design of a flight control system for a wind tunnel model of a tailless aircraft. The aircraft, known as the innovative control effectors (ICEs) aircraft, has unconventional control surfaces plus pitch and yaw thrust vectoring. We linearize the aircraft in straight and level flight at an altitude of 15,000 feet and Mach number 0.4. Then, we separately design flight control systems for the longitudinal and lateral dynamics. We use a control allocation ...

  4. Modelling and Control Design of Unified Power Flow Controller for Various Control Strategies

    T. Nireekshana


    Full Text Available Unified Power Flow Controller (UPFC is used to control the power flow in the transmission systems by controlling the impedance, voltage magnitude and phase angle. This controller offers advantages in terms of static and dynamic operation of the power system. It also brings in new challenges in power electronics and power system design. The basic structure of the UPFC consists of two voltage source inverter (VSI; where one converter is connected in parallel to the transmission line while the other is in series with the transmission line. The aim of the paper is to develop a control strategy for UPFC, modeling UPFC using MATLAB/SIMULINK and to analyze the control strategy to use the series voltage injection and shunt current injection for UPFC control. To simplify the design procedure we carry out the design for the series and shunt branches separately.In each case, a simple equivalent circuit represents the external system. The design has to be validated when the various subsystems are integrated.

  5. FPGA Fuzzy Controller Design for Magnetic Ball Levitation

    Basil Hamed


    Full Text Available this paper presents a fuzzy controller design for nonlinear system using FPGA. A magnetic levitation system is considered as a case study and the fuzzy controller is designed to keep a magnetic object suspended in the air counteracting the weight of the object. Fuzzy controller will be implemented using FPGA chip. The design will use a high-level programming language HDL for implementing the fuzzy logic controller using the Xfuzzy tools to implement the fuzzy logic controller into HDL code. This paper, advocates a novel approach to implement the fuzzy logic controller for magnetic ball levitation system by using FPGA.

  6. Design of Controllers for Continuous Stirred Tank Reactor

    Somasundaram Deepa


    Full Text Available The objective of the project is to design various controllers for temperature control in Continuous Stirred Tank Reactor (CSTR systems. Initially Zeigler-Nichols, modified Zeigler-Nichols, Tyreus-Luyben, Shen-Yu and IMC based method of tuned Proportional Integral (PI controller is designed and comparisons are made with Fuzzy Logic Controller. Simulations are carried out and responses are obtained for the above controllers. Maximum peak overshoot, Settling time, Rise time,  ISE, IAE  are chosen as performance index. From the analysis it is found that the Fuzzy Logic Controller  is a promising controller than the conventional controllers.

  7. Automatic control system design of laser interferometer

    Lu, Qingjie; Li, Chunjie; Sun, Hao; Ren, Shaohua; Han, Sen


    There are a lot of shortcomings with traditional optical adjustment in interferometry, such as low accuracy, time-consuming, labor-intensive, uncontrollability, and bad repetitiveness, so we treat the problem by using wireless remote control system. Comparing to the traditional method, the effect of vibration and air turbulence will be avoided. In addition the system has some peculiarities of low cost, high reliability and easy operation etc. Furthermore, the switching between two charge coupled devices (CCDs) can be easily achieved with this wireless remote control system, which is used to collect different images. The wireless transmission is achieved by using Radio Frequency (RF) module and programming the controller, pulse width modulation (PWM) of direct current (DC) motor, real-time switching of relay and high-accuracy displacement control of FAULHABER motor are available. The results of verification test show that the control system has good stability with less than 5% packet loss rate, high control accuracy and millisecond response speed.

  8. Project Design Concept for Monitoring and Control System

    MCGREW, D.L.


    This Project Design Concept represents operational requirements established for use in design the tank farm Monitoring and Control System. These upgrades are included within the scope of Project W-314, Tank Farm Restoration and Safe Operations.

  9. Fault tolerant control design for hybrid systems

    Yang, Hao; Jiang, Bin [Nanjing University of Aeronautics and Astronautics, Nanjing (China); Cocquempot, Vincent [Universite des Sciences et Technologies de Lille, Villeneuve d' Ascq (France)


    This book intends to provide the readers a good understanding on how to achieve Fault Tolerant Control goal of Hybrid Systems. The book can be used as a reference for the academic research on Fault Tolerant Control and Hybrid Systems or used in Ph.D. study of control theory and engineering. The knowledge background for this monograph would be some undergraduate and graduate courses on Fault Diagnosis and Fault Tolerant Control theory, linear system theory, nonlinear system theory, Hybrid Systems theory and Discrete Event System theory. (orig.)

  10. Fast Algorithms for Hybrid Control System Design


    Controls for Petri Nets with Unobservable Transitions", Proceedings of the 1997 American Control Conference, pp. 2354- 2358, Albuquerque, New Mexico , June...Automation Conference, April 20-25, 1997, 1997, Albuquerque New Mexico . - Invited Speaker at special session on "Intelligent Control Systems" at the 3rd...0 (11) Moreover, if either (hence, both) of these statements hold, then one controller that renders iVa (Ji(P, K)) < 7 is ffiven by A + B2J- aYaC2

  11. Application of dimensional analysis in systems modeling and control design

    Balaguer, Pedro


    Dimensional analysis is an engineering tool that is widely applied to numerous engineering problems, but has only recently been applied to control theory and problems such as identification and model reduction, robust control, adaptive control, and PID control. Application of Dimensional Analysis in Systems Modeling and Control Design provides an introduction to the fundamentals of dimensional analysis for control engineers, and shows how they can exploit the benefits of the technique to theoretical and practical control problems.

  12. Improved forwarding control design method and its application

    Chen Yimei; Han Zhengzhi; Cai Xiushan


    Integrator forwarding is a recursive nonlinear design technique for the stabilization of feed-forward systems.However, this method still has some limitation. An improved design method is proposed to extend the field of application of this technique. This method is used to design a stabilizer for the inertia wheel pendulum system. Moreover, it is shown that the control Lyapunov function which is obtained from this method can also be used to design a globally asymptotically stabilizing controller with optimality.

  13. Integration of Design and Control Through Model Analysis

    Russel, Boris Mariboe; Henriksen, Jens Peter; Jørgensen, Sten Bay;


    A systematic analysis of the process model is proposed as a pre-solution step for integration of design and control problems. It is shown that the same set of process (control) variables and design (manipulative) variables is employed with different objectives in design and control. Analysis of t...... processes with mass and/or energy recycle. (C) 2000 Elsevier Science Ltd. All rights reserved....

  14. Backstepping Designs for Aircraft Control - What is there to Gain?

    Härkegård, Ola


    Aircraft flight control design is traditionally based on linear control theory, due to the existing wealth of tools for linear design and analysis. However, in order to achieve tactical advantages, modern fighter aircraft strive towards performing maneuvers outside the region where the dynamics of flight are linear, and the need for nonlinear tools arises. In this paper, backstepping is proposed as a possible framework for nonlinear flight control design. Its capabilities of handling five maj...

  15. Robust Control Mixer Method for Reconfigurable Control Design Using Model Matching Strategy

    Yang, Zhenyu; Blanke, Mogens; Verhagen, Michel


    A novel control mixer method for recon¯gurable control designs is developed. The proposed method extends the matrix-form of the conventional control mixer concept into a LTI dynamic system-form. The H_inf control technique is employed for these dynamic module designs after an augmented control sy...

  16. Unified power flow controller: Modeling, stability analysis, control strategy and control system design

    Sreenivasachar, Kannan


    Unified power flow controller (UPFC) has been the most versatile Flexible AC Transmission System (FACTS) device due to its ability to control real and reactive power flow on transmission lines while controlling the voltage of the bus to which it is connected. UPFC being a multi-variable power system controller it is necessary to analyze its effect on power system operation. To study the performance of the UPFC in damping power oscillations using PSCAD-EMTDC software, a de-coupled control system has been designed for the shunt inverter to control the UPFC bus voltage and the DC link capacitor voltage. The series inverter of a UPFC controls the real power flow in the transmission line. One problem associated with using a high gain PI controller (used to achieve fast control of transmission line real power flow) for the series inverter of a UPFC to control the real power flow in a transmission line is the presence of low damping. This problem is solved in this research by using a fuzzy controller. A method to model a fuzzy controller in PSCAD-EMTDC software has also been described. Further, in order to facilitate proper operation between the series and the shunt inverter control system, a new real power coordination controller has been developed and its performance was evaluated. The other problem concerning the operation of a UPFC is with respect to transmission line reactive power flow control. Step changes to transmission line reactive power references have significant impact on the UPFC bus voltage. To reduce the adverse effect of step changes in transmission line reactive power references on the UPFC bus voltage, a new reactive power coordination controller has been designed. Transient response studies have been conducted using PSCAD-EMTDC software to show the improvement in power oscillation damping with UPFC. These simulations include the real and reactive power coordination controllers. Finally, a new control strategy has been proposed for UPFC. In this

  17. Symbolics in control design: prospects and research issues

    Christensen, Anders


    The symbolic processor is targeted as a novel basic service in computer aided control system design. Basic symbolic tools are exemplified. A design process model is formulated for control design, with subsets manipulator, tools, target and goals. It is argued, that symbolic processing will give...... substantial contributions to future design environments, as it provides flexibility of representation not possible with traditional numerics. Based on the design process, views on research issues in the incorporation of symbolic processing into traditional numerical design environments are given...

  18. fpga controller design and simulation of a portable dough mixing

    In this paper, the design and simulation of a Dough Mixer Controller (DMC) with Proportional ... Keywords: FPGA, VHDL, PID controller, Pulse Width Modulation, Full H-Bridge DC motor driver. 1. ...... parative Analysis among DSP and FPGA-.

  19. A methodological approach to designing sewer system control

    Mollerup, Ane Loft

    for this thesis was therefore the wish for a methodological approach to sewer system control design. Using a case study the following research hypothesis was tested in this thesis: Using classical and modern control theory, a methodological approach can be derived for designing sewer system control. This can aid...... urban drainage planner and other professionals in the planning phase of sewer system con-trol design and effectively contribute to find novel control solution. It was investigated if the established methodology used in classic control the-ory for process control design can be applied meaningfully....... This was not unexpected, since the true potential of having optimisation arises, when a system has many control loops with limit-ing constraints and/or changing prioritisation between them. The results showed that for small sewer systems, where the complexity is limited, it is not necessarily the best option to implement...

  20. Design requirement on KALIMER control rod assembly duct

    Hwang, W.; Kang, H. Y.; Nam, C.; Kim, J. O.; Kim, Y. J


    This document establishes the design guidelines which are needs for designing the control rod assembly duct of the KALIMER as design requirements. it describes control rod assembly duct of the KALIMER and its requirements that includes functional requirements, performance requirements, interfacing systems, design limits and strength requirements, seismic requirements, structural requirements, environmental requirements, reliability and safety requirements, standard and codes, QA programs, and other requirements. The control rod system consists of three parts, which are drive mechanism, drive-line, and absorber bundle. This report deals with the absorber bundle and its outer duct only because the others are beyond the scope of fuel system design. The guidelines for design requirements intend to be used for an improved design of the control rod assembly duct of the KALIMER. (author). 19 refs.

  1. Controller for solar heating-design package


    Report contains performance specifications and detailed drawings for two instruments: (1) differential controller, and (2) temperature monitor, for solar-powered water-heating systems. Included in package are schematics, wiring diagrams, test procedures, and parts list.

  2. Sequence and Chance: Design and control methods for entertainment robots

    Jochum, Elizabeth Ann; Millar, Philip; Nuñez, David


    This paper describes innovative approaches to the design and control of entertainment robots. Live performance is a useful testbed for developing and evaluating what makes robots expressive [10] [13] [18]; it is also a platform for designing creative solutions for robot design and control...... mechanisms for believable and expressive robots. Entertainment robots require creative approaches to robot design and control, including motion planning, coordination and hybrid control systems. The exigencies of live performance require situated, embodied robots to move autonomously or semi......-autonomously alongside human actors and in coordination with human operators. Using design and control approaches from traditional puppetry, engineers can design creative solutions for generating expressive robot motion. We outline some of these creative approaches as they are used in live theatre performances...

  3. Design of dual DC motor control system based on DSP

    Shi, Peicheng; Wang, Suo; Xu, Zengwei; Xiao, Ping


    Multi-motor control systems are widely used in actual production and life, such as lifting stages, robots, printing systems. This paper through serial communication between PC and DSP, dual DC motor control system consisting of PC as the host computer, DSP as the lower computer with synchronous PWM speed regulation, commutation and selection functions is designed. It sends digital control instructions with host computer serial debugger to lower computer, to instruct the motor to complete corresponding actions. The hardware and software design of the control system are given, and feasibility and validity of the control system are verified by experiments. The expected design goal is achieved.

  4. Controller design for TS models using delayed nonquadratic Lyapunov functions.

    Lendek, Zsofia; Guerra, Thierry-Marie; Lauber, Jimmy


    In the last few years, nonquadratic Lyapunov functions have been more and more frequently used in the analysis and controller design for Takagi-Sugeno fuzzy models. In this paper, we developed relaxed conditions for controller design using nonquadratic Lyapunov functions and delayed controllers and give a general framework for the use of such Lyapunov functions. The two controller design methods developed in this framework outperform and generalize current state-of-the-art methods. The proposed methods are extended to robust and H∞ control and α -sample variation.

  5. Constrained linear control design of continuous bioreactor

    Tarbouriech, S.; Queinnec, I.


    The control problem of a continuous bio-process is expressed in terms of stabilization and disturbances attenuation of an uncertain linear system under state and control constraints. A static output feedback is realized to obtain a suitable Eigen-structure assignment in closed-loop; then a positively invariant set of admissible initial states is determined by using cones properties, in order to respect the constraints. (authors) 19 refs.

  6. Nonlineat observer-controller design for dynamic positioning of ships

    何黎明; 田作华; 施颂椒


    The main focus is nonlinear model-based dynamic positioning (DP) control system design. A nonlinear uniform global exponential stability (UGES) observer produces noise-free estimates of the position, the slowly varying environmental disturbances and the velocity, which are used in a proportional-derivative (PD) + feedforward control law. The stability of this observer-controller system is proved by introducing a specific nonlinear cascaded system. The simulation results have successfully demonstrated the performance of designed DP control system.

  7. Analysis and design of controllers for a double inverted pendulum

    Niemann, Hans Henrik; Poulsen, J K


    A physical control problem is studied with the μ methodology. The issues of modelling, uncertainty modelling, performance specification, controller design and laboratory implementation are discussed. The laboratory experiment is a double inverted pendulum placed on a cart. The limitations in the ...... in the system with respect to performance are the limitation in the control signal and the limitation of the movement of the chart. It is shown how these performance limitation will effect the design of a μ controller for the system....

  8. Multivariable robust digital controller design by convex optimization


    The dissertation is essentially concerned with methods of robust digital multivariable and monovariable controller design. For controller desing, a linear discrete-time model of plant to be controlled is used. The controller robustness is treated by sensitivity frequency analysis(sensitivity is transfer function/matrix of closed loop). Correspondingly to H∞ design, the singular values of frequency responses are used for the analysis.The work is divided into five parts. The first part concerns...

  9. Flight Controller Design of Transport Airdrop

    CHEN Jie; SHIZhongke


    During airdrop of heavy load,the flight paramctcrs vary continuously as the load moves in the hold,and change suddenly when the load drops out.This process deteriorates the flight quality and control characteristic as the load becomes heavier.Based on the simplified airdrop flight equations,the backstepping and switch control methods are developed to tackle the flight state holding and disturbance/uncertainty(such as large scale flight condition,pilot manipulation error,system measure delay,etc.)attenuation problem in this paper.Moreover,these methods can be used as a reference for pilot manipulating during airdrop.With the backstepping theory,an adaptive controller is synthesized for the purpose of stabilizing the transport when the load moves in the hold,and then a coordinated switch control method is used to control the aircraft when the condition jumps from the existence of load at the rear of fuselage to no load in the fuselage.Simulation results show that the proposed controllers not only provide effective state holding during airdrop,but also achieve robust performance within wide flight conditions.

  10. Active noise control in fuselage design

    Krakers, L.A.; Tooren, M.J.L. van; Beukers, A.; Berkhof, A.P.; Goeje, M.P. de


    To achieve comfortable noise levels inside the passenger cabin, sound damping measures have to be taken to improve the sound insulation properties of the bare airframe. Usually the sound insulation requirements of a passenger cabin are met after the mechanical design of the fuselage structure is alr

  11. Analytical design of PI controller for AQM with robustness adjustability


    Based on a linearized TCP/AOM model,a new proportional integral(PI)controller design approach is proposed.This analytical approach applies H∞ optimization and internal model control(IMC)theory to design active queue management(AQM)routers that support transmission control protocol(TCP)flows.The most important feature of the proposed scheme lies in that it can be explicitly tuned with a single parameter for the trade-off between performance and stability of the AOM control system.It is thus flexible and easy to use in design.The proposed method and the designed PI controller are verified and compared with other existing AOM schemes using ns-2 simulator.The results show the advantages of the new PI controller design approach for AQM routers supporting TCP flows.

  12. Design of Tension Controller with Electronic Gearing for Rapier Looms

    郭帅; 何永义; 周其洪; 方明伦


    The declining cost of precision motion controls allows economical replacement of mechanical drives with electronic versions in weaving processes. This paper describes the design of tension controller with electronic gearing. A control algorithm of PID is also introduced in order to improve performance of the tension controller. Finally, experimental results and conclusions are given.

  13. Design of Industrial Robotic Controller Based on DSP

    谈世哲; 杨汝清


    This paper describes the design of industrial robot controller based on the DSP technology. Robotic real time control is realized by PC and DSP motion control card and this method improves the performance of robotic controller. Finally this paper gives some experiment results and conclusion.

  14. Feedback Controller Design for the Synchronization of Boolean Control Networks.

    Liu, Yang; Sun, Liangjie; Lu, Jianquan; Liang, Jinling


    This brief investigates the partial and complete synchronization of two Boolean control networks (BCNs). Necessary and sufficient conditions for partial and complete synchronization are established by the algebraic representations of logical dynamics. An algorithm is obtained to construct the feedback controller that guarantees the synchronization of master and slave BCNs. Two biological examples are provided to illustrate the effectiveness of the obtained results.

  15. Adaptive Controller Design for Faulty UAVs via Quantum Information Technology

    Fuyang Chen


    Full Text Available In this paper, an adaptive controller is designed for a UAV flight control system against faults and parametric uncertainties based on quantum information technology and the Popov hyperstability theory. First, considering the bounded control input, the state feedback controller is designed to make the system stable. The model of adaptive control is introduced to eliminate the impact by the uncertainties of system parameters via quantum information technology. Then, according to the model reference adaptive principle, an adaptive control law based on the Popov hyperstability theory is designed. This law enable better robustness of the flight control system and tracking control performances. The closed-loop system's stability is guaranteed by the Popov hyperstability theory. The simulation results demonstrate that a better dynamic performance of the UAV flight control system with faults and parametric uncertainties can be maintained with the proposed method.

  16. Adaptive Controller Design for Faulty UAVs via Quantum Information Technology

    Fuyang Chen


    Full Text Available In this paper, an adaptive controller is designed for a UAV flight control system against faults and parametric uncertainties based on quantum information technology and the Popov hyperstability theory. First, considering the bounded control input, the state feedback controller is designed to make the system stable. The model of adaptive control is introduced to eliminate the impact by the uncertainties of system parameters via quantum information technology. Then, according to the model reference adaptive principle, an adaptive control law based on the Popov hyperstability theory is designed. This law enable better robustness of the flight control system and tracking control performances. The closed‐loop system’s stability is guaranteed by the Popov hyperstability theory. The simulation results demonstrate that a better dynamic performance of the UAV flight control system with faults and parametric uncertainties can be maintained with the proposed method.

  17. Generalized ESO and Predictive Control Based Robust Autopilot Design

    Bhavnesh Panchal


    Full Text Available A novel continuous time predictive control and generalized extended state observer (GESO based acceleration tracking pitch autopilot design is proposed for a tail controlled, skid-to-turn tactical missile. As the dynamics of missile are significantly uncertain with mismatched uncertainty, GESO is employed to estimate the state and uncertainty in an integrated manner. The estimates are used to meet the requirement of state and to robustify the output tracking predictive controller designed for nominal system. Closed loop stability for the controller-observer structure is established. An important feature of the proposed design is that it does not require any specific information about the uncertainty. Also the predictive control design yields the feedback control gain and disturbance compensation gain simultaneously. Effectiveness of GESO in estimation of the states and uncertainties and in robustifying the predictive controller in the presence of parametric uncertainties, external disturbances, unmodeled dynamics, and measurement noise is illustrated by simulation.

  18. Microgrid Plant Control Design and Development

    Wiegman, Herman; Baone, Chaitanya


    This report discusses the technical performance of the proposed microgrid at Potsdam, New York, and the enhanced microgrid controller platform. The test objectives were outlined by the DOE, and summary results and discussion are given for each objective. The findings show that the proposed Potsdam, NY microgrid would have a significant impact on the regional CO2 emissions, the amount of imported energy from the utility, and the resiliency of the critical loads. Additionally, the enhanced microgrid control system developed for this project was tested to be compliant with IEEE 1547 standards, and able to generate revenues to help offset energy costs by way of participation in ancillary services.

  19. Fixed-Order Mixed Norm Designs for Building Vibration Control

    Whorton, Mark S.; Calise, Anthony J.


    This study investigates the use of H2, mu-synthesis, and mixed H2/mu methods to construct full order controllers and optimized controllers of fixed dimensions. The benchmark problem definition is first extended to include uncertainty within the controller bandwidth in the form of parametric uncertainty representative of uncertainty in the natural frequencies of the design model. The sensitivity of H2 design to unmodeled dynamics and parametric uncertainty is evaluated for a range of controller levels of authority. Next, mu-synthesis methods are applied to design full order compensators that are robust to both unmodeled dynamics and to parametric uncertainty. Finally, a set of mixed H2/mu compensators are designed which are optimized for a fixed compensator dimension. These mixed norm designs recover the H2 design performance levels while providing the same levels of robust stability as the mu designs. It is shown that designing with the mixed norm approach permits higher levels of controller authority for which the H2 designs are destabilizing. The benchmark problem is that of an active tendon system. The controller designs are all based on the use of acceleration feedback.

  20. Design and Analysis of Morpheus Lander Flight Control System

    Jang, Jiann-Woei; Yang, Lee; Fritz, Mathew; Nguyen, Louis H.; Johnson, Wyatt R.; Hart, Jeremy J.


    The Morpheus Lander is a vertical takeoff and landing test bed vehicle developed to demonstrate the system performance of the Guidance, Navigation and Control (GN&C) system capability for the integrated autonomous landing and hazard avoidance system hardware and software. The Morpheus flight control system design must be robust to various mission profiles. This paper presents a design methodology for employing numerical optimization to develop the Morpheus flight control system. The design objectives include attitude tracking accuracy and robust stability with respect to rigid body dynamics and propellant slosh. Under the assumption that the Morpheus time-varying dynamics and control system can be frozen over a short period of time, the flight controllers are designed to stabilize all selected frozen-time control systems in the presence of parametric uncertainty. Both control gains in the inner attitude control loop and guidance gains in the outer position control loop are designed to maximize the vehicle performance while ensuring robustness. The flight control system designs provided herein have been demonstrated to provide stable control systems in both Draper Ares Stability Analysis Tool (ASAT) and the NASA/JSC Trick-based Morpheus time domain simulation.

  1. Passivity Motivated Controller Design for Flexible Structures


    theoretical approach to the control of systems containing lumped joint flexibility is based on the exact linearization method. for a summary see [4...feedforward compensation (for the exact linearization ) and the feedback stabilization are intertwined and errors in the feedforward may affect the closed loop

  2. Hydraulic Control Design and Modeling Techniques.


    methodologies. This report may be difficult to read for the casual reader . It is written assuming the reader has some fundamental background in control...INTERVAL DTSMP=.O0012207 STEP=. 0012207 INDEX=INDEX+i DOUT( INDEX2)=L1 A- 4 END $*OF DISCRETE SAMP 2" DERIVATIVE tarot (INDEX2 .GE. 4098) END $*OF

  3. An ellipsoid algorithm for probabilistic robust controller design

    Kanev, S.K.; de Schutter, B.; Verhaegen, M.H.G.


    In this paper, a new iterative approach to probabilistic robust controller design is presented, which is applicable to any robust controller/filter design problem that can be represented as an LMI feasibility problem. Recently, a probabilistic Subgradient Iteration algorithm was proposed for solving

  4. Design and control considerations for industrial and space manipulators

    Whitney, D. E.; Book, W. J.; Lynch, P. M.


    This paper is a progress report summarizing theoretical and practical results concerning integration of design and control aspects of manipulator arms for industrial or space applications. The relationships between task specifications, gross motions, fine motions, actuator type and location, size and strength of structural members, control servos and strategies, and overall design evaluation are briefly discussed, with some technical examples.

  5. Estimated Frequency Domain Model Uncertainties used in Robust Controller Design

    Tøffner-Clausen, S.; Andersen, Palle; Stoustrup, Jakob;


    This paper deals with the combination of system identification and robust controller design. Recent results on estimation of frequency domain model uncertainty are......This paper deals with the combination of system identification and robust controller design. Recent results on estimation of frequency domain model uncertainty are...

  6. Analysis and Design Methods for Nonlinear Control Systems


    entitled "Design of Nonlinear PID Controllers ." In this paper it is demonstrated that the extended linearization approach can be applied to standard...Sciences and Systems, Baltimore, Maryland, pp. 675-680, 1987. [3] WJ. Rugh, "Design of Nonlinear PID Controllers ," AIChE Journa Vol. 33, No. 10, pp. 1738

  7. Design and control considerations for industrial and space manipulators

    Whitney, D. E.; Book, W. J.; Lynch, P. M.


    This paper is a progress report summarizing theoretical and practical results concerning integration of design and control aspects of manipulator arms for industrial or space applications. The relationships between task specifications, gross motions, fine motions, actuator type and location, size and strength of structural members, control servos and strategies, and overall design evaluation are briefly discussed, with some technical examples.

  8. Guidance on Design of Internet-based Process Control Systems



    Internet-based process control is becoming new generations of control systems, in which the Internet is used as a platform for global remote monitoring and control. The obvious benefit is to enable global collaboration between operators from geographically dispersed locations, data sharing and data provision for remote monitoring and control. However, connection to an open network and the use of universal technology present new problems that did not exist with the conventional design and construction of control systems, such as time delay and data loss in Internet transmission and security. This paper reviews the latest research results and presents design guidance of Internet based monitoring and control systems.

  9. The Application of Layer Theory to Design: The Control Layer

    Gibbons, Andrew S.; Langton, Matthew B.


    A theory of design layers proposed by Gibbons ("An Architectural Approach to Instructional Design." Routledge, New York, 2014) asserts that each layer of an instructional design is related to a body of theory closely associated with the concerns of that particular layer. This study focuses on one layer, the control layer, examining…

  10. Integrated Process Design and Control of Reactive Distillation Processes

    Mansouri, Seyed Soheil; Sales-Cruz, Mauricio; Huusom, Jakob Kjøbsted


    In this work, integrated design and control of reactive distillation processes is presented. Simple graphical design methods that are similar in concept to non-reactive distillation processes are used, such as reactive McCabe-Thiele method and driving force approach. The methods are based...... of this approach, it is shown that designing the reactive distillation process at the maximum driving force results in an optimal design in terms of controllability and operability. It is verified that the reactive distillation design option is less sensitive to the disturbances in the feed at the highest driving...

  11. On PID Controller Design Using Knowledge Based Fuzzy System

    Jana Nowakova


    Full Text Available The designing of PID controllers is a frequently discussed problem. Many of design methods have been developed, classic (analytical tuning methods, optimization methods etc. or not so common fuzzy knowledge based methods which are designed to achieve good setpoint following, corresponding time response etc. In this case, the new way of designing PID controller parameters is created where the above mentioned knowledge system based on relations of Ziegler-Nichols design methods is used, more precisely the combination of the both Ziegler-Nichols methods. The proof of efficiency of a proposed method and a numerical experiment is presented.

  12. Production Quality Control Of Microfluidic Chip Designs

    Calaon, Matteo; Hansen, Hans Nørgaard; Tosello, Guido


    -beam lithography. Subsequent nickel electroplating was employed to replicate the obtained geometries on the tool, which was used to mold on transparent polymer substrates the functional structures. To assess the critical factors affecting the replication quality throughout the different steps of the proposed...... process chain, test geometries were designed and produced on the side of the functional features. The so called “Finger Print” of the lithography and molding processes was qualitatively and quantitatively evaluated through scanning electron microscopy and atomic force microscopy respectively. The entire...

  13. Haystack Antenna Control System Design Document


    Interface C ontrol D ocuments (ICDs). T hese ICDs w ill d efine t he d ata t hat i s transferred b etween t he r adar or a stronomy computer a nd t he a...ea ch ax is d efined f or t he p edestal ( as h eld i n t he pedestalDefinition s tructure w ithin th e P edestal O bject). The axis obj ect e...Note t hat t he co mpensators are d efined b y s trings. Compensator design is discussed in paragraph. //Azimuth axis definition [AXIS 0 DEFINITION

  14. Design of a Helicopter Stability and Control Augmentation System Using Optimal Control Theory.

    technique is described for the design of multivariable feedback controllers based upon results in optimal control theory . For a specified performance...helicopter flight envelope. The results show that optimal control theory can be used to design a helicopter stability and control augmentation system

  15. Sliding Mode Control Design via Reduced Order Model Approach


    This paper presents a design of continuous-time sliding mode control for the higher order systems via reduced order model. It is shown that a continuous-time sliding mode control designed for the reduced order model gives similar performance for the higher order system. The method is illustrated by numerical examples. The paper also introduces a technique for design of a sliding surface such that the system satisfies a cost-optimality condition when on the sliding surface.

  16. Design and Control of a Powered Transfemoral Prosthesis

    Sup, Frank; Bohara, Amit; Goldfarb, Michael


    The paper describes the design and control of a transfemoral prosthesis with powered knee and ankle joints. The initial prototype is a pneumatically actuated powered-tethered device, which is intended to serve as a laboratory test bed for a subsequent self-powered version. The prosthesis design is described, including its kinematic optimization and the design of a three-axis socket load cell that measures the forces and moments of interaction between the socket and prosthesis. A gait controll...

  17. Buck-boost converter feedback controller design via evolutionary search

    Sundareswaran, K.; Devi, V.; Nadeem, S. K.; Sreedevi, V. T.; Palani, S.


    Buck-boost converters are switched power converters. The model of the converter system varies from the ON state to the OFF state and hence traditional methods of controller design based on approximate transfer function models do not yield good dynamic response at different operating points of the converter system. This article attempts to design a feedback controller for a buck-boost type dc-dc converter using a genetic algorithm. The feedback controller design is perceived as an optimisation problem and a robust controller is estimated through an evolutionary search. Extensive simulation and experimental results provided in the article show the effectiveness of the new approach.

  18. Should we attempt global (inlet engine airframe) control design?

    Carlin, C. M.


    The feasibility of multivariable design of the entire airplane control system is briefly addressed. An intermediate step in that direction is to design a control for an inlet engine augmentor system by using multivariable techniques. The supersonic cruise large scale inlet research program is described which will provide an opportunity to develop, integrate, and wind tunnel test a control for a mixed compression inlet and variable cycle engine. The integrated propulsion airframe control program is also discussed which will introduce the problem of implementing MVC within a distributed processing avionics architecture, requiring real time decomposition of the global design into independent modules in response to hardware communication failures.

  19. Control Variates and Optimal Designs in Metamodeling


    and a series of tasks. Henderson and Kim (2004) apply CVs to a discrete time-finite state space markov chain . Adewunmi and Aickelin (2012) describe...going into further detail with an example in machine repair, an inventory system, and an M/M/1 queue . Fort and Moulines (2008) apply CVs to financial...are not always effective. Because of the long queue length these control variates are ineffective, additional iterations of the model will show that

  20. Designing a sustainable strategy for malaria control?

    Mharakurwa Sungano


    Full Text Available Abstract Malaria in the 21st century is showing signs of declining over much of its distribution, including several countries in Africa where previously this was not thought to be feasible. Yet for the most part the strategies to attack the infection are similar to those of the 1950s. Three major Journals have recently drawn attention to the situation, stressing the importance of research, describing the successes and defining semantics related to control. But there is a need to stress the importance of local sustainability, and consider somewhat urgently how individual endemic countries can plan and implement the programmes that are currently financed, for the most part, by donor institutions. On an immediate basis research should be more focused on a data driven approach to control. This will entail new thinking on the role of local infrastructure and in training of local scientists in local universities in epidemiology and field malariology so that expanded control programmes can become operational. Donor agencies should encourage and facilitate development of career opportunities for such personnel so that local expertise is available to contribute appropriately.

  1. Control system design for flexible structures using data models

    Irwin, R. Dennis; Frazier, W. Garth; Mitchell, Jerrel R.; Medina, Enrique A.; Bukley, Angelia P.


    The dynamics and control of flexible aerospace structures exercises many of the engineering disciplines. In recent years there has been considerable research in the developing and tailoring of control system design techniques for these structures. This problem involves designing a control system for a multi-input, multi-output (MIMO) system that satisfies various performance criteria, such as vibration suppression, disturbance and noise rejection, attitude control and slewing control. Considerable progress has been made and demonstrated in control system design techniques for these structures. The key to designing control systems for these structures that meet stringent performance requirements is an accurate model. It has become apparent that theoretically and finite-element generated models do not provide the needed accuracy; almost all successful demonstrations of control system design techniques have involved using test results for fine-tuning a model or for extracting a model using system ID techniques. This paper describes past and ongoing efforts at Ohio University and NASA MSFC to design controllers using 'data models.' The basic philosophy of this approach is to start with a stabilizing controller and frequency response data that describes the plant; then, iteratively vary the free parameters of the controller so that performance measures become closer to satisfying design specifications. The frequency response data can be either experimentally derived or analytically derived. One 'design-with-data' algorithm presented in this paper is called the Compensator Improvement Program (CIP). The current CIP designs controllers for MIMO systems so that classical gain, phase, and attenuation margins are achieved. The center-piece of the CIP algorithm is the constraint improvement technique which is used to calculate a parameter change vector that guarantees an improvement in all unsatisfied, feasible performance metrics from iteration to iteration. The paper also

  2. Reduction of Network Effects On Control System Performance by Controller Design

    Naser Pariz


    Full Text Available This paper discusses the impact of network architecture on control performance in a class of distributed control systems called Networked Control Systems (NCSs and provides design considerations related to control quality.Then, we discuss the framework for controller design NCSs where sensors, actuators, and controllers are distributed and interconnected by a common communication network. Multiple distributed communication delays as well as multiple inputs and multiple outputs are considered in the discretetime modeling algorithm. The proposed NCS model is used as a foundation for optimal controller design to compensate for the multiple time delays. The proposed control algorithm utilizes the information of delayed signals and improves the control performance of a control system with distributed communication delays. Several simulation studies are provided to evaluate the control performance of the proposed controller design.

  3. Review on design and control aspects of ankle rehabilitation robots.

    Jamwal, Prashant K; Hussain, Shahid; Xie, Sheng Q


    Ankle rehabilitation robots can play an important role in improving outcomes of the rehabilitation treatment by assisting therapists and patients in number of ways. Consequently, few robot designs have been proposed by researchers which fall under either of the two categories, namely, wearable robots or platform-based robots. This paper presents a review of both kinds of ankle robots along with a brief analysis of their design, actuation and control approaches. While reviewing these designs it was observed that most of them are undesirably inspired by industrial robot designs. Taking note of the design concerns of current ankle robots, few improvements in the ankle robot designs have also been suggested. Conventional position control or force control approaches, being used in the existing ankle robots, have been reviewed. Apparently, opportunities of improvement also exist in the actuation as well as control of ankle robots. Subsequently, a discussion on most recent research in the development of novel actuators and advanced controllers based on appropriate physical and cognitive human-robot interaction has also been included in this review. Implications for Rehabilitation Ankle joint functions are restricted/impaired as a consequence of stroke or injury during sports or otherwise. Robots can help in reinstating functions faster and can also work as tool for recording rehabilitation data useful for further analysis. Evolution of ankle robots with respect to their design and control aspects has been discussed in the present paper and a novel design with futuristic control approach has been proposed.

  4. Robust control for snake maneuver design of missile

    Kun, Ya; Chen, Xin; Li, Chuntao


    For the performance of missile with high Mach number and strongly nonlinear dynamics, this paper uses robust control to design maneuver controller. Robust servomechanism linear quadratic regulator (RSLQR) control is used to form the inner loop and proportional-plus-integral (PI) control is used to provide yawing tracking with no error. Contrast simulations under three types of deviation have been done to confirm robustness of the RSLQR-plus-PI control. Simulation results shows that RSLQR-plus-PI control would resist the disturbance and maintain the properties of the controller, guarantee the robustness and stability of missile more effectively than pure PI control.

  5. Robust Control Design for Uncertain Nonlinear Dynamic Systems

    Kenny, Sean P.; Crespo, Luis G.; Andrews, Lindsey; Giesy, Daniel P.


    Robustness to parametric uncertainty is fundamental to successful control system design and as such it has been at the core of many design methods developed over the decades. Despite its prominence, most of the work on robust control design has focused on linear models and uncertainties that are non-probabilistic in nature. Recently, researchers have acknowledged this disparity and have been developing theory to address a broader class of uncertainties. This paper presents an experimental application of robust control design for a hybrid class of probabilistic and non-probabilistic parametric uncertainties. The experimental apparatus is based upon the classic inverted pendulum on a cart. The physical uncertainty is realized by a known additional lumped mass at an unknown location on the pendulum. This unknown location has the effect of substantially altering the nominal frequency and controllability of the nonlinear system, and in the limit has the capability to make the system neutrally stable and uncontrollable. Another uncertainty to be considered is a direct current motor parameter. The control design objective is to design a controller that satisfies stability, tracking error, control power, and transient behavior requirements for the largest range of parametric uncertainties. This paper presents an overview of the theory behind the robust control design methodology and the experimental results.

  6. Recursive design of nonlinear H _∞ excitation controller

    卢强; 梅生伟; 申铁龙; 胡伟


    This work is concerned with the problem of L2 gain disturbance attenuation for nonlinear systems and nonlinear robust control for power systems. In terms of the recurrence design approach proposed, the nonnegative solution of dissipative inequality and the storage function of nonlinear H∞ control for a generator excitation system are acquired. From this storage function, the excitation controller is constructed. Moreover, simulation results manifest the effectiveness of this design method.

  7. Controller Design of High Order Nonholonomic System with Nonlinear Drifts

    Xiu-Yun Zheng; Yu-Qiang Wu


    A controller design is proposed for a class of high order nonholonomic systems with nonlinear drifts. The purpose is to ensure a solution for the closed-loop system regulated to zero. Adding a power integrator backstepping technique and the switching control strategy are employed to design the controller. The state scaling is applied to the recursive manipulation. The simulation example demonstrates the effectiveness and robust features of the proposed method.

  8. Production Quality Control Of Microfluidic Chip Designs

    Calaon, Matteo; Hansen, Hans Nørgaard; Tosello, Guido


    process chain, test geometries were designed and produced on the side of the functional features. The so called “Finger Print” of the lithography and molding processes was qualitatively and quantitatively evaluated through scanning electron microscopy and atomic force microscopy respectively. The entire......The challenge of fabricating geometries with critical dimensions ranging from few microns down to 10 nanometers with high production rate is delaying the development of nanotechnology based products. Diverse research works have shown the capability of technologies such as UV lithography, nano...... imprint lithography and e-beam lithography to produce micro and nano features. However, their application for tooling purposes is relatively new and the potential to produce nanometer features with high volume low cost production is enormous. Considering possible implementation in a mass production...

  9. Design of a remote controlled hovercraft

    Álvarez Sánchez, David


    Este informe trata el diseño, desarrollo y construcción de un aerodeslizador de pequeño tamaño, equipado con control remoto que permite al usuario actuar sobre la velocidad y dirección del mismo. Este proyecto podrá ser utilizado en un futuro como base para el desarrollo de aplicaciones más complejas. Un aerodeslizador es un medio de transporte cuyo chasis se eleva sobre el suelo por medio de un motor impulsor que hincha una falda colocada en la parte inferior del mismo. Además, uno ...

  10. Control design profits heliostat techno-economics

    Rubin, N


    Full Text Available of nine constant radius arcs, and East-West symmetry in the field. It was under these field layout assumptions that a simulation model was developed at the CSIR in 2011, in order to refine the solar spillage models in HFLCAL. The principal... control; cost-benefit tradeoffs 1. Introduction Roos [1] motivates that the use of heliostat mirrors for solar power concentration, combined with the conversion of thermal to electrical energy via gas turbine, is economically attractive for remote, semi...

  11. Control law design to meet constraints using SYNPAC-synthesis package for active controls

    Adams, W. M., Jr.; Tiffany, S. H.


    Major features of SYNPAC (Synthesis Package for Active Controls) are described. SYNPAC employs constrained optimization techniques which allow explicit inclusion of design criteria (constraints) in the control law design process. Interrelationships are indicated between this constrained optimization approach, classical and linear quadratic Gaussian design techniques. Results are presented that were obtained by applying SYNPAC to the design of a combined stability augmentation/gust load alleviation control law for the DAST ARW-2.

  12. A Control Law Design Method Facilitating Control Power, Robustness, Agility, and Flying Qualities Tradeoffs: CRAFT

    Murphy, Patrick C.; Davidson, John B.


    A multi-input, multi-output control law design methodology, named "CRAFT", is presented. CRAFT stands for the design objectives addressed, namely, Control power, Robustness, Agility, and Flying Qualities Tradeoffs. The methodology makes use of control law design metrics from each of the four design objective areas. It combines eigenspace assignment, which allows for direct specification of eigenvalues and eigenvectors, with a graphical approach for representing the metrics that captures numerous design goals in one composite illustration. Sensitivity of the metrics to eigenspace choice is clearly displayed, enabling the designer to assess the cost of design tradeoffs. This approach enhances the designer's ability to make informed design tradeoffs and to reach effective final designs. An example of the CRAFT methodology applied to an advanced experimental fighter and discussion of associated design issues are provided.

  13. Improved LTVMPC design for steering control of autonomous vehicle

    Velhal, Shridhar; Thomas, Susy


    An improved linear time varying model predictive control for steering control of autonomous vehicle running on slippery road is presented. Control strategy is designed such that the vehicle will follow the predefined trajectory with highest possible entry speed. In linear time varying model predictive control, nonlinear vehicle model is successively linearized at each sampling instant. This linear time varying model is used to design MPC which will predict the future horizon. By incorporating predicted input horizon in each successive linearization the effectiveness of controller has been improved. The tracking performance using steering with front wheel and braking at four wheels are presented to illustrate the effectiveness of the proposed method.

  14. Chemical optimization algorithm for fuzzy controller design

    Astudillo, Leslie; Castillo, Oscar


    In this book, a novel optimization method inspired by a paradigm from nature is introduced. The chemical reactions are used as a paradigm to propose an optimization method that simulates these natural processes. The proposed algorithm is described in detail and then a set of typical complex benchmark functions is used to evaluate the performance of the algorithm. Simulation results show that the proposed optimization algorithm can outperform other methods in a set of benchmark functions. This chemical reaction optimization paradigm is also applied to solve the tracking problem for the dynamic model of a unicycle mobile robot by integrating a kinematic and a torque controller based on fuzzy logic theory. Computer simulations are presented confirming that this optimization paradigm is able to outperform other optimization techniques applied to this particular robot application

  15. Brushless DC Motor Control System Design Based on DSP2812

    Wei Min


    Full Text Available By comparison various control methods currently for permanent magnet brushless DC motor, on the basis of motor principle analysis, a current smallest and most real-time all-digital rare earth permanent magnet brushless DC motor control system is designed. The high-speed digital signal processor DSP2812 is applied as the main control unit. The fuzzy PID control algorithm is used to control rectifier regulator and speed, which the speed and current is double closed loop in the system. The principle of control system, control strategy and software is analyzed in this paper. The system has some features such as less overshoot, rapid response speed, good performance of anti-jamming, simple structure, high control precision, flexible in changing control policies and so on. Validity of the design is verified by prototype test.

  16. Control vocabulary software designed for CMIP6

    Nadeau, D.; Taylor, K. E.; Williams, D. N.; Ames, S.


    The Coupled Model Intercomparison Project Phase 6 (CMIP6) coordinates a number of intercomparison activities and includes many more experiments than its predecessor, CMIP5. In order to organize and facilitate use of the complex collection of expected CMIP6 model output, a standard set of descriptive information has been defined, which must be stored along with the data. This standard information enables automated machine interpretation of the contents of all model output files. The standard metadata is stored in compliance with the Climate and Forecast (CF) standard, which ensures that it can be interpreted and visualized by many standard software packages. Additional attributes (not standardized by CF) are required by CMIP6 to enhance identification of models and experiments, and to provide additional information critical for interpreting the model results. To ensure that CMIP6 data complies with the standards, a python program called "PrePARE" (Pre-Publication Attribute Reviewer for the ESGF) has been developed to check the model output prior to its publication and release for analysis. If, for example, a required attribute is missing or incorrect (e.g., not included in the reference CMIP6 controlled vocabularies), then PrePare will prevent publication. In some circumstances, missing attributes can be created or incorrect attributes can be replaced automatically by PrePARE, and the program will warn users about the changes that have been made. PrePARE provides a final check on model output assuring adherence to a baseline conformity across the output from all CMIP6 models which will facilitate analysis by climate scientists. PrePARE is flexible and can be easily modified for use by similar projects that have a well-defined set of metadata and controlled vocabularies.

  17. Mechanical design and control of a new myoelectric hand prosthesis

    Peerdeman, B.; Stramigioli, S.; Hekman, E.; Brouwer, D.M.; Misra, S.


    The development of modern, myoelectrically controlled hand prostheses can be difficult, due to the many requirements its mechanical design and control system need to fulfill [1]. The hand should be controllable with few input signals, while being able to perform a wide range of motions. It should be

  18. Design of a PID Controller for a PCR Micro Reactor

    Dinca, M. P.; Gheorghe, M.; Galvin, P.


    Proportional-integral-derivative (PID) controllers are widely used in process control, and consequently they are described in most of the textbooks on automatic control. However, rather than presenting the overall design process, the examples given in such textbooks are intended to illuminate specific focused aspects of selection, tuning and…

  19. Optimal Excitation Controller Design for Wind Turbine Generator

    A. K. Boglou


    Full Text Available An optimal excitation controller design based on multirate-output controllers (MROCs having a multirate sampling mechanismwith different sampling period in each measured output of the system is presented. The proposed H∞ -control techniqueis applied to the discrete linear open-loop system model which represents a wind turbine generator supplying an infinite busthrough a transmission line.

  20. Design and Evaluation Methods for Underwater Control Systems

    Chi, Lin


    This thesis on underwater control systems is written with the designer in mind, assuming that the reader has some knowledge of control theory. It can be used as a text for undergraduate students and engineers. To help readers better understand the system they will be working with, the thesis is organised in a stepwise way. The reader will gain basic knowledge about underwater operations, equipment and control systems. Then the reader will be able to follow the steps to develop a required control system for an underwater equipment by first understanding the characteristics of the design problem, customer requirement, functional requirement, and possible solution, and then to present a mathematical model of the control problem. Having developed the concept, the thesis guides the reader to develop evaluation criteria and different ways to make the decision. The thesis gives an overview of how to achieve a successful design rather than giving the techniques for detailed control system design. Chapter 1 describes underwater operations and systems. Chapter 2 discusses issues of underwater control systems and control methods. Chapter 3 deals with design method and control systems theory, focusing on human-centered control. Chapter 4 discusses methods used to evaluate and rank products, and chapter 5 applies the methods to an example. 113 refs., 115 figs., 80 tabs.

  1. Performance evaluation and design of flight vehicle control systems

    Falangas, Eric T


    This book will help students, control engineers and flight dynamics analysts to model and conduct sophisticated and systemic analyses of early flight vehicle designs controlled with multiple types of effectors and to design and evaluate new vehicle concepts in terms of satisfying mission and performance goals. Performance Evaluation and Design of Flight Vehicle Control Systems begins by creating a dynamic model of a generic flight vehicle that includes a range of elements from airplanes and launch vehicles to re-entry vehicles and spacecraft. The models may include dynamic effects dealing with structural flexibility, as well as dynamic coupling between structures and actuators, propellant sloshing, and aeroelasticity, and they are typically used for control analysis and design. The book shows how to efficiently combine different types of effectors together, such as aero-surfaces, TVC, throttling engines and RCS, to operate as a system by developing a mixing logic atrix. Methods of trimming a vehicle controll...

  2. Integrated Process Design, Control and Analysis of Intensified Chemical Processes

    Mansouri, Seyed Soheil

    approach is to tackle process design and controllability issues simultaneously, in the early stages of process design. This simultaneous synthesis approach provides optimal/near optimal operation and more efficient control of conventional (non-reactive binary distillation columns) as well as complex...... chemical processes; for example, intensified processes such as reactive distillation. Most importantly, it identifies and eliminates potentially promising design alternatives that may have controllability problems later. To date, a number of methodologies have been proposed and applied on various problems...... design of the process as well as the controller structure. Through analytical, steady-state and closed-loop dynamic analysis it is verified that the control structure, disturbance rejection and energy requirement of the reactive distillation column is better than any other operation point...

  3. Generic Electronic Board Design to Control 3-Phase Ac

    RojasMolina A.


    Full Text Available This work presents the design and development of a low-cost power manager with controller for a 3-phase AC induction motor, with a wide range of industrial applications. The prototype drive design and development was made using the generic standard on printed board design IPC2221. Power manager consists of two stages. First is control stage, which includes an induction motor control-specific micro-controller. Second is power stage, with IGBTs as switching elements. This design is part of a wider project whose main objective is to advance a methodology to assist the quality improvement of academia-developed electronic prototypes. It is expected that these prototypes will be aligned with industrial standards, facilitating the industry-university connection regarding technological collaboration in the automation and control domain.

  4. Automatic control system generation for robot design validation

    Bacon, James A. (Inventor); English, James D. (Inventor)


    The specification and drawings present a new method, system and software product for and apparatus for generating a robotic validation system for a robot design. The robotic validation system for the robot design of a robotic system is automatically generated by converting a robot design into a generic robotic description using a predetermined format, then generating a control system from the generic robotic description and finally updating robot design parameters of the robotic system with an analysis tool using both the generic robot description and the control system.

  5. A control center design revisited: learning from users’ appropriation

    Souza da Conceição, Carolina; Cordeiro, Cláudia


    This paper aims to present the lessons learned during a control center design project by revisiting another control center from the same company designed two and a half years before by the same project team. In light of the experience with the first project and its analysis, the designers...... and researchers had important feedback already used to suggest changes for the second project. The opportunity to learn from a previous project was unique, but the knowledge gotten out of it shows the importance of having this feedback from project to project instead of just ‘repeating’ previously used design...

  6. Disturbance Accommodating Control Design for Wind Turbines Using Solvability Conditions

    Wang, Na [National Renewable Energy Laboratory,15013 Denver West Parkway,Golden, CO 80401e-mail:; Wright, Alan D. [National Renewable Energy Laboratory,15013 Denver West Parkway,Golden, CO 80401e-mail:; Balas, Mark J. [ProfessorFellow ASMEAerospace Engineering Department,Embry-Riddle Aeronautical University,Daytona Beach, FL 32114e-mail:


    In this paper, solvability conditions for disturbance accommodating control (DAC) have been discussed and applied on wind turbine controller design in above-rated wind speed to regulate rotor speed and to mitigate turbine structural loads. DAC incorporates a predetermined waveform model and uses it as part of the state-space formulation, which is known as the internal model principle to reduce or minimize the wind disturbance effects on the outputs of the wind turbine. An asymptotically stabilizing DAC controller with disturbance impact on the wind turbine being totally canceled out can be found if certain conditions are fulfilled. Designing a rotor speed regulation controller without steady-state error is important for applying linear control methodology such as DAC on wind turbines. Therefore, solvability conditions of DAC without steady-state error are attractive and can be taken as examples when designing a multitask turbine controller. DAC controllers solved via Moore-Penrose Pseudoinverse and the Kronecker product are discussed, and solvability conditions of using them are given. Additionally, a new solvability condition based on inverting the feed-through D term is proposed for the sake of reducing computational burden in the Kronecker product. Applications of designing collective pitch and independent pitch controllers based on DAC are presented. Recommendations of designing a DAC-based wind turbine controller are given. A DAC controller motivated by the proposed solvability condition that utilizes the inverse of feed-through D term is developed to mitigate the blade flapwise once-per-revolution bending moment together with a standard proportional integral controller in the control loop to assist rotor speed regulation. Simulation studies verify the discussed solvability conditions of DAC and show the effectiveness of the proposed DAC control design methodology.

  7. Designing a robust minimum variance controller using discrete slide mode controller approach.

    Alipouri, Yousef; Poshtan, Javad


    Designing minimum variance controllers (MVC) for nonlinear systems is confronted with many difficulties. The methods able to identify MIMO nonlinear systems are scarce. Harsh control signals produced by MVC are among other disadvantages of this controller. Besides, MVC is not a robust controller. In this article, the Vector ARX (VARX) model is used for simultaneously modeling the system and disturbance in order to tackle these disadvantages. For ensuring the robustness of the control loop, the discrete slide mode controller design approach is used in designing MVC and generalized MVC (GMVC). The proposed method for controller design is tested on a nonlinear experimental Four-Tank benchmark process and is compared with nonlinear MVCs designed by neural networks. In spite of the simplicity of designing GMVCs for the VARX models with uncertainty, the results show that the proposed method is accurate and implementable.

  8. Design of energy-based terrain following flight control system

    Wang, Wei; Li, Aijun; Xie, Yanwu; Tan, Jian


    Historically, aircraft longitudinal control has been realized by means of two loops: flight path (the control variable is elevator displacement) and speed control (the control variable is propulsive thrust or engine power). Both the elevator and throttle control cause coupled altitude and speed response, which exerts negative effects on longitudinal flight performance of aircraft, especially for Terrain Following(TF) flight. Energy-based method can resolve coupled problem between flight speed and path by controlling total energy rate and energy distribution rate between elevator and throttle. In this paper, energy-based control method is applied to design a TF flight control system for controlling flight altitude directly. An error control method of airspeed and altitude is adopted to eliminate the stable error of the total energy control system when decoupling control. Pitch loop and pitch rate feedback loop are designed for the system to damp the oscillatory response produced by TF system. The TF flight control system structure diagram and an aircraft point-mass energy motion model including basic control loops are given and used to simulate decoupling performance of the TF fight control system. Simulation results show that the energy-based TF flight control system can decouple flight velocity and flight path angle, exactly follow planned flight path, and greatly reduce altitude error, which is between +10m and -8m.

  9. Designing for Damage: Robust Flight Control Design using Sliding Mode Techniques

    Vetter, T. K.; Wells, S. R.; Hess, Ronald A.; Bacon, Barton (Technical Monitor); Davidson, John (Technical Monitor)


    A brief review of sliding model control is undertaken, with particular emphasis upon the effects of neglected parasitic dynamics. Sliding model control design is interpreted in the frequency domain. The inclusion of asymptotic observers and control 'hedging' is shown to reduce the effects of neglected parasitic dynamics. An investigation into the application of observer-based sliding mode control to the robust longitudinal control of a highly unstable is described. The sliding mode controller is shown to exhibit stability and performance robustness superior to that of a classical loop-shaped design when significant changes in vehicle and actuator dynamics are employed to model airframe damage.

  10. Control System Design for a Surface Cleaning Robot

    Zhai Yuyi


    Full Text Available This paper aims to study a control system for a surface cleaning robot and the focus of the study is the surface cleaning robot controller design. The structural framework of the propulsion control system of the surface robot is designed based on the principle of PWM speed control. The function of each module in the control system is divided and described in detail. A kind of thinking based on an AVR microprocessor and its software and hardware design proposals are presented. Through RS485 and PC communication according to the agreed protocol, the control system achieves robot forward, backward, turn and work operations by the use of a DC motor or stepper motor, and it can therefore more successfully realize the work of a surface cleaning robot.

  11. Iterative LQG Controller Design Through Closed-Loop Identification

    Hsiao, Min-Hung; Huang, Jen-Kuang; Cox, David E.


    This paper presents an iterative Linear Quadratic Gaussian (LQG) controller design approach for a linear stochastic system with an uncertain open-loop model and unknown noise statistics. This approach consists of closed-loop identification and controller redesign cycles. In each cycle, the closed-loop identification method is used to identify an open-loop model and a steady-state Kalman filter gain from closed-loop input/output test data obtained by using a feedback LQG controller designed from the previous cycle. Then the identified open-loop model is used to redesign the state feedback. The state feedback and the identified Kalman filter gain are used to form an updated LQC controller for the next cycle. This iterative process continues until the updated controller converges. The proposed controller design is demonstrated by numerical simulations and experiments on a highly unstable large-gap magnetic suspension system.

  12. Wireless Sensor/Actuator Network Design for Mobile Control Applications

    Xia, Feng; Li, Yanjun; Sun, Youxian


    Wireless sensor/actuator networks (WSANs) are emerging as a new generation of sensor networks. Serving as the backbone of control applications, WSANs will enable an unprecedented degree of distributed and mobile control. However, the unreliability of wireless communications and the real-time requirements of control applications raise great challenges for WSAN design. With emphasis on the reliability issue, this paper presents an application-level design methodology for WSANs in mobile control applications. The solution is generic in that it is independent of the underlying platforms, environment, control system models, and controller design. To capture the link quality characteristics in terms of packet loss rate, experiments are conducted on a real WSAN system. From the experimental observations, a simple yet efficient method is proposed to deal with unpredictable packet loss on actuator nodes. Trace-based simulations give promising results, which demonstrate the effectiveness of the proposed approach.

  13. Wireless Sensor/Actuator Network Design for Mobile Control Applications

    Youxian Sung


    Full Text Available Wireless sensor/actuator networks (WSANs are emerging as a new generationof sensor networks. Serving as the backbone of control applications, WSANs will enablean unprecedented degree of distributed and mobile control. However, the unreliability ofwireless communications and the real-time requirements of control applications raise greatchallenges for WSAN design. With emphasis on the reliability issue, this paper presents anapplication-level design methodology for WSANs in mobile control applications. Thesolution is generic in that it is independent of the underlying platforms, environment,control system models, and controller design. To capture the link quality characteristics interms of packet loss rate, experiments are conducted on a real WSAN system. From theexperimental observations, a simple yet efficient method is proposed to deal withunpredictable packet loss on actuator nodes. Trace-based simulations give promisingresults, which demonstrate the effectiveness of the proposed approach.

  14. Design of electric control system for automatic vegetable bundling machine

    Bao, Yan


    A design can meet the requirements of automatic bale food structure and has the advantages of simple circuit, and the volume is easy to enhance the electric control system of machine carrying bunch of dishes and low cost. The bundle of vegetable machine should meet the sensor to detect and control, in order to meet the control requirements; binding force can be adjusted by the button to achieve; strapping speed also can be adjusted, by the keys to set; sensors and mechanical line connection, convenient operation; can be directly connected with the plug, the 220V power supply can be connected to a power source; if, can work, by the transmission signal sensor, MCU to control the motor, drive and control procedures for small motor. The working principle of LED control circuit and temperature control circuit is described. The design of electric control system of automatic dish machine.

  15. Robust decentralized controller design for UPFC using μ-synthesis

    Taher, Seyed Abbas; Akbari, Shahabeddin; Abdolalipour, Ali; Hematti, Reza


    In this paper a new method based on structured singular value ( μ-synthesis) is proposed for the robust decentralized unified power flow controller (UPFC) design. To achieve decentralization, using the Schauder fixed point theorem the synthesis and analysis of multi-input multi-output (MIMO) control system is transformed into a set of equivalent multi-input single-output (MISO) control system. To cope with power system uncertainties μ-synthesis technique is being used for designing of UPFC controllers. The proposed μ-based controller has a decentralized scheme which has the advantage of reduction in the controller complexity and suitability for practical implementation. The effectiveness of the proposed control strategy on damping low frequency oscillations is evaluated under different operating conditions and compared with the conventional controller to demonstrate its robust performance through nonlinear simulation and some performance indices.

  16. Integration of process design and controller design for chemical processes using model-based methodology

    Abd.Hamid, Mohd-Kamaruddin; Sin, Gürkan; Gani, Rafiqul


    In this paper, a novel systematic model-based methodology for performing integrated process design and controller design (IPDC) for chemical processes is presented. The methodology uses a decomposition method to solve the IPDC typically formulated as a mathematical programming (optimization...... with constraints) problem. Accordingly the optimization problem is decomposed into four sub-problems: (i) pre-analysis, (ii) design analysis, (iii) controller design analysis, and (iv) final selection and verification, which are relatively easier to solve. The methodology makes use of thermodynamic-process...... insights and the reverse design approach to arrive at the final process design–controller design decisions. The developed methodology is illustrated through the design of: (a) a single reactor, (b) a single separator, and (c) a reactor–separator-recycle system and shown to provide effective solutions...

  17. A passivity approach to controller-observer design for robots

    Berghuis, Harry; Nijmeijer, Henk


    Passivity-based control methods for robots, which achieve the control objective by reshaping the robot system's natural energy via state feedback, have, from a practical point of view, some very attractive properties. However, the poor quality of velocity measurements may significantly deteriorate the control performance of these methods. In this paper the authors propose a design strategy that utilizes the passivity concept in order to develop combined controller-observer systems for robot m...

  18. Automatic Design of a Maglev Controller in State Space


    conventional trains with steel wheels on steel rails. Several experimen- tal maglev systems in Germany and Japan have demonstrated that this mode of...Design of a Maglev Controller in State Space Feng Zhao Richard Thornton Abstract We describe the automatic synthesis of a global nonlinear controller for...the global switching points of the controller is presented. The synthesized control system can stabilize the maglev vehicle with large initial displace

  19. Linear control design for guaranteed stability of uncertain linear systems

    Yedavalli, R. K.


    In this paper, a linear control design algorithm based on the elemental perturbation bounds developed recently is presented for a simple second order linear uncertain system satisfying matching conditions. The proposed method is compared with Guaranteed Cost Control (GCC), Multistep Guaranteed Cost Control (MGCC) and the Matching Condition (MC) methods and is shown to give guaranteed stability with lesser values for the control gains than some of the existing methods for the example considered.

  20. Lyapunov-based control designs for flexible-link manipulators

    Juang, Jer-Nan; Huang, Jen-Kuang; Yang, Li-Farn


    A feedback controller for the stabilization of closed-loop systems is proposed which is based on the Liapunov stability criterion. A feedback control law is first generated for the linear portion of the system equation using linear control theory. A feedback control is then designed for the nonlinear portion of the system equation by making negative the time derivative of a positive definite Liapunov function.

  1. Lyapunov-based control designs for flexible-link manipulators

    Juang, Jer-Nan; Huang, Jen-Kuang; Yang, Li-Farn


    A feedback controller for the stabilization of closed-loop systems is proposed which is based on the Liapunov stability criterion. A feedback control law is first generated for the linear portion of the system equation using linear control theory. A feedback control is then designed for the nonlinear portion of the system equation by making negative the time derivative of a positive definite Liapunov function.

  2. Design of a Novel Current Balanced Voltage Controlled Delay Element

    Pooja Saxena


    Full Text Available This paper presents a design of fast voltage controlled delay element based on modified version of low noise Current Balanced Logic (CBL. This delay element provides identical rising and falling edge delays controlled by the single control voltage. The post layout tunable delay range is from 140 ps to 800 ps over control voltage range of 0 to 2.1 V. An analysis for the delay element is also presented, which is in agreement with the simulated delays. A Delay Lock Loop (DLL is designed using this delay element to verify its performance.

  3. Design and Analysis of Controllers for an Double Inverted Pendulum

    Niemann, Hans Henrik; Poulsen, Jesper Kildegaard


    A physical control problem is studied with the H_inf and the SSV methodology. The issues of modelling, uncertainty modelling, performance specification, controller design and laboratory implementation are discussed. The laboratory experiment is a double inverted pendulum placed on a cart. The lim......A physical control problem is studied with the H_inf and the SSV methodology. The issues of modelling, uncertainty modelling, performance specification, controller design and laboratory implementation are discussed. The laboratory experiment is a double inverted pendulum placed on a cart...

  4. Design of Digital Imaging System for Optimization of Control Parameters

    SONG Yong; HAO Qun; YANG Guang; SUN Hong-wei


    The design of experimental system of digital imaging system for control parameter is discussed in detail. Signal processing of digital CCD imaging system is first analyzed. Then the real time control of CCD driver and digital processing circuit and man-machine interaction are achieved by the design of digital CCD imaging module and control module. Experimental results indicate that the image quality of CCD experimental system makes a good response to the change of control parameters. The system gives an important base for improving image quality and the applicability of micro imaging system in complex environment.

  5. Geometric design constratins for controlled fragmentation of metallic cylindrical shells

    Pike, Allen William

    Geometric designs for the controlled fragmentation of cylindrical shells have been successfully modeled by means of CTH hydrocode simulation. Design parameters varied include the shell radius, thickness, and the depth and spacing of interior notches. A large number of shell designs were analyzed and their controlled fragmentation effectiveness categorized. The best overall controlled fragmentation designs exhibit full and complete fragment breakup as prescribed along the system of interior grooves or notches without any of the individual fragments naturally fragmenting throughout their thicknesses. For the combination of the Composition C-4 explosive and the 4340 steel, the best performing designs were shown to commonly possess the following characteristics: (1) they each have notch or groove depths greater than half of the shell thickness, (2) they each have notch or groove spacing within a range that is approximately the same as the shell thickness, and (3) they each have shell thicknesses many times smaller than the shell radius.

  6. Innovative Design of Cam-Controlled Planetary Gear Trains

    Wen-Hsiang Hsieh


    Full Text Available The objective of this paper is to perform the innovation design for the new structures of cam-controlled planetary gear trains (CCPGTs, based on the creative mechanism design methodology. Firstly, the design requirements and design constraints are summarized according to the kinematics characteristics of existing CCPGTs. Then, the (4, 5 and (5, 7 graphs are generated by the theory of number synthesis. After that, the atlas of feasible specialized graphs is obtained. Finally, the atlas of new designs is obtained through the particularization process. In addition, an illustrated example is given, and the feasibility of the design is verified by computer simulation using ADAMS software. The result indicates that new design can produce a more wide range of non-uniform motion than the existing design. Therefore, they are better alternatives for driving a variable speed input mechanism.

  7. Advanced Control System Design for Hypersonic Vehicles Project

    National Aeronautics and Space Administration — Guidance and control system design for hypersonic vehicles is more challenging than their subsonic and supersonic counterparts. Some of these challenges are (i)...

  8. Robust reactor power control system design by genetic algorithm

    Lee, Yoon Joon; Cho, Kyung Ho; Kim, Sin [Cheju National University, Cheju (Korea, Republic of)


    The H{sub {infinity}} robust controller for the reactor power control system is designed by use of the mixed weight sensitivity. The system is configured into the typical two-port model with which the weight functions are augmented. Since the solution depends on the weighting functions and the problem is of nonconvex, the genetic algorithm is used to determine the weighting functions. The cost function applied in the genetic algorithm permits the direct control of the power tracking performances. In addition, the actual operating constraints such as rod velocity and acceleration can be treated as design parameters. Compared with the conventional approach, the controller designed by the genetic algorithm results in the better performances with the realistic constraints. Also, it is found that the genetic algorithm could be used as an effective tool in the robust design. 4 refs., 6 figs. (Author)

  9. Design of Greenhouse Temperature and Light Intensity Control Circuit

    Chao; ZHANG


    In view of domestic scientific and technological achievements at present,real-time control circuit for greenhouse temperature and light intensity has been designed in line with the principle of cost saving and easy control.With advanced temperature sensor and light sensor applied to measure the temperature and light intensity,an execution unit is controlled by single-chip microcomputer(SCM)to regulate the temperature and light intensity,creating a hardware design scheme and software design idea.In case of high temperature and high light intensity in greenhouse,the sunshade net will be put down and the blower will be started automatically;in case of low temperature and light intensity,the sunshade net will be folded up and the heating valve will be turned up automatically.In this way,the temperature and light intensity in greenhouse will be controlled within the designed range.

  10. Enhanced PID Controllers Design Based on Modified Smith Predictor Control for Unstable Process with Time Delay

    Chengqiang Yin


    Full Text Available A two-degree-of-freedom control structure is proposed for a class of unstable processes with time delay based on modified Smith predictor control; the superior performance of disturbance rejection and good robust stability are gained for the system. The set-point tracking controller is designed using the direct synthesis method; the IMC-PID controller for disturbance rejection is designed based on the internal mode control design principle. The controller for set-point response and the controller for disturbance rejection can be adjusted and optimized independently. Meanwhile, the two controllers are designed in the form of PID, which is convenient for engineering application. Finally, simulation examples demonstrate the validity of the proposed control scheme.

  11. Design of Robust UPFC Controller Using H∞ Control Theory in Electric Power System

    Seyed A. Taher


    Full Text Available An industrial plant, such a power system, always contains parametric uncertainties. In the design of a controller the uncertainties have to be considered. Otherwise, if the real plant differs from the assumed plant model, a controller, designed based on classical controller design approaches, may not ensure the stability of the overall system. In this paper design of robust control for the UPFC controllers including power - flow and DC voltage regulator, using a H∞ loop-shaping design via a normalized coprime factorization approach, where loop-shape refers to magnitude of the loop transfer function L = GK as function of frequency is presented. As an example, we have designed a case for the system to compare the proposed method with a conventional method (classical P-I controller. AS the results of the linear and nonlinear simulations, the validity of the proposed method has been confirmed.

  12. Designing Simulation Experiments with Controllable and Uncontrollable Factors

    Dehlendorff, Christian; Kulahci, Murat; Andersen, Klaus Kaae

    In this study we propose a new method for designing computer experiments inspired by the split plot designs used in physical experimentation. The basic layout is that each set of controllable factor settings corresponds to a whole plot for which a number of subplots, each corresponding to one...... combination of settings of the uncontrollable factors, is employed. The caveat is a desire that the subplots within each whole plot cover the design space uniformly. A further desire is that in the combined design, where all experimental runs are considered at once, the uniformity of the design space coverage...... should be guaranteed. Our proposed method allows for a large number of uncontrollable and controllable settings to be run in a limited number of runs while uniformly covering the design space for the uncontrollable factors....

  13. Design Method for EPS Control System Based on KANSEI Structure

    Saitoh, Yumi; Itoh, Hideaki; Ozaki, Fuminori; Nakamura, Takenobu; Kawaji, Shigeyasu

    Recently, it has been identified that a KANSEI engineering plays an important role in functional design developing for realizing highly sophisticated products. However, in practical development methods, we design products and optimise the design trial and error, which indecates that we depend on the skill set of experts. In this paper, we focus on an automobile electric power steering (EPS) for which a functional design is required. First, the KANSEI structure is determined on the basis of the steering feeling of an experienced driver, and an EPS control design based on this KANSEI structure is proposed. Then, the EPS control parameters are adjusted in accordance with the KANSEI index. Finally, by assessing the experimental results obtained from the driver, the effectiveness of the proposed design method is verified.

  14. Design and Realization of Liquid Stub Tuner Control System

    Pan Yaping(潘亚平); R. Kumazawa; T. Seki; Wang Lei(王磊); ZhaoYanping(赵燕平); Qin Chengmin(秦成明); Xue Diye(薛迪冶); Deng Xu(邓旭); Mao Yuzhou(毛玉周); Ding Jiayi(丁家义); T. Watari


    In microwave circuit and aerial system, impedance matching is very important.Liquid stub tuner is a new type of impedance matching device. In the HT-7 Tokamak Ion Cyclotron Resonance Heating ( ICRH ) system, we have already adopted liquid stub tuner to replace the conventional stub tuner. It is urgent to develop a control system of the liquid stub tuner.This paper mainly introduces the design and realization of the liquid stub tuner control system ,and briefly introduces its three controlling functions: local control, remote control and computer control.

  15. Control theory applied to the design of AGC circuits

    Bertran Albertí, Eduardo; Palacin, J M


    Applications of control theory in the design of automatic gain control (AGC) circuits are presented. A general model for AGC circuits is presented, and an equivalent linear system is proposed. Its behavior is compared with the dynamical response of two implemented AGC circuits. The results of classic and state variable correctors based on the model are presented. These results show the usefulness of this linear model in the design of the AGC dynamic response. By using a linear and t-variant s...

  16. Control System Design Using Finite Laplace Transform Theory

    Das, Subhendu


    The Laplace transform theory violates a very fundamental requirement of all engineering systems. We show that this theory assumes that all signals must exist over infinite time interval. Since in engineering this infinite time assumption is not meaningful and feasible, this paper presents a design for linear control systems using the well known theory of Finite Laplace transform (FLT). The major contributions of this paper can be listed as: (a) A design principle for linear control systems us...

  17. Sliding Mode Control Design: a Sum of Squares Approach

    Sanjari, Sina; Ozgoli, Sadjaad


    This paper presents an approach to systematically design sliding mode control and manifold to stabilize nonlinear uncertain systems. The objective is also accomplished to enlarge the inner bound of region of attraction for closed-loop dynamics. The method is proposed to design a control that guarantees both asymptotic and finite time stability given helped by (bilinear) sum of squares programming. The approach introduces an iterative algorithm to search over sliding mode manifold and Lyapunov...

  18. Incremental approximate dynamic programming for nonlinear flight control design

    Zhou, Y.; Van Kampen, E.J.; Chu, Q.P.


    A self-learning adaptive flight control design for non-linear systems allows reliable and effective operation of flight vehicles in a dynamic environment. Approximate dynamic programming (ADP) provides a model-free and computationally effective process for designing adaptive linear optimal

  19. Remote Multivariable Control Design Using a Competition Game

    Atanasijevic-Kunc, M.; Logar, V.; Karba, R.; Papic, M.; Kos, A.


    In this paper, some approaches to teaching multivariable control design are discussed, with special attention being devoted to a step-by-step transition to e-learning. The approach put into practice and presented here is developed through design projects, from which one is chosen as a competition game and is realized using the E-CHO system,…

  20. Robust Multivariable Controller Design via Implicit Model-Following Methods.


    16, the "uncertainties" of nonlinearities and higher-order actuator dynamics are, in fact, a reality ; the controller must work despite them. The...82172799- END IF B-23 2910m PRINT’, ’ENTER NUMBER OF AUMENTED DESIGN STATES: 28118 READ#, INON 2929. PaIr., ’ENTER NUMBER OF DISTURBANCE STATES IN DESIGN

  1. Software For Computer-Aided Design Of Control Systems

    Wette, Matthew


    Computer Aided Engineering System (CAESY) software developed to provide means to evaluate methods for dealing with users' needs in computer-aided design of control systems. Interpreter program for performing engineering calculations. Incorporates features of both Ada and MATLAB. Designed to be flexible and powerful. Includes internally defined functions, procedures and provides for definition of functions and procedures by user. Written in C language.

  2. INO340 telescope control system: hardware design and development

    Jafarzadeh, Asghar; Ravanmehr, Reza


    In order to meet high image quality requirements of the INO340 telescope, one of the significant issues is the design and development of the Telescope Control System (TCS) architecture. The architecture of TCS is designed based on distributed control system configuration, which consists of four major subsystems: Telescope Control System supervisor (TCSS), Dome Control System (DCS), Mount Control System (MCS), and Active Optic System (AOS). Another system which plays important role in the hardware architecture is Interlock System (ILS), which is responsible for safety of staff, telescope and data. ILS architecture is also designed, using distributed system method based on the fail-safe PLCs. All subsystems of TCS are designed with an adequate safety subsystem, which are responsible for the safety of the subsystem and communicates through reliable lines with the main controller, placed in control room. In this paper, we explain the innovative architecture of Telescope Control System together with Interlock System and in brief show the interface control issues between different subsystems.

  3. Stochastic boundary control design for Timoshenko beams with large motions

    Do, K. D.


    This paper considers modeling and boundary control of Timoshenko beams with large motions under both deterministic and stochastic external loads. The original nonlinear partial differential equations governing motion of the beams are derived and used in the control design. The control design is based on the Lyapunov direct method. The proposed controllers guarantee globally practically K∞-exponentially p-stability of the beam motions at the reference state. Well-posedness and stability are analyzed based on a Lyapunov-type theorem developed to study well-posedness and stability for a class of stochastic evolution systems in Hilbert space. Simulation results are included to illustrate the effectiveness of the proposed control design.

  4. Component-based Control Software Design for Flexible Manufacturing System

    周炳海; 奚立峰; 曹永上


    A new method that designs and implements the component-based distributed & hierarchical flexible manufacturing control software is described with a component concept in this paper. The proposed method takes aim at improving the flexibility and reliability of the control system. On the basis of describing the concepts of component-based software and the distributed object technology, the architecture of the component-based software of the control system is suggested with the Common Object Request Broker Architecture (CORBA). And then, we propose a design method for component-based distributed & hierarchical flexible manufacturing control system. Finally, to verify the software design method, a prototype flexible manufacturing control system software has been implemented in Orbix 2. 3c, VC++6.0 and has been tested in connection with the physical flexible ranufacturing shop at the WuXi Professional Institute.

  5. AutoCAD electrical 2013 for electrical control designers

    Tickoo, Sham; CADCIM Technologies


    The AutoCAD Electrical 2013 for Electrical Control Designers textbook has been written to assist the engineering students and the practicing designers learn the application of various AutoCAD Electrical tools and options for creating electrical control designs. After reading this textbook, the users will be able to create professional electrical-control drawings easily and effectively. Moreover, the users will be able to automate various control engineering tasks such as building circuits, numbering wires, creating bills of materials, and many more. The textbook takes the users across a wide spectrum of electrical control drawings through progressive examples and numerous illustrations and exercises, thereby making it an ideal guide for both the novice and the advanced users. Salient Features of the Textbook Consists of 14 chapters that are organized in a pedagogical sequence covering various tools and features of AutoCAD Electrical such as schematic drawings, parametric and non-parametric PLC modules, Circu...

  6. Evolutionary design of discrete controllers for hybrid mechatronic systems

    Dupuis, Jean-Francois; Fan, Zhun; Goodman, Erik


    This paper investigates the issue of evolutionary design of controllers for hybrid mechatronic systems. Finite State Automaton (FSA) is selected as the representation for a discrete controller due to its interpretability, fast execution speed and natural extension to a statechart, which is very...... popular in industrial applications. A case study of a two-tank system is used to demonstrate that the proposed evolutionary approach can lead to a successful design of an FSA controller for the hybrid mechatronic system, represented by a hybrid bond graph. Generalisation of the evolved FSA controller...... of the evolutionary design of controllers for hybrid mechatronic systems. Finally, some important future research directions are pointed out, leading to the major work of the succeeding part of the research....

  7. Model-Based Integrated Process Design and Controller Design of Chemical Processes

    Abd Hamid, Mohd Kamaruddin Bin

    This thesis describes the development and application of a new systematic modelbased methodology for performing integrated process design and controller design (IPDC) of chemical processes. The new methodology is simple to apply, easy to visualize and efficient to solve. Here, the IPDC problem...... and verification. Using thermodynamic and process insights, a bounded search space is first identified. This feasible solution space is further reduced to satisfy the process design and controller design constraints in sub-problems 2 and 3, respectively, until in the final sub-problem all feasible candidates...... are ordered according to the defined performance criteria (objective function). The final selected design is then verified through rigorous simulation. In the pre-analysis sub-problem, the concepts of attainable region and driving force are used to locate the optimal process-controller design solution...

  8. Statistical Design Model (SDM) of satellite thermal control subsystem

    Mirshams, Mehran; Zabihian, Ehsan; Aarabi Chamalishahi, Mahdi


    Satellites thermal control, is a satellite subsystem that its main task is keeping the satellite components at its own survival and activity temperatures. Ability of satellite thermal control plays a key role in satisfying satellite's operational requirements and designing this subsystem is a part of satellite design. In the other hand due to the lack of information provided by companies and designers still doesn't have a specific design process while it is one of the fundamental subsystems. The aim of this paper, is to identify and extract statistical design models of spacecraft thermal control subsystem by using SDM design method. This method analyses statistical data with a particular procedure. To implement SDM method, a complete database is required. Therefore, we first collect spacecraft data and create a database, and then we extract statistical graphs using Microsoft Excel, from which we further extract mathematical models. Inputs parameters of the method are mass, mission, and life time of the satellite. For this purpose at first thermal control subsystem has been introduced and hardware using in the this subsystem and its variants has been investigated. In the next part different statistical models has been mentioned and a brief compare will be between them. Finally, this paper particular statistical model is extracted from collected statistical data. Process of testing the accuracy and verifying the method use a case study. Which by the comparisons between the specifications of thermal control subsystem of a fabricated satellite and the analyses results, the methodology in this paper was proved to be effective. Key Words: Thermal control subsystem design, Statistical design model (SDM), Satellite conceptual design, Thermal hardware

  9. Singularly Perturbation Method Applied To Multivariable PID Controller Design

    Mashitah Che Razali


    Full Text Available Proportional integral derivative (PID controllers are commonly used in process industries due to their simple structure and high reliability. Efficient tuning is one of the relevant issues of PID controller type. The tuning process always becomes a challenging matter especially for multivariable system and to obtain the best control tuning for different time scales system. This motivates the use of singularly perturbation method into the multivariable PID (MPID controller designs. In this work, wastewater treatment plant and Newell and Lee evaporator were considered as system case studies. Four MPID control strategies, Davison, Penttinen-Koivo, Maciejowski, and Combined methods, were applied into the systems. The singularly perturbation method based on Naidu and Jian Niu algorithms was applied into MPID control design. It was found that the singularly perturbed system obtained by Naidu method was able to maintain the system characteristic and hence was applied into the design of MPID controllers. The closed loop performance and process interactions were analyzed. It is observed that less computation time is required for singularly perturbed MPID controller compared to the conventional MPID controller. The closed loop performance shows good transient responses, low steady state error, and less process interaction when using singularly perturbed MPID controller.

  10. Design and Simulation of PMSM Feedback Linearization Control System

    SONG Xiao-jing


    Full Text Available With the theory of AC adjustable speed as well as a new control theory research is unceasingly thorough, the permanent magnet synchronous motor control system requires high precision of control and high reliability of the occasion, access to a wide range of applications, in the modern AC motor has play a decisive role position. Based on the deep research on the feedback linearization technique based on, by choosing appropriate state transformation and control transform, PMSM model input output linearization, and the design of the feedback linearization controller, realized PMSM decoupling control based on Matlab, and PMSM feedback linearization control system simulation. The simulation results show that, the system in a certain range of speed than the traditional PI controller has better control performance, but to the parameter variation has strong sensitivity. It also determines the direction for future research. 

  11. Funds support the construction of control systems design

    Vlasov, V.; Tolokonsky, A.


    The experience of the creation tools to support the construction of control systems design skills to provide effective training for students of the Department of Automation MEPhI, to create management information systems based on PCS. Currently the control system have been widely used not only in industry, but also on research. Therefore, quite important question of training in research automation.

  12. A fuzzy control design case: The fuzzy PLL

    Teodorescu, H. N.; Bogdan, I.


    The aim of this paper is to present a typical fuzzy control design case. The analyzed controlled systems are the phase-locked loops (PLL's)--classic systems realized in both analogic and digital technology. The crisp PLL devices are well known.

  13. Fuzzy Simulation Human Intelligent Control System Design on Gyratory Breaker

    Wen,Ruchun; Zhao,Shuling; Zhu,Jianwu; Wang,Xiaoyan


    In order to deal with the complex process that incurs serious time delay, enormous inertia and nonlinear problems,fuzzy simulation human intelligent control algorithm rules are established. The fuzzy simulation human intelligent controller and the hardware with the single-chip microcomputer are designed and the anti-interference measures to the whole system are provided.

  14. LQG Controller Design for Pitch Regulated Variable Speed Wind Turbine

    Imran, Raja Muhammed; Hussain, Dil Muhammad Akbar; Chen, Zhe


    the effect of disturbance acting on its rotor blades by wind. CART2 (Control Advanced Research Turbine) linear model is produced/generated by FAST (Fatigue, Aerodynamics, Structures and Turbulence) code to test its simulation on MATLAB/Simulink and various results are compared. The designed controller...

  15. Rudder-Roll Damping Controller Design using Mu Synthesis

    Yang, C.; Blanke, M.


    The effectiveness of rudder roll damping control is very sensitive to uncertainty in ship dynamic parameters. In this paper, an H-infinity controller is designed using mu synthesis and an uncertainty model for roll and yaw that was identified earlier from experiments at sea. The properties...

  16. Selection of References in Wind Turbine Model Predictive Control Design

    Odgaard, Peter Fogh; Hovgaard, Tobias


    Lowering the cost of energy is one of the major focus areas in the wind turbine industry. Recent research has indicated that wind turbine controllers based on model predictive control methods can be useful in obtaining this objective. A number of design considerations have to be made when designi...

  17. Design and Implementation of Frequency-responsive Thermostat Control

    Nyeng, Preben; Østergaard, Jacob; Togeby, Mikael


    properties and needs of each application, and on the other hand the requirements of the system operator. The control algorithms are implemented on a microcontroller unit that is interfaced with existing thermostats for each application. To validate the control algorithms and overall system design, a series...

  18. Design of switched controllers for discrete singular bilinear systems

    Xiuhua ZHANG; Qingling ZHANG


    In this paper, switched controllers are designed for a class of nonlinear discrete singular systems and a class of discrete singular bilinear systems. An invariant principle is presented for such switched nonlinear singular systems.The invariant principle and the switched controllers are used to globally stabilize a class of singular bilinear systems that are not open-loop stable.

  19. ICONGRAPH - Program package for interactive controller design by graphical plotting

    Tuschak, R.; Bars, R.; Habemayer, M.; Kovacs, T.; Vajk, I.; Vajta, Miklos


    ICONGRAPH is an interactive program package for CAD of control systems. The system under investigation has to be basically a linear single-loop one with lumped parameters. ICONGRAPH covers the following subjects: identification, design of controllers in the frequency and operator domains by

  20. Intelligent Controller Design for DC Motor Speed Control based on Fuzzy Logic-Genetic Algorithms Optimization

    Boumediene ALLAOUA; Laoufi, Abdellah; Brahim GASBAOUI; Nasri, Abdelfatah; Abdessalam ABDERRAHMANI


    In this paper, an intelligent controller of the DC (Direct current) Motor drive is designed using fuzzy logic-genetic algorithms optimization. First, a controller is designed according to fuzzy rules such that the systems are fundamentally robust. To obtain the globally optimal values, parameters of the fuzzy controller are improved by genetic algorithms optimization model. Computer MATLAB work space demonstrate that the fuzzy controller associated to the genetic algorithms approach became ve...

  1. Design and Stability of an On-Orbit Attitude Control System Using Reaction Control Thrusters

    Hall, Robert A.; Hough, Steven; Orphee, Carolina; Clements, Keith


    NASA is providing preliminary design and requirements for the Space Launch System Exploration Upper Stage (EUS). The EUS will provide upper stage capability for vehicle ascent as well as on-orbit control capability. Requirements include performance of on-orbit burn to provide Orion vehicle with escape velocity. On-orbit attitude control is accommodated by a on-off Reaction Control System (RCS). Paper provides overview of approaches for design and stability of an attitude control system using a RCS.




    This control decision addresses the Knock-Out Pot (KOP) Disposition KOP Processing System (KPS) conceptual design. The KPS functions to (1) retrieve KOP material from canisters, (2) remove particles less than 600 {micro}m in size and low density materials from the KOP material, (3) load the KOP material into Multi-Canister Overpack (MCO) baskets, and (4) stage the MCO baskets for subsequent loading into MCOs. Hazard and accident analyses of the KPS conceptual design have been performed to incorporate safety into the design process. The hazard analysis is documented in PRC-STP-00098, Knock-Out Pot Disposition Project Conceptual Design Hazard Analysis. The accident analysis is documented in PRC-STP-CN-N-00167, Knock-Out Pot Disposition Sub-Project Canister Over Lift Accident Analysis. Based on the results of these analyses, and analyses performed in support of MCO transportation and MCO processing and storage activities at the Cold Vacuum Drying Facility (CVDF) and Canister Storage Building (CSB), control decision meetings were held to determine the controls required to protect onsite and offsite receptors and facility workers. At the conceptual design stage, these controls are primarily defined by their safety functions. Safety significant structures, systems, and components (SSCs) that could provide the identified safety functions have been selected for the conceptual design. It is anticipated that some safety SSCs identified herein will be reclassified based on hazard and accident analyses performed in support of preliminary and detailed design.

  3. Design of a New Intelligent Controller with Switch Management

    Guangfu Wang


    Full Text Available This paper has a study on a new intelligent Programmable Logic Controller based on industrial Ethernet (IPLCbIE. It proposes a complete solution for the target segment: MMM, WWW, F&B, Medium Hydro power. The scopes of the solution discussed in this paper are the process and field part of the IPLCbIE architecture. For the process part the scope of our design includes the controllers, the engineering software tools (Unity Pro and the interfaces with the other equipment of this level, typically other controllers or tools like asset management, SCADA or OPC server. Safety and HSBY controllers are also part of our design. For the field part, the scope of our program includes the remote I/Os and the interfaces with the other equipment of this level, typically distributed I/Os & devices. In this paper, we make a study on the design of the controller. It includes the system architecture of IPLCbIE, the application of network module. And it focuses on the discussion of design for the kernel module of the PLC - network module NOC. Our design also includes the interfaces with the operation & management tools. The hardware design is especially introduced in detail in my paper.  

  4. Control design and analysis for underactuated robotic systems

    Xin, Xin


    The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). Control Design and Analysis for Underactuated Robotic Systems presents a unified treatment of control design and analysis for a class of URSs, which include systems with multiple-degree-of-freedom and/or with underactuation degree two. It presents novel notions, features, design techniques, and strictly global motion analysis results for these systems. These new materials are shown to be vital in studying the control design and stability analysis of URSs. Control Design and Analysis for Underactuated Robotic Systems includes the modelling, control design, and analysis presented in a systematic way particularly for the following examples: l  directly and remotely driven  Acrobots l  Pendubot l  rotational pendulum l  counter-weighted Acrobot 2-link underactuated robot with flexible elbow joint l  variable-length pendulum l  3-link gymnastic robot with passive first joint l  n-link planar robo...

  5. Design and Control of Nonlinear Mechanical Systems for Minimum Time

    J.B. Cardoso


    Full Text Available This paper presents an integrated methodology for optimal design and control of nonlinear flexible mechanical systems, including minimum time problems. This formulation is implemented in an optimum design code and it is applied to the nonlinear behavior dynamic response. Damping and stiffness characteristics plus control driven forces are considered as decision variables. A conceptual separation between time variant and time invariant design parameters is presented, this way including the design space into the control space and considering the design variables as control variables not depending on time. By using time integrals through all the derivations, design and control problems are unified. In the optimization process we can use both types of variables simultaneously or by interdependent levels. For treating minimum time problems, a unit time interval is mapped onto the original time interval, then treating equally time variant and time invariant problems. The dynamic response and its sensitivity are discretized via space-time finite elements, and may be integrated either by at-once integration or step-by-step. Adjoint system approach is used to calculate the sensitivities.

  6. Integrated Design and Implementation of Embedded Control Systems with Scilab

    Ma, Longhua; Peng, Zhe


    Embedded systems are playing an increasingly important role in control engineering. Despite their popularity, embedded systems are generally subject to resource constraints and it is therefore difficult to build complex control systems on embedded platforms. Traditionally, the design and implementation of control systems are often separated, which causes the development of embedded control systems to be highly time-consuming and costly. To address these problems, this paper presents a low-cost, reusable, reconfigurable platform that enables integrated design and implementation of embedded control systems. To minimize the cost, free and open source software packages such as Linux and Scilab are used. Scilab is ported to the embedded ARM-Linux system. The drivers for interfacing Scilab with several communication protocols including serial, Ethernet, and Modbus are developed. Experiments are conducted to test the developed embedded platform. The use of Scilab enables implementation of complex control algorithms ...

  7. Design of Intelligent Control System of Transformer Oil Temperature

    Caijun Xu


    Full Text Available in working process of power transformer, which directly affects the safe operation of transformer oil temperature as well as the stability of the network, so vital to transformer oil temperature detection and control. Based on single chip and chip design of digital temperature measurement transformer oil temperature of an intelligent control system. The system uses a digital temperature sensor DS18B20 collection transformer oil temperature, improves the accuracy of the system. The low power consumption, strong anti-jamming ability of the SCM STC89C51 as the main controller to achieve control and real-time monitoring of transformer oil temperature, and input control module is designed for different transformer oil temperature preset control during normal operation, improving system usability and human-computer interaction.

  8. Robust, Decoupled, Flight Control Design with Rate Saturating Actuators

    Snell, S. A.; Hess, R. A.


    Techniques for the design of control systems for manually controlled, high-performance aircraft must provide the following: (1) multi-input, multi-output (MIMO) solutions, (2) acceptable handling qualities including no tendencies for pilot-induced oscillations, (3) a tractable approach for compensator design, (4) performance and stability robustness in the presence of significant plant uncertainty, and (5) performance and stability robustness in the presence actuator saturation (particularly rate saturation). A design technique built upon Quantitative Feedback Theory is offered as a candidate methodology which can provide flight control systems meeting these requirements, and do so over a considerable part of the flight envelope. An example utilizing a simplified model of a supermaneuverable fighter aircraft demonstrates the proposed design methodology.

  9. Modern digital flight control system design for VTOL aircraft

    Broussard, J. R.; Berry, P. W.; Stengel, R. F.


    Methods for and results from the design and evaluation of a digital flight control system (DFCS) for a CH-47B helicopter are presented. The DFCS employed proportional-integral control logic to provide rapid, precise response to automatic or manual guidance commands while following conventional or spiral-descent approach paths. It contained altitude- and velocity-command modes, and it adapted to varying flight conditions through gain scheduling. Extensive use was made of linear systems analysis techniques. The DFCS was designed, using linear-optimal estimation and control theory, and the effects of gain scheduling are assessed by examination of closed-loop eigenvalues and time responses.

  10. Challenges and opportunities in integration of design and control

    Huusom, Jakob Kjøbsted


    , advancements in control algorithms and software have widened the range of feasible operation and control for strongly interconnected production systems. In light of these advances in different areas of the field, recommendations for further research and initiatives for development of an integrated approach......Process synthesis and design of plant operation are related topics but current industrial practice solves these problems sequentially. The implication of this sequential strategy may result in design of processing systems which are very hard to control. This paper presents a discussion on drivers...

  11. Database design for Physical Access Control System for nuclear facilities

    Sathishkumar, T., E-mail:; Rao, G. Prabhakara, E-mail:; Arumugam, P., E-mail:


    Highlights: • Database design needs to be optimized and highly efficient for real time operation. • It requires a many-to-many mapping between Employee table and Doors table. • This mapping typically contain thousands of records and redundant data. • Proposed novel database design reduces the redundancy and provides abstraction. • This design is incorporated with the access control system developed in-house. - Abstract: A (Radio Frequency IDentification) RFID cum Biometric based two level Access Control System (ACS) was designed and developed for providing access to vital areas of nuclear facilities. The system has got both hardware [Access controller] and software components [server application, the database and the web client software]. The database design proposed, enables grouping of the employees based on the hierarchy of the organization and the grouping of the doors based on Access Zones (AZ). This design also illustrates the mapping between the Employee Groups (EG) and AZ. By following this approach in database design, a higher level view can be presented to the system administrator abstracting the inner details of the individual entities and doors. This paper describes the novel approach carried out in designing the database of the ACS.

  12. AC electric motors control advanced design techniques and applications

    Giri, Fouad


    The complexity of AC motor control lies in the multivariable and nonlinear nature of AC machine dynamics. Recent advancements in control theory now make it possible to deal with long-standing problems in AC motors control. This text expertly draws on these developments to apply a wide range of model-based control designmethods to a variety of AC motors. Contributions from over thirty top researchers explain how modern control design methods can be used to achieve tight speed regulation, optimal energetic efficiency, and operation reliability and safety, by considering online state var

  13. A scheme to design power controller in wireless network systems

    Kong, Shulan; Zhang, Huanshui; Zhang, Zhaosheng


    In this Letter, power control problem is firstly studied at an angle of LQG measurement-feedback control problem. A stochastic uplink power control problem is considered for CDMA systems. An effective distributed algorithm is proposed based on stochastic linear quadratic optimal control theory assuming SIR measurements contain white noise. The presented scheme minimizes the sum of the power and the error of SIR. A measurement-feedback power controller is designed by constructing an optimization problem of a stochastic linear quadratic type in Krein space and solving the Kalman filter problem for the systems.

  14. A scheme to design power controller in wireless network systems

    Kong Shulan [School of Mathematics Science, Qufu Normal University, Qufu 273165, Shandong (China)]. E-mail:; Zhang Huanshui [School of Control Science and Control Engineering, Shandong University, Jinnan 250061, Shandong (China); Zhang Zhaosheng [School of Mathematics Science, Qufu Normal University, Qufu 273165, Shandong (China)


    In this Letter, power control problem is firstly studied at an angle of LQG measurement-feedback control problem. A stochastic uplink power control problem is considered for CDMA systems. An effective distributed algorithm is proposed based on stochastic linear quadratic optimal control theory assuming SIR measurements contain white noise. The presented scheme minimizes the sum of the power and the error of SIR. A measurement-feedback power controller is designed by constructing an optimization problem of a stochastic linear quadratic type in Krein space and solving the Kalman filter problem for the systems.

  15. Integrated Process Design and Control of Reactive Distillation Processes

    Mansouri, Seyed Soheil; Sales-Cruz, Mauricio; Huusom, Jakob Kjøbsted


    In this work, integrated process design and control of reactive distillation processes is presented. Simple graphical design methods that are similar in concept to non-reactive distillation processes are used, such as reactive McCabe-Thiele method and driving force approach. The methods are based...... on the element concept, which is used to translate a system of compounds into elements. The operation of the reactive distillation column at the highest driving force and other candidate points is analyzed through analytical solution as well as rigorous open-loop and closed-loop simulations. By application...... of this approach, it is shown that designing the reactive distillation process at the maximum driving force results in an optimal design in terms of controllability and operability. It is verified that the reactive distillation design option is less sensitive to the disturbances in the feed at the highest driving...

  16. IT-tool Concept for Design and Intelligent Motion Control

    Conrad, Finn; Hansen, Poul Erik; Sørensen, Torben


    The paper presents results obtained from a Danish mechatronic research program focusing on intelligent motion control as well as results from the Esprit project SWING on IT-tools for rapid prototyping of fluid power components and systems. A mechatronic test facility with digital controllers....... Furthermore, a developed IT-tool concept for controller and system design utilising the ISO 10303 STEP Standard is proposed....

  17. Design of Digital Control System for Cement Raw Material Preparation

    ZHOU Ying; LI Hongsheng


    This paper describes the design of cement raw material prepared digital control system by PROFIBUS. It uses the digital technology to implement the digital control system for raw material prepared of the cement factory. This system improves the communication between the industrial system and locale instrument devices. It applies digital communication to replace the 4-20 mA or 24VDC signal between locale lever device and controller.

  18. On Design of Automatic Choosing Control by Pole Placement

    高田, 等; 提, 祐樹; 八野, 知博; TAKATA, Hitoshi; Sage, Yuki; HACHINO, Tomohiro


    This paper is concerned with design of an augmented automatic choosing control (AACC) for nonlinear systems. The AACC is synthesized by smoothly uniting a set of sectionwise linear controls, in which pole placement approach is used. An observer theory is applied to it in a case that the state vector includes some unmeasurable variables directly. Control and observer's gains are obtained by the pole placement method.

  19. Chaos control of chaotic dynamical systems using backstepping design

    Yassen, M.T. [Mathematics Department, Faculty of Science, Mansoura University, Mansoura 35516 (Egypt)] e-mail:


    This work presents chaos control of chaotic dynamical systems by using backstepping design method. This technique is applied to achieve chaos control for each of the dynamical systems Lorenz, Chen and Lue systems. Based on Lyapunov stability theory, control laws are derived. We used the same technique to enable stabilization of chaotic motion to a steady state as well as tracking of any desired trajectory to be achieved in a systematic way. Numerical simulations are shown to verify the results.

  20. Towards a Generic Constructive Nonlinear Control Design Tool using Relaxed Control

    Jayawardhana, Bayu


    In this paper, we revisit a control design approach for general (non-affine) nonlinear systems using relaxed control. Using the notion of relaxed input, where the ordinary real-valued control input is replaced by a measure-valued control input, we are able to manipulate the original system such that

  1. Multiobjective insensitive design of airplane control systems with uncertain parameters

    Schy, A. A.; Giesy, D. P.


    A multiobjective computer-aided design algorithm has been developed which minimizes the sensitivity of the design objectives to uncertainties in system parameters. The more important uncertain parameters are described by a gaussian random vector with known covariance matrix, and a vector sensitivity objective function is defined as the probabilities that the design objectives will violate specified requirements constraints. Control system parameters are found which minimize the sensitivity vector in a Pareto-optimal sense, using constrained minimization algorithms. Example results are shown for lateral stability augmentation system (SAS) design for three Shuttle flight conditions.

  2. Design and performance comparison of fuzzy logic based tracking controllers

    Lea, Robert N.; Jani, Yashvant


    Several camera tracking controllers based on fuzzy logic principles have been designed and tested in software simulation in the software technology branch at the Johnson Space Center. The fuzzy logic based controllers utilize range measurement and pixel positions from the image as input parameters and provide pan and tilt gimble rate commands as output. Two designs of the rulebase and tuning process applied to the membership functions are discussed in light of optimizing performance. Seven test cases have been designed to test the performance of the controllers for proximity operations where approaches like v-bar, fly-around and station keeping are performed. The controllers are compared in terms of responsiveness, and ability to maintain the object in the field-of-view of the camera. Advantages of the fuzzy logic approach with respect to the conventional approach have been discussed in terms of simplicity and robustness.

  3. Design and Control of Modular Spine-Like Tensegrity Structures

    Mirletz, Brian T.; Park, In-Won; Flemons, Thomas E.; Agogino, Adrian K.; Quinn, Roger D.; SunSpiral, Vytas


    We present a methodology enabled by the NASA Tensegrity Robotics Toolkit (NTRT) for the rapid structural design of tensegrity robots in simulation and an approach for developing control systems using central pattern generators, local impedance controllers, and parameter optimization techniques to determine effective locomotion strategies for the robot. Biomimetic tensegrity structures provide advantageous properties to robotic locomotion and manipulation tasks, such as their adaptability and force distribution properties, flexibility, energy efficiency, and access to extreme terrains. While strides have been made in designing insightful static biotensegrity structures, gaining a clear understanding of how a particular structure can efficiently move has been an open problem. The tools in the NTRT enable the rapid exploration of the dynamics of a given morphology, and the links between structure, controllability, and resulting gait efficiency. To highlight the effectiveness of the NTRT at this exploration of morphology and control, we will provide examples from the designs and locomotion of four different modular spine-like tensegrity robots.

  4. Integrated design of cam mechanisms and servo-control systems

    姚燕安[1; 颜鸿森[2; 张策[3; 邹慧君[4


    Traditionally, in a cam mechanism, the cam is driven by an actuator at a constant speed. The motion characteristics of the follower are determined once the cam profile is designed. This paper presents a novel theory named "integrated design of cam mechanisms and servo-control systems" whose basic idea is varying the input speed trajectory of the cam by a microcomputer-controlled servomotor to improve kinematic and dynamic characteristics of the follower system. The philosophy of the theory is developing superior machines by taking advantage of the flexibility of servo-control systems to compensate for disadvantages of rigid cam mechanisms. The systematic design criteria of the cam-servo-integrated system are developed and an approach based on optimal-control theory is presented for to select suitable cam speed functions, hence the basis of the theory is formed.

  5. Design and Control of a Powered Transfemoral Prosthesis.

    Sup, Frank; Bohara, Amit; Goldfarb, Michael


    The paper describes the design and control of a transfemoral prosthesis with powered knee and ankle joints. The initial prototype is a pneumatically actuated powered-tethered device, which is intended to serve as a laboratory test bed for a subsequent self-powered version. The prosthesis design is described, including its kinematic optimization and the design of a three-axis socket load cell that measures the forces and moments of interaction between the socket and prosthesis. A gait controller is proposed based on the use of passive impedance functions that coordinates the motion of the prosthesis with the user during level walking. The control approach is implemented on the prosthesis prototype and experimental results are shown that demonstrate the promise of the active prosthesis and control approach in restoring fully powered level walking to the user.

  6. Control of Higher–Dimensional PDEs Flatness and Backstepping Designs

    Meurer, Thomas


    This monograph presents new model-based design methods for trajectory planning, feedback stabilization, state estimation, and tracking control of distributed-parameter systems governed by partial differential equations (PDEs). Flatness and backstepping techniques and their generalization to PDEs with higher-dimensional spatial domain lie at the core of this treatise. This includes the development of systematic late lumping design procedures and the deduction of semi-numerical approaches using suitable approximation methods. Theoretical developments are combined with both simulation examples and experimental results to bridge the gap between mathematical theory and control engineering practice in the rapidly evolving PDE control area. The text is divided into five parts featuring: - a literature survey of paradigms and control design methods for PDE systems - the first principle mathematical modeling of applications arising in heat and mass transfer, interconnected multi-agent systems, and piezo-actuated smar...

  7. Design, implementation and control of a magnetic levitation device

    Shameli, Ehsan

    Magnetic levitation technology has shown a great deal of promise for micromanipulation tasks. Due to the lack of mechanical contact, magnetic levitation systems are free of problems caused by friction, wear, sealing and lubrication. These advantages have made magnetic levitation systems a great candidate for clean room applications. In this thesis, a new large gap magnetic levitation system is designed, developed and successfully tested. The system is capable of levitating a 6.5(gr) permanent magnet in 3D space with an air gap of approximately 50(cm) with the traveling range of 20x20x30 mm3. The overall positioning accuracy of the system is 60mum. With the aid of finite elements method, an optimal geometry for the magnetic stator is proposed. Also, an energy optimization approach is utilized in the design of the electromagnets. In order to facilitate the design of various controllers for the system, a mathematical model of the magnetic force experienced by the levitated object is obtained. The dynamic magnetic force model is determined experimentally using frequency response system identification. The response of the system components including the power amplifiers, and position measurement system are also considered in the development of the force model. The force model is then employed in the controller design for the magnetic levitation device. Through a modular approach, the controller design for the 3D positioning system is started with the controller design for the vertical direction, i.e. z, and then followed by the controller design in the horizontal directions, i.e. x and y. For the vertical direction, several controllers such as PID, feed forward and feedback linearization are designed and their performances are compared. Also a control command conditioning method is introduced as a solution to increase the control performance and the results of the proposed controller are compared with the other designs. Experimental results showed that for the magnetic

  8. Concurrent mechatronic design approach for active control of cavity noise

    de Oliveira, L. P. R.; da Silva, M. M.; Sas, P.; Van Brussel, H.; Desmet, W.


    Active control is a potential solution to many noise and vibration problems for improving the low-frequency performance. Cavity noise reduction as encountered for instance in aircraft cabins and vehicle interiors is a typical example. However, the conventional design of these active solutions may lead to suboptimal products, since the interaction between the vibro-acoustic plant dynamics and control dynamics is usually not considered. A proper way to design such active systems would be considering control and plant parameters concurrently. To cope with this approach, a methodology to derive a fully coupled mechatronic model that deals with both the vibro-acoustic plant dynamics as well as the control parameters is proposed. The inclusion of sensor and actuator models is investigated, since it contributes to the model accuracy as it can confer frequency, phase or amplitude limitations to the control performance. The proposed methodology provides a reduced state-space model derived from a fully coupled vibro-acoustic finite element model. Experimental data on a vibro-acoustic vehicle cabin mock-up are used to validate the model reduction procedure. Regarding noise reduction, optimization results are presented considering both vibro-acoustic plant features, such as thicknesses, and control parameters, such as sensor and actuator placement and control gains. A collocated sensor/actuator pair is considered in a velocity feedback control strategy. The benefits of a concurrent mechatronic design when dealing with active structural-acoustic control solutions are addressed, illustrated and experimentally validated.

  9. Design of Low Complexity Model Reference Adaptive Controllers

    Hanson, Curt; Schaefer, Jacob; Johnson, Marcus; Nguyen, Nhan


    Flight research experiments have demonstrated that adaptive flight controls can be an effective technology for improving aircraft safety in the event of failures or damage. However, the nonlinear, timevarying nature of adaptive algorithms continues to challenge traditional methods for the verification and validation testing of safety-critical flight control systems. Increasingly complex adaptive control theories and designs are emerging, but only make testing challenges more difficult. A potential first step toward the acceptance of adaptive flight controllers by aircraft manufacturers, operators, and certification authorities is a very simple design that operates as an augmentation to a non-adaptive baseline controller. Three such controllers were developed as part of a National Aeronautics and Space Administration flight research experiment to determine the appropriate level of complexity required to restore acceptable handling qualities to an aircraft that has suffered failures or damage. The controllers consist of the same basic design, but incorporate incrementally-increasing levels of complexity. Derivations of the controllers and their adaptive parameter update laws are presented along with details of the controllers implementations.

  10. Optimal design of distributed control and embedded systems

    Çela, Arben; Li, Xu-Guang; Niculescu, Silviu-Iulian


    Optimal Design of Distributed Control and Embedded Systems focuses on the design of special control and scheduling algorithms based on system structural properties as well as on analysis of the influence of induced time-delay on systems performances. It treats the optimal design of distributed and embedded control systems (DCESs) with respect to communication and calculation-resource constraints, quantization aspects, and potential time-delays induced by the associated  communication and calculation model. Particular emphasis is put on optimal control signal scheduling based on the system state. In order to render  this complex optimization problem feasible in real time, a time decomposition is based on periodicity induced by the static scheduling is operated. The authors present a co-design approach which subsumes the synthesis of the optimal control laws and the generation of an optimal schedule of control signals on real-time networks as well as the execution of control tasks on a single processor. The a...

  11. Parameterized design of nonlinear feedback controllers for servo positioning systems

    Cheng Guoyang; Jin Wenguang


    To achieve fast, smooth and accurate set point tracking in servo positioning systems, a parameterized design of nonlinear feedback controllers is presented, based on a so-called composite nonlinear feedback (CNF) control technique. The controller designed here consists of a linear feedback part and a nonlinear part. The linear part is responsible for stability and fast response of the closed-loop system. The nonlinear part serves to increase the damping ratio of closed-loop poles as the controlled output approaches the target reference. The CNF control brings together the good points of both the small and the large damping ratio cases, by continuously scheduling the damping ratio of the dominant closed-loop poles and thus has the capability for superior transient performance, i.e. a fast output response with low overshoot. In the presence of constant disturbances, an integral action is included so as to remove the static bias. An explicitly parameterized controller is derived for servo positioning systems characterized by second-order model. Practical application in a micro hard disk drive servo system is then presented, together with some discussion of the rationale and characteristics of such design. Simulation and experimental results demonstrate the effectiveness of this control design methodology.

  12. Control design variable linking for optimization of structural/control systems

    Jin, Ik Min; Schmit, Lucien A.


    A method is presented to integrate the design space of structural/control system optimization problems in the case of linear state feedback control. Conventional structural sizing variables and elements of the feedback gain matrix are both treated as strictly independent design variables in optimization by extending design variable linking concepts to the control gains. Several approximation concepts including new control design variable linking schemes are used to formulate the integrated structural/control optimization problem as a sequence of explicit nonlinear mathematical programming problems. Examples which involve a variety of behavior constraints, including constraints on dynamic stability, damped frequencies, control effort, peak transient displacement, acceleration, and control force limits, are effectively solved by using the method presented.

  13. Entry Vehicle Control System Design for the Mars Smart Lander

    Calhoun, Philip C.; Queen, Eric M.


    The NASA Langley Research Center, in cooperation with the Jet Propulsion Laboratory, participated in a preliminary design study of the Entry, Descent and Landing phase for the Mars Smart Lander Project. This concept utilizes advances in Guidance, Navigation and Control technology to significantly reduce uncertainty in the vehicle landed location on the Mars surface. A candidate entry vehicle controller based on the Reaction Control System controller for the Apollo Lunar Excursion Module digital autopilot is proposed for use in the entry vehicle attitude control. A slight modification to the phase plane controller is used to reduce jet-firing chattering while maintaining good control response for the Martian entry probe application. The controller performance is demonstrated in a six-degree-of-freedom simulation with representative aerodynamics.

  14. Overview of control design methods for smart structural system

    Rao, Vittal S.; Sana, Sridhar


    Smart structures are a result of effective integration of control system design and signal processing with the structural systems to maximally utilize the new advances in materials for structures, actuation and sensing to obtain the best performance for the application at hand. The research in smart structures is constantly driving towards attaining self adaptive and diagnostic capabilities that biological systems possess. This has been manifested in the number of successful applications in many areas of engineering such as aerospace, civil and automotive systems. Instrumental in the development of such systems are smart materials such as piezo-electric, shape memory alloys, electrostrictive, magnetostrictive and fiber-optic materials and various composite materials for use as actuators, sensors and structural members. The need for development of control systems that maximally utilize the smart actuators and sensing materials to design highly distributed and highly adaptable controllers has spurred research in the area of smart structural modeling, identification, actuator/sensor design and placement, control systems design such as adaptive and robust controllers with new tools such a neural networks, fuzzy logic, genetic algorithms, linear matrix inequalities and electronics for controller implementation such as analog electronics, micro controllers, digital signal processors (DSPs) and application specific integrated circuits (ASICs) such field programmable gate arrays (FPGAs) and Multichip modules (MCMs) etc. In this paper, we give a brief overview of the state of control in smart structures. Different aspects of the development of smart structures such as applications, technology and theoretical advances especially in the area of control systems design and implementation will be covered.

  15. Design and implementation of parameterized adaptive cruise control: An explicit model predictive control approach

    Naus, G.J.L.; Ploeg, J.; Molengraft, M.J.G. van de; Heemels, W.P.M.H.; Steinbuch, M.


    The combination of different characteristics and situation-dependent behavior cause the design of adaptive cruise control (ACC) systems to be time consuming. This paper presents a systematic approach for the design of a parameterized ACC, based on explicit model predictive control. A unique feature

  16. TP-model transformation-based-control design frameworks

    Baranyi, Péter


    This book covers new aspects and frameworks of control, design, and optimization based on the TP model transformation and its various extensions. The author outlines the three main steps of polytopic and LMI based control design: 1) development of the qLPV state-space model, 2) generation of the polytopic model; and 3) application of LMI to derive controller and observer. He goes on to describe why literature has extensively studied LMI design, but has not focused much on the second step, in part because the generation and manipulation of the polytopic form was not tractable in many cases. The author then shows how the TP model transformation facilitates this second step and hence reveals new directions, leading to powerful design procedures and the formulation of new questions. The chapters of this book, and the complex dynamical control tasks which they cover, are organized so as to present and analyze the beneficial aspect of the family of approaches (control, design, and optimization). Additionally, the b...




    Full Text Available The objective is to provide efficacious methods for the design of flight controllers for remotely piloted helicopters, which have guaranteed performance and prescribed multivariable loop structures. The problem of stabilization of an autonomous helicopter in hover configuration subject to external disturbances is addressed. When the problem involves dynamic constraints, a simplified outputfeedback (OPFB design procedure is employed to obtain the desired performance. An efficient algorithm is taken to evaluateOPFB gains, which do not require initial stabilizing gains for computation. Helicopter dynamics do not dissociate and hence the design of the flight controllers with an intuitive and desirable structure is ambiguous. Shaping filters are added that improve the performance, yield guaranteed robustness and speed of response. The salient feature of design is that it does not include the presence of noise, however, it has been verified that the control is an efficient method for controlling of unmanned helicopters in the presence of noise and robustness of the design has been verified by taking different real time uncertainties. Also it has been observed that has performed its control faster with reasonable accuracy.

  18. Robust chaotic control of Lorenz system by backstepping design

    Peng, C.-C. [Department of Aeronautics and Astronautics, National Cheng Kung University, Tainan, Taiwan (China); Chen, C.-L. [Department of Aeronautics and Astronautics, National Cheng Kung University, Tainan, Taiwan (China)], E-mail:


    This work presents a robust chaotic control strategy for the Lorenz chaos via backstepping design. Backstepping technique is a systematic tool of control law design to provide Lyapunov stability. The concept of extended system is used such that a continuous sliding mode control (SMC) effort is generated using backstepping scheme. In the proposed control algorithm, an adaptation law is applied to estimate the system parameter and the SMC offers the robustness to model uncertainties and external disturbances so that the asymptotical convergence of tracking error can be achieved. Regarding the SMC, an equivalent control algorithm is chosen based on the selection of Lyapunov stability criterion during backstepping approach. The converging rate of error state is relative to the corresponding dynamics of sliding surface. Numerical simulations demonstrate its advantages to a regulation problem and an orbit tracking problem of the Lorenz chaos.

  19. Flying qualities - A costly lapse in flight-control design

    Berry, D. T.


    Generic problems in advanced aircraft with advanced control systems which suffer from control sensitivity, sluggish response, and pilot-induced oscillation tendencies are examined, with a view to improving techniques for eliminating the problems in the design phase. Results of two NASA and NASA/AIAA workshops reached a consensus that flying qualities criteria do not match control system development, control system designers are not relying on past experience in their field, ground-based simulation is relied on too heavily, and communications between flying qualities and control systems engineers need improvement. A summation is offered in that hardware and software have outstripped the pilot's capacity to use the capabilities which new aircraft offer. The flying qualities data base is stressed to be dynamic, and continually redefining the man/machine relationships.

  20. Design of a FPGA based ABWR feedwater controller

    Huang, Hsuanhan; Chou, Hwaipwu; Lin, Chaung [Dept. of Institute of Nuclear Engineering and Science, National Tsing Hua University, Hsinchu (China)


    A feedwater controller targeted for an ABWR has been implemented using a modern field programmable gate array (FPGA), and verified using the full scope simulator at Taipower's Lungmen nuclear power station. The adopted control algorithm is a rule-based fuzzy logic. Point to point validation of the FPGA circuit board has been executed using a digital pattern generator. The simulation model of the simulator was employed for verification and validation of the controller design under various plant initial conditions. The transient response and the steady state tracking ability were evaluated and showed satisfactory results. The present work has demonstrated that the FPGA based approach incorporated with a rule-based fuzzy logic control algorithm is a flexible yet feasible approach for feedwater controller design in nuclear power plant applications.

  1. Design of A FPGA Based ABWR Feedwater Controller

    Huang, Hsuan Han; Chou, Hwai Pwu; Lin, Chaung [National Tsing Hua University, Hsinchu (China)


    A feedwater controller for the Taipower's Lungmen nuclear power station has been implemented using the modern field programmable gate array (FPGA) and verified using a full scope engineering simulator. The adopted control algorithm is a rule-based fuzzy logic. Point to point validation of the FPGA circuit board has been executed using a digital pattern generator. The simulator was employed for the verification and validation of the controller design with various plant initial conditions. The transient response and the steady state tracking ability were evaluated and showed satisfactory results. The present work has demonstrated that the FPGA based approach incorporated with a rule-based fuzzy control algorithm is a flexible yet feasible approach for controller design in nuclear power plant applications.

  2. SNS Low-Level RF Control System Design and Performance

    Ma, Hengjie; Crofford, Mark; Doolittle, Lawrence; Kasemir, Kay-Uwe; Piller, Maurice; Ratti, Alessandro


    A full digital Low-Level RF controller has been developed for SNS LINAC. Its design is a good example of a modern digital implementation of the classic control theory. The digital hardware for all the control and DSP functionalities, including the final vector modulation, is implemented on a single high-density FPGA. Two models for the digital hardware have been written in VHDL and Verilog respectively, based on a very low latency control algorithm, and both have been being used for supporting the testing and commissioning the LINAC to the date. During the commissioning, the flexibility and ability for precise controls that only digital design on a larger FPGA can offer has proved to be a necessity for meeting the great challenge of a high-power pulsed SCL.

  3. Reprogrammable Controller Design From High-Level Specification

    M. Benmohammed


    Full Text Available Existing techniques in high-level synthesis mostly assume a simple controller architecture model in the form of a single FSM. However, in reality more complex controller architectures are often used. On the other hand, in the case of programmable processors, the controller architecture is largely defined by the available control-flow instructions in the instruction set. With the wider acceptance of behavioral synthesis, the application of these methods for the design of programmable controllers is of fundamental importance in embedded system technology. This paper describes an important extension of an existing architectural synthesis system targeting the generation of ASIP reprogrammable architectures. The designer can then generate both style of architecture, hardwired and programmable, using the same synthesis system and can quickly evaluate the trade-offs of hardware decisions.

  4. Multi-objective optimization framework for networked predictive controller design.

    Das, Sourav; Das, Saptarshi; Pan, Indranil


    Networked Control Systems (NCSs) often suffer from random packet dropouts which deteriorate overall system's stability and performance. To handle the ill effects of random packet losses in feedback control systems, closed over communication network, a state feedback controller with predictive gains has been designed. To achieve improved performance, an optimization based controller design framework has been proposed in this paper with Linear Matrix Inequality (LMI) constraints, to ensure guaranteed stability. Different conflicting objective functions have been optimized with Non-dominated Sorting Genetic Algorithm-II (NSGA-II). The methodology proposed in this paper not only gives guaranteed closed loop stability in the sense of Lyapunov, even in the presence of random packet losses, but also gives an optimization trade-off between two conflicting time domain control objectives.

  5. System Modeling, Validation, and Design of Shape Controllers for NSTX

    Walker, M. L.; Humphreys, D. A.; Eidietis, N. W.; Leuer, J. A.; Welander, A. S.; Kolemen, E.


    Modeling of the linearized control response of plasma shape and position has become fairly routine in the last several years. However, such response models rely on the input of accurate values of model parameters such as conductor and diagnostic sensor geometry and conductor resistivity or resistance. Confidence in use of such a model therefore requires that some effort be spent in validating that the model has been correctly constructed. We describe the process of constructing and validating a response model for NSTX plasma shape and position control, and subsequent use of that model for the development of shape and position controllers. The model development, validation, and control design processes are all integrated within a Matlab-based toolset known as TokSys. The control design method described emphasizes use of so-called decoupling control, in which combinations of coil current modifications are designed to modify only one control parameter at a time, without perturbing any other control parameter values. Work supported by US DOE under DE-FG02-99ER54522 and DE-AC02-09CH11466.

  6. Hybrid intelligent PID control design for PEMFC anode system

    Rui-min WANG; Ying-ying ZHANG; Guang-yi CAO


    Control design is important for proton exchange membrane fuel cell (PEMFC) generator. This work researched the anode system of a 60-kW PEMFC generator. Both anode pressure and humidity must he maintained at ideal levels during steady operation. In view of characteristics and requirements of the system, a hybrid intelligent PID controller is designed specifically based on dynamic simulation. A single neuron PI controller is used for anode humidity by adjusting the water injection to the hydrogen cell. Another incremental PID controller, based on the diagonal recurrent neural network (DRNN) dynamic identification, is used to control anode pressure to be more stable and exact by adjusting the hydrogen flow rate. This control strategy can avoid the coupling problem of the PEMFC and achieve a more adaptive ability. Simulation results showed that the control strategy can maintain both anode humidity and pressure at ideal levels regardless of variable load, nonlinear dynamic and coupling characteristics of the system. This work will give some guides for further control design and applications of the total PEMFC generator.

  7. Design and analysis of a gyroscopically controlled micro air vehicle

    Thorne, Christopher Everett

    Much of the current research on micro air vehicle design relies on aerodynamic forces for attitude control. The aerodynamic environment in which micro air vehicles operate is characterized by a low Reynolds number and is not fully understood, resulting in decreased performance and efficiency when compared to large-scale vehicles. In this work, we propose a new rotary-wing micro air vehicle design that utilizes gyroscopic dynamics for attitude control. Unlike traditional micro air vehicles where attitude control moments are generated by aerodynamic control surfaces, the proposed vehicle will leverage the existing angular momentum of its rotating components to generate gyroscopic moments for controlling attitude. We explore this paradigm in an effort to reduce mechanical complexity that is inherent in blade pitch modulation mechanisms such as the swashplate, and to increase agility and possibly even efficiency when compared to state-of-the-art micro vertical-take-off-and-landing vehicles. The evolution of the mechanical design, including the evaluation of three prototypes that explore the use of gyroscopic attitude control, is presented along with a comprehensive dynamic and aerodynamic model of the third prototype. Two controllers that utilize gyroscopic moments are developed and tested in simulation. In addition, several experiments were performed using a VICON motion tracking system and off-board control. These results will also be presented.

  8. Design and control of a Nitinol wire actuated rotary servo

    Song, G.


    This paper presents the design and control of a rotary servo actuated by a shape memory alloy (SMA) wire. A new rotary servo device using Nitinol type of SMA wire is designed and fabricated in this study. This new rotary actuator utilizes a Nitinol wire wound on a threaded non-conductive rotor. One end of the Nitinol wire is fixed to the rotor and the other end is fixed to the supporting base plate. The rotor is connected to a pre-tensioned torsional spring such that two-way rotation can be achieved. Upon heating of the Nitinol wire using electric current, the wire contracts, causing the rotor to rotate, since the other end of the SMA wire is rigidly connected to the base plate. This rotor design is compact and offers a space-saving solution for the use of SMA wire actuators. To actively control the servo, a sliding-mode based robust control approach is used. The sliding-mode based robust control consists of three components: a standard proportional plus derivative (PD) control term, a feedforward term used as a bias current, and a robust term to increase system stability and concurrently control accuracy. Experimental results confirm the functionality of the Nitinol wire actuated rotary servo and show this device can be precisely controlled using the sliding-mode based robust control approach.

  9. Satellite Attitude Control System Design considering the Fuel Slosh Dynamics

    Luiz Carlos Gadelha de Souza


    Full Text Available The design of the satellite attitude control system (ACS becomes more complex when the satellite structure has different type of components like, flexible solar panels, antennas, mechanical manipulators, and tanks with fuel. A crucial interaction can occur between the fuel slosh motion and the satellite rigid motion during translational and/or rotational manoeuvre since these interactions can change the satellite centre of mass position damaging the ACS pointing accuracy. Although, a well-designed controller can suppress such disturbances quickly, the controller error pointing may be limited by the minimum time necessary to suppress such disturbances thus affecting the satellite attitude acquisition. As a result, the design of the satellite controller needs to explore the limits between the conflicting requirements of performance and robustness. This paper investigates the effects of the interaction between the liquid motion (slosh and the satellite dynamics in order to predict what the damage to the controller performance and robustness is. The fuel slosh dynamics is modelled by a pendulum which parameters are identified using the Kalman filter technique. This information is used to design the satellite controller by the linear quadratic regulator (LQR and linear quadratic Gaussian (LQG methods to perform a planar manoeuvre assuming thrusters are actuators.

  10. Field oriented control design of inset rotor PMSM drive

    Mukti, Ersalina Werda; Wijanarko, Sulistyo; Muqorobin, Anwar; Rozaqi, Latif


    The main challenge of PMSM implementation in the adjustable-speed drives especially in automotive industry is to attain the optimal PMSM drive performance. Vector control is proved to be the best method in controlling synchronous machine such as PMSM. This paper objective is to design a speed control system for the manufactured inset rotor PMSM, which integrates the interleaved DC-DC boost converter, inverter, and sinusoidal pulse width modulation and fed by the battery bank DC source. The proposed speed control in this paper employs FOC vector control technique with PI controller which control both converter and inverter independently. This paper investigates the effectiveness of the proposed speed control method for driving the manufactured inset rotor PMSM. To verify the effectiveness of the designed speed control system, computer simulation is conducted. The motor performances are observed in operating condition with disturbance in form of sudden change of load torque. The simulation results show that the control method is stable but the rotor speed still affected by the given disturbance.

  11. Design of tension control system for fiber placement equipments

    Hongjie CHANG


    Full Text Available Aiming at the tension control requirements of automatic fiber placement equipments and the problems of traditional tension control system, the hammer tension control system is designed. The hammer is used as a buffer unit in the system, and the tension can be indirectly controlled by the position of the hammer. The system adopts the motion controller as the core element of the system, the AC servo motor as the actuator and the laser position sensor as the detector. The fuzzy PID control algorithm is used for the position control of hammer, which can avoid tension fluctuation by full consideration of the acceleration of the hammer. Prototype experimental results show that this system can avoid the problems of disconnection and relaxation of fiber, meanwhile, the static difference ratio and fluctuation ratio can meet the requirements of engineering practice.

  12. Design of output feedback controller for a unified chaotic system

    Li Wen-Lin; Chen Xiu-Qin; Shen Zhi-Ping


    In this paper,the synchronization of a unified chaotic system is investigated by the use of output feedback controllers;a two-input single-output feedback controller and single-input single-output feedback controller are presented to synchronize the unified chaotic system when the states are not all measurable.Compared with the existing results,the controllers designed in this paper have some advantages such as small feedback gain,simple structure and less conservation.Finally,numerical simulations results are provided to demonstrate the validity and effectiveness of the proposed method.

  13. Analysis and control design of two cascaded boost converter

    Moutabir A.


    Full Text Available This work aims to study a cascade of two BOOST converters. First, a non- linear model of the whole controlled system is developed. Then, a robust non-linear controller of currents is synthesized using a backstepping design technique. A formal analysis based on Lyapunov stability and average theory is developed to describe the control currents loops performances. A classical PI controller is used for the voltages loops. The study of the stability of the system will also be discussed. Simulated results are displayed to validate the feasibility and the effectiveness of the proposed strategy.

  14. Integrated structural control design of large space structures

    Allen, J.J.; Lauffer, J.P.


    Active control of structures has been under intensive development for the last ten years. Reference 2 reviews much of the identification and control technology for structural control developed during this time. The technology was initially focused on space structure and weapon applications; however, recently the technology is also being directed toward applications in manufacturing and transportation. Much of this technology focused on multiple-input/multiple-output (MIMO) identification and control methodology because many of the applications require a coordinated control involving multiple disturbances and control objectives where multiple actuators and sensors are necessary for high performance. There have been many optimal robust control methods developed for the design of MIMO robust control laws; however, there appears to be a significant gap between the theoretical development and experimental evaluation of control and identification methods to address structural control applications. Many methods have been developed for MIMO identification and control of structures, such as the Eigensystem Realization Algorithm (ERA), Q-Markov Covariance Equivalent Realization (Q-Markov COVER) for identification; and, Linear Quadratic Gaussian (LQG), Frequency Weighted LQG and H-/ii-synthesis methods for control. Upon implementation, many of the identification and control methods have shown limitations such as the excitation of unmodelled dynamics and sensitivity to system parameter variations. As a result, research on methods which address these problems have been conducted.

  15. Economic design of a nonparametric EWMA control chart for location

    Patil Subhash Hariba

    Full Text Available Abstract In this article, we have proposed an economic design of Exponentially Weighted Moving Average control chart based on sign statistic to control location parameter of the process. The economic performance of the chart is evaluated for different shifts in the location. It is observed that, as shift in the process location increases, sample size to detect the shift and the loss cost from the process decrease. The power of the chart increases with increasing shift. The design gives better economic/statistical performance for large shifts in the process. This economic procedure can be applied to any process having known or unknown process outcome distribution. The sensitivity of the design is also carried out to check the effect on statistical as well as economic performance of the design due to change in different time and cost parameters.

  16. Probabilistic performance-based design for high performance control systems

    Micheli, Laura; Cao, Liang; Gong, Yongqiang; Cancelli, Alessandro; Laflamme, Simon; Alipour, Alice


    High performance control systems (HPCS) are advanced damping systems capable of high damping performance over a wide frequency bandwidth, ideal for mitigation of multi-hazards. They include active, semi-active, and hybrid damping systems. However, HPCS are more expensive than typical passive mitigation systems, rely on power and hardware (e.g., sensors, actuators) to operate, and require maintenance. In this paper, a life cycle cost analysis (LCA) approach is proposed to estimate the economic benefit these systems over the entire life of the structure. The novelty resides in the life cycle cost analysis in the performance based design (PBD) tailored to multi-level wind hazards. This yields a probabilistic performance-based design approach for HPCS. Numerical simulations are conducted on a building located in Boston, MA. LCA are conducted for passive control systems and HPCS, and the concept of controller robustness is demonstrated. Results highlight the promise of the proposed performance-based design procedure.

  17. Frequency weighted system identification and linear quadratic controller design

    Horta, Lucas G.; Phan, Minh; Juang, Jer-Nan; Longman, Richard W.; Sulla, Jeffrey L.


    Application of filters for frequency weighting of Markov parameters (pulse response functions) is described in relation to system/observer identification. The time domain identification approach recovers a model which has a pulse response weighted according to frequency. The identified model is composed of the original system and filters. The augmented system is in a form which can be used directly for frequency weighted linear quadratic controller design. Data from either single or multiple experiments can be used to recover the Markov parameters. Measured acceleration signals from a truss structure are used for system identification and the model obtained is used for frequency weighted controller design. The procedure makes the identification and controler design complementary problems.

  18. Dynamics of underactuated multibody systems modeling, control and optimal design

    Seifried, Robert


    Underactuated multibody systems are intriguing mechatronic systems, as they possess fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.

  19. Designing systems for landfill gas migration control in Minnesota

    Cannon, J. [Camp, Dresser & McKee, Inc., St. Paul, MN (United States)


    Camp, Dresser & McKee (CDM) has designed or is in the process of designing several landfill gas migration control systems in Minnesota. The systems are for both active and closed municipal solid waste landfills. The sites have a variety of covers, including geomembranes, clay caps, and non-engineered soil covers. The control system types include small perimeter systems, full-site systems and phased systems for active sites. Figure 1 shows the locations of the systems CDM is working on in Minnesota. This paper focuses on four sites: Oak Grove Landfill, Hopkins Landfill, Washington County Landfill, and Elk River Landfill. Table 1 provides an outline of the individual site characteristics. The first three sites are closed landfills. The Oak Grove Landfill system was designed and constructed for a group of industries responsible for closure and remedial action. The Hopkins and Washington County landfills are under the control of the Minnesota Pollution Control Agency (MPCA). The MPCA enacted a remedial action program at closed landfills, taking over responsibility for long-term liability under the terms of legally binding agreements negotiated with the site owners. The Elk River Landfill is an active, privately-owned facility. The migration problems and solutions developed for these four landfills are generally descriptive of all the landfills CDM is working on in Minnesota. All landfills have unique characteristics requiring site-specific solutions. CDM, after designing a number of migration control systems in Minnesota, is able to provide a generalized description of design options for specific types of sites. This paper discussions design options used to address different cover types, aesthetic needs, and waste depths, and includes a discussion of design needs for cold climates. A brief case history of the Oak Grove Landfill is included.

  20. Control System Design Language Implementation of a Gas Turbine Starting Controller.


    THESIS _ CONTROL SYSTEM DESIGN LANGUAGE IMPLEMENTATION OF A GAS TURBINE STARTING CONTROLLER by Richard Preston Riley June 1984 *1Thesis Advisor: A. A...CONTRACT OR GRANT NUM11101(s) Richard Preston Riley S. P01111SOMNM @R11ANS ATION NAME AND ADDRESS iG. PROGRAM ELEMENT. PROJECT. TASKAREA A WORKC UNIT...Design Language Implementation of a Gas Turbine Starting Controller by *J.4 Richard Preston Riley Lieutenant Commander, United States Navy B.S

  1. Browns Ferry waste heat greenhouse environmental control system design

    Olszewski, M.; Stovall, T.K.; Hicks, N.G.; Pile, R.S.; Burns, E.R.; Waddell, E.L. Jr.


    Oak Ridge National Laboratory, Tennessee Valley Authority and the Environmental Research Laboratory at the University of Arizona cooperated on the design of an experimental greenhouse located at TVA's Browns Ferry Nuclear Generating Station. Two greenhouse zones are heated by waste heat from the plant's condenser effluent. For comparison, a third greenhouse zone is heated conventionally (fossil-fueled burners) as a control. Design specifics for each of the three zones and a qualitative operating evaluation are presented.

  2. Challenges of randomized controlled trial design in plastic surgery.

    Hassanein, Aladdin H; Herrera, Fernando A; Hassanein, Omar


    Randomized controlled trials are the gold standard of evidence-based medicine. In the field of plastic surgery, designing these studies is much more challenging than in pharmaceutical medicine. Randomized trials in plastic surgery encompass several road blocks including problems shared with other surgical trials: equipoise, high cost, placebo issues and learning curves following the establishment of a novel approach. In addition, plastic surgery has more subjective outcomes, thus making study design even more difficult in assessing the end result.

  3. Design, manufacturing and testing of Controllable Rubber Trailing Edge Flaps

    Løgstrup Andersen, Tom; Aagaard Madsen, Helge; Barlas, Thanasis K

    The overall goal for the INDUFLAP project was realization of a test facility for development and test of Controllable Rubber Trailing Edge Flaps (CRTEF) for wind turbines. This report covers experimental work at DTU Wind Energy including design, manufacture and test of different configurations...... of flaps with voids in chord- or spanwise direction. Development of rubber flaps has involved further design improvements. Non-metallic spring elements and solutions for sealing of continuous extruded rubber profiles have been investigated....

  4. Feedback control for counterflow thrust vectoring with a turbine engine: Experiment design and robust control design and implementation

    Dores, Delfim Zambujo Das


    Engineering research over the last few years has successfully demonstrated the potential of thrust vector control using counterflow at conditions up to Mach 2. Flow configurations that include the pitch vectoring of rectangular jets and multi-axis vector control in diamond and axisymmetric nozzle geometries have been studied. Although bistable (on-off) fluid-based control has been around for some time, the present counterflow thrust vector control is unique because proportional and continuous jet response can be achieved in the absence of moving parts, while avoiding jet attachment, which renders most fluidic approaches unacceptable for aircraft and missile control applications. However, before this study, research had been limited to open-loop studies of counterflow thrust vectoring. For practical implementation it was vital that the counterflow scheme be used in conjunction with feedback control. Hence, the focus of this research was to develop and experimentally demonstrate a feedback control design methodology for counterflow thrust vectoring. This research focused on 2-D (pitch) thrust vectoring and addresses four key modeling issues. The first issue is to determine the measured variable to be commanded since the thrust vector angle is not measurable in real time. The second related issue is to determine the static mapping from the thrust vector angle to this measured variable. The third issue is to determine the dynamic relationship between the measured variable and the thrust vector angle. The fourth issue is to develop dynamic models with uncertainty characterizations. The final and main goal was the design and implementation of robust controllers that yield closed-loop systems with fast response times, and avoid overshoot in order to aid in the avoidance of attachment. These controllers should be simple and easy to implement in real applications. Hence, PID design has been chosen. Robust control design is accomplished by using ℓ1 control theory in

  5. Designing a common real-time controller for VLT applications

    Bauvir, Bertrand; Wallander, Anders; Duhoux, Philippe; Huxley, Alexis; Karban, Robert


    The increasing number of digital control applications in the context of the VLT, and particularly the VLT Interferometer, brought the need to find a common solution to address the problems of performance and maintainability. Tools for Advanced Control (TAC) aims at helping both control and software engineers in the design and prototyping of real-time control applications by providing them with a set of standard functions and an easy way to combine them to create complex control algorithms. In this paper we describe the software architecture and design of TAC, the VLT standard for digital control applications. Algorithms are described at schematic level and take the form of a set of interconnected function blocks. Periodical execution of the algorithm as well as features like runtime modification of parameters and probing of internal data are also managed by TAC, allowing the application designers to avoid spending time writing low value software code and therefore focus on application-specific concerns. We also summarize the results achieved on the first actual applications using TAC, to manage real-time control or digital signal processing algorithms, currently deployed and being commissioned at Paranal Observatory.

  6. RF system modeling and controller design for the European XFEL

    Schmidt, Christian


    The European XFEL is being constructed at the Deutsche Elektronen Synchrotron DESY to generate intense, ultrashort pulses of highly coherent and monochromatic X-Rays for material science research. X-ray flashes are generated by accelerating electron bunches within superconducting cavities with radio frequency (RF) fields to energies up to 17.5 GeV. The digital control of these fields requires extremely high quality in order to achieve the physical processes of photon generation. DESY offers with FLASH a pilot test facility, allowing to test and develop most necessary components, even before the XFEL is conducted. Current field control is based on a proportional feedback controller in addition to a constant feedforward drive, which do not meet the high requirements of the XFEL. This thesis shows that a model based controller design can achieve the necessary field regulation requirements. A linear, time invariant ''black box model'' is estimated, which characterizes the essential dynamic behavior. This model is not based on physical assumptions, but describes exclusively the transfer behavior of the plant. The acceleration modules are operated in a pulsed mode, in which the RF field must be kept constant for a finite period. The character of the disturbances and variations from pulse-to-pulse, together with the properties of the system, require a combination of controlled feedforward drive and feedback. Generally unpredictable, low frequency pulse-to-pulse variations are suppressed by the feedback controller. The structural design of the complex multivariable feedback controller is given, which constrains the model based design approach to assign the controller parameters only. Estimation of the parameters, which can not be tuned manually, is done by the method of H{sub {infinity}} loop shaping which is often applied in modern control theory. However, disturbances within a pulse are in a high frequency range concerning the short pulse duration

  7. Hierarchical robust nonlinear switching control design for propulsion systems

    Leonessa, Alexander


    The desire for developing an integrated control system- design methodology for advanced propulsion systems has led to significant activity in modeling and control of flow compression systems in recent years. In this dissertation we develop a novel hierarchical switching control framework for addressing the compressor aerodynamic instabilities of rotating stall and surge. The proposed control framework accounts for the coupling between higher-order modes while explicitly addressing actuator rate saturation constraints and system modeling uncertainty. To develop a hierarchical nonlinear switching control framework, first we develop generalized Lyapunov and invariant set theorems for nonlinear dynamical systems wherein all regularity assumptions on the Lyapunov function and the system dynamics are removed. In particular, local and global stability theorems are given using lower semicontinuous Lyapunov functions. Furthermore, generalized invariant set theorems are derived wherein system trajectories converge to a union of largest invariant sets contained in intersections over finite intervals of the closure of generalized Lyapunov level surfaces. The proposed results provide transparent generalizations to standard Lyapunov and invariant set theorems. Using the generalized Lyapunov and invariant set theorems, a nonlinear control-system design framework predicated on a hierarchical switching controller architecture parameterized over a set of moving system equilibria is developed. Specifically, using equilibria- dependent Lyapunov functions, a hierarchical nonlinear control strategy is developed that stabilizes a given nonlinear system by stabilizing a collection of nonlinear controlled subsystems. The switching nonlinear controller architecture is designed based on a generalized lower semicontinuous Lyapunov function obtained by minimizing a potential function over a given switching set induced by the parameterized system equilibria. The proposed framework provides a

  8. Design Method of Active Disturbance Rejection Variable Structure Control System

    Yun-jie Wu


    Full Text Available Based on lines cluster approaching theory and inspired by the traditional exponent reaching law method, a new control method, lines cluster approaching mode control (LCAMC method, is designed to improve the parameter simplicity and structure optimization of the control system. The design guidelines and mathematical proofs are also given. To further improve the tracking performance and the inhibition of the white noise, connect the active disturbance rejection control (ADRC method with the LCAMC method and create the extended state observer based lines cluster approaching mode control (ESO-LCAMC method. Taking traditional servo control system as example, two control schemes are constructed and two kinds of comparison are carried out. Computer simulation results show that LCAMC method, having better tracking performance than the traditional sliding mode control (SMC system, makes the servo system track command signal quickly and accurately in spite of the persistent equivalent disturbances and ESO-LCAMC method further reduces the tracking error and filters the white noise added on the system states. Simulation results verify the robust property and comprehensive performance of control schemes.

  9. Robust parameter design for automatically controlled systems and nanostructure synthesis

    Dasgupta, Tirthankar


    This research focuses on developing comprehensive frameworks for developing robust parameter design methodology for dynamic systems with automatic control and for synthesis of nanostructures. In many automatically controlled dynamic processes, the optimal feedback control law depends on the parameter design solution and vice versa and therefore an integrated approach is necessary. A parameter design methodology in the presence of feedback control is developed for processes of long duration under the assumption that experimental noise factors are uncorrelated over time. Systems that follow a pure-gain dynamic model are considered and the best proportional-integral and minimum mean squared error control strategies are developed by using robust parameter design. The proposed method is illustrated using a simulated example and a case study in a urea packing plant. This idea is also extended to cases with on-line noise factors. The possibility of integrating feedforward control with a minimum mean squared error feedback control scheme is explored. To meet the needs of large scale synthesis of nanostructures, it is critical to systematically find experimental conditions under which the desired nanostructures are synthesized reproducibly, at large quantity and with controlled morphology. The first part of the research in this area focuses on modeling and optimization of existing experimental data. Through a rigorous statistical analysis of experimental data, models linking the probabilities of obtaining specific morphologies to the process variables are developed. A new iterative algorithm for fitting a Multinomial GLM is proposed and used. The optimum process conditions, which maximize the above probabilities and make the synthesis process less sensitive to variations of process variables around set values, are derived from the fitted models using Monte-Carlo simulations. The second part of the research deals with development of an experimental design methodology, tailor

  10. Multiobjective H2/H? Control Design with Regional Pole Constraints

    Junaidi Junaidi


    Full Text Available This paper presents multiobjective H2/H? control design with regional pole constraints. The state feedback gain can be obtained by solving a linear matrix inequality (LMI feasibility problem that robustly assigns the closed-loop poles in a prescribed LMI region. The proposed technique is illustrated with applications to the design of stabilizer for a typical single-machine infinite-bus (SMIB power system. The LMI-based control ensures adequate damping for widely varying system operating conditions. The simulation results illustrate the effectiveness and robustness of the proposed stabilizer.

  11. Output feedback controller design for uncertain piecewise linear systems

    Jianxiong ZHANG; Wansheng TANG


    This paper proposes output feedback controller design methods for uncertain piecewise linear systems based on piecewise quadratic Lyapunov function. The α-stability of closed-loop systems is also considered. It is shown that the output feedback controller design procedure of uncertain piecewise linear systems with α-stability constraint can be cast as solving a set of bilinear matrix inequalities (BMIs). The BMIs problem in this paper can be solved iteratively as a set of two convex optimization problems involving linear matrix inequalities (LMIs) which can be solved numerically efficiently. A numerical example shows the effectiveness of the proposed methods.

  12. A New Optimal Control System Design for Chemical Processes

    丛二丁; 胡明慧; 涂善东; 邵惠鹤


    Based on frequency response and convex optimization, a novel optimal control system was developed for chemical processes. The feedforward control is designed to improve the tracking performance of closed loop chemical systems. The parametric model is not required because the system directly utilizes the frequency response of the loop transfer function, which can be measured accurately. In particular, the extremal values of magnitude and phase can be solved according to constrained quadratic programming optimizer and convex optimization. Simula-tion examples show the effectiveness of the method. The design method is simple and easily adopted in chemical industry.

  13. Design of Piston Air Compressor Unit Control System based Converter


    <正>Based on the running characteristics and high energy consumption of air compressors in coal mines,an air pressure PID closed loop control system has been designed in this paper.The system is composed of PLC, converter and sensors etc and adopts the control method of converter triple-evaporator which makes air supply"need-based".The designed system has been applied in multiple coal mines and the results show its energy saving is remarkable and potential application is widely.

  14. Design and Application of Economical Process Control Charts

    S.S.N. Murthy


    Full Text Available Statistical quality control techniques are useful in monitoring the process behaviour. Attribute control charts are widely used in process control. The selection of sample size, sampling interval and control width of the control chart is important in minimising the quality costs. Control chart parameters, like 3delta controlimits and fixed fraction sampling at conveniently selected sampling intervals result in deplovable cost penalties in quality control. The best selection of these parameters depends on several process parameters,like frequency of occupancy of a shift in the process, cost of sampling, cost of investigation for finding assignable cause, probability of false alarms, penalty cost of defectives and process correction cost. A general model has been developed to determine the total quality cost as a function of these parameters. Probability of not identifying a process shift (Beeta-risk and probability of wrongly. concluding the process got shifted (alpha-risk are considered in developing the model. This cost equation is optimised to determine optimum values control chart parameters. Fibonacci search is used to quicken the analytical method or determining optimum sampling size and control width. The proposals made by Duncan, Montgomery, Gibra and Chiu for determining the optimum control chart parameters are critically examined and compared with the present model. Case studies were conducted in two foundries. Optimum control chart parameters in casting of cylinder liners and cast plates are determined. It has been found that quality costs are considerably reduced by using optimally designed control chart parameters with proposed method.

  15. Non-contact electromagnetic exciter design with linear control method

    Wang, Lin; Xiong, Xianzhi; Xu, Hua


    A non-contact type force actuator is necessary for studying the dynamic performance of a high-speed spindle system owing to its high-speed operating conditions. A non-contact electromagnetic exciter is designed for identifying the dynamic coefficients of journal bearings in high-speed grinding spindles. A linear force control method is developed based on PID controller. The influence of amplitude and frequency of current, misalignment and rotational speed on magnetic field and excitation force is investigated based on two-dimensional finite element analysis. The electromagnetic excitation force is measured with the auxiliary coils and calibrated by load cells. The design is validated by the experimental results. Theoretical and experimental investigations show that the proposed design can accurately generate linear excitation force with sufficiently large amplitude and higher signal to noise ratio. Moreover, the fluctuations in force amplitude are reduced to a greater extent with the designed linear control method even when the air gap changes due to the rotor vibration at high-speed conditions. Besides, it is possible to apply various types of excitations: constant, synchronous, and non-synchronous excitation forces based on the proposed linear control method. This exciter can be used as linear-force exciting and controlling system for dynamic performance study of different high-speed rotor-bearing systems.

  16. Conceptual design of Remote Control System for EAST tokamak

    Sun, X.Y., E-mail:; Wang, F.; Wang, Y.; Li, S.


    Highlights: • A new design conception for remote control for EAST tokamak is proposed. • Rich Internet application (RIA) was selected to implement the user interface. • Some security mechanism was used to fulfill security requirement. - Abstract: The international collaboration becomes popular in tokamak research like in many other fields of science, because the experiment facilities become larger and more expensive. The traditional On-site collaboration Model that has to spend much money and time on international travel is not fit for the more frequent international collaboration. The Remote Control System (RCS), as an extension of the Central Control System for the EAST tokamak, is designed to provide an efficient and economical way to international collaboration. As a remote user interface, the RCS must integrate with the Central Control System for EAST tokamak to perform discharge control function. This paper presents a design concept delineating a few key technical issues and addressing all significant details in the system architecture design. With the aim of satisfying system requirements, the RCS will select rich Internet application (RIA) as a user interface, Java as a back-end service and Secure Socket Layer Virtual Private Network (SSL VPN) for securable Internet communication.

  17. Discrete-time control system design with applications

    Rabbath, C A


    This book presents practical techniques of discrete-time control system design. In general, the design techniques lead to low-order dynamic compensators that ensure satisfactory closed-loop performance for a wide range of sampling rates. The theory is given in the form of theorems, lemmas, and propositions. The design of the control systems is presented as step-by-step procedures and algorithms. The proposed feedback control schemes are applied to well-known dynamic system models. This book also discusses: Closed-loop performance of generic models of mobile robot and airborne pursuer dynamic systems under discrete-time feedback control with limited computing capabilities Concepts of discrete-time models and sampled-data models of continuous-time systems, for both single- and dual-rate operation Local versus global digital redesign Optimal, closed-loop digital redesign methods Plant input mapping design Generalized holds and samplers for use in feedback control loops, Numerical simulation of fixed-point arithm...

  18. Automatic Voltage Control (AVC) of Danish Transmission System - Concept design

    Qin, Nan; Abildgaard, Hans; Lund, P.


    , objectives, constraints, algorithms for optimal power flow and some special functions in particular systems, which inspires the concept design of a Danish AVC system to address the future challenges of voltage control. In the concept, the Danish AVC design is based on a centralized control scheme. All....... Another consequence is the public way of generally thinking green which have led to a national decision of undergrounding not only all of the Danish distribution system but also the future transmission system. These issues initiate the infrastructure constructions of the transmission system i.e. a large...... the substation loses the telecommunications to the control center. RPCs will be integrated to the AVC system as normative regulators in the later stage. Distributed generation units can be organized as virtual power plants and participate in voltage control at transmission level. as the Danish TSO...

  19. System Identification, Environmental Modelling, and Control System Design

    Garnier, Hugues


    System Identification, Environmetric Modelling, and Control Systems Design is dedicated to Professor Peter Young on the occasion of his seventieth birthday. Professor Young has been a pioneer in systems and control, and over the past 45 years he has influenced many developments in this field. This volume is comprised of a collection of contributions by leading experts in system identification, time-series analysis, environmetric modelling and control system design – modern research in topics that reflect important areas of interest in Professor Young’s research career. Recent theoretical developments in and relevant applications of these areas are explored treating the various subjects broadly and in depth. The authoritative and up-to-date research presented here will be of interest to academic researcher in control and disciplines related to environmental research, particularly those to with water systems. The tutorial style in which many of the contributions are composed also makes the book suitable as ...

  20. Controller Design for EMA in TVC Incorporating Force Feedback

    Schinstock, Dale E.; Scott, Douglas A.


    The objective of this research was to develop control schemes and control design procedures for electromechanical actuators (EMA) in thrust vector control (TVC) applications. For a variety of reasons, there is a tendency within the aerospace community to use electromechanical actuators in applications where hydraulics have traditionally been employed. TVC of rocket engines is one such application. However, there is considerable research, development, and testing to be done before EMA will be accepted by the community at large for these types of applications. Besides the development of design procedures for the basic position controller, two major concerns are dealt with in this research by incorporating force feedback: 1) the effects of resonance on the performance of EMA-TVC-rocket-engine systems, and 2) the effects of engine start transients on EMA. This report only highlights the major contributions of this research.

  1. Stability Analysis and Design of Impulsive Control Lorenz Systems Family

    YU Yong-Bin; ZHANG Hong-Bin; ZHANG Feng-Li; YU Jue-Bang; LIAO Xiao-Feng


    Lorenz systems family unifying Lorenz system, Chen system and Lu system is a typical chaotic family.In this paper, we consider impulsive control Lorenz chaotic systems family with time-varying impulse intervals. By establishing an effective tool of a set of inequalities, we analyze the asymptotic stability of impulsive control Lorenz systems family and obtain some new less conservative conditions. Based on the stability analysis, we design a novel impulsive controller with time-varying impulse intervals. Illustrative examples are provided to show the feasibility and effectiveness of our method. The obtained results not only can be used to design impulsive control for Lorenz systems family, but also can be extended to other chaotic systems.

  2. Flight Control System Design with Rate Saturating Actuators

    Hess, R. A.; Snell, S. A.


    Actuator rate saturation is an important factor adversely affecting the stability and performance of aircraft flight control systems. It has been identified as a catalyst in pilot-induced oscillations, some of which have been catastrophic. A simple design technique is described that utilizes software rate limiters to improve the performance of control systems operating in the presence of actuator rate saturation. As described, the technique requires control effectors to be ganged such that any effector is driven by only a single compensated error signal. Using an analysis of the steady-state behavior of the system, requirements are placed upon the type of the loop transmissions and compensators in the proposed technique. Application of the technique to the design of a multi-input/multi-output, lateral-directional control system for a simple model of a high-performance fighter is demonstrated as are the stability and performance improvements that can accrue with the technique.

  3. Structure Optimization Design of the Electronically Controlled Fuel Control Rod System in a Diesel Engine

    Hui Jin


    Full Text Available Poor ride comfort and shorter clutch life span are the key factors restricting the commercialization of automated manual transmission (AMT. For nonelectrically controlled engines or AMT where cooperative control between the engine and the transmission is not realizable, applying electronically controlled fuel control rod systems (ECFCRS is an effective way to solve these problems. By applying design software such as CATIA, Matlab and Simulink, and MSC Adams, a suite of optimization design methods for ECFCRS drive mechanisms are developed here. Based on these new methods, design requirements can be analyzed comprehensively and the design scheme can be modified easily, thus greatly shortening the design cycle. The bench tests and real vehicle tests indicate that the system developed achieves preferable engine speed following-up performance and engine speed regulating performance. The method developed has significance as a reference for developing other vehicle systems.

  4. TCSC controller design based on output feedback control with linear matrix inequality

    Ishimaru, Masachika; Shirai, Goro [Hosei University, Tokyo (Japan). Dept. of Electrical Engineering; Niioka, Satoru; Yokoyama, Ryuichi [Tokyo Metropolitan University (Japan). Dept. of Electrical Engineering


    The authors aim at designing the fast responsible and robust stabilizing controller. Recently, many researches propose robust stabilizing compensators based on H{sub {infinity}} control theory. Especiady, the LMI (Linear Matrix Inequality) solving efficient convex problems is very effective. LMI is based on a linear function composed by matrices, and it is expansion of conventional H{sub {infinity}} control. In addition to the LMI approach, authors pay attention to the output-feedback control for stabilizing a system using observable output values. This paper presents a stabilizing control using measurable values by using the output-feedback method. In order to discuss the advantage of the proposed method, 3-machine 9-bus system is used. Moreover, this system is applied TCSC (Thyristor Controlled Series Capacitor) controllers, and H{sub {infinity}} control based on the LMI is proposed for the design method of TCSC controllers to attain the robust stability. (author)

  5. Design and performance of the Stanford Linear Collider Control System

    Melen, R.E.


    The success of the Stanford Linear Collider (SLC) will be dependent upon the implementation of a very large advanced computer-based instrumentation and control system. This paper describes the architectural design of this system as well as a critique of its performance. This critique is based on experience obtained from its use in the control and monitoring of 1/3 of the SLAC linac and in support of an expensive experimental machine physics experimental program. 11 references, 3 figures.

  6. Experimental framework for autonomous fast ships's control design

    Recas Piorno, Joaquín; Esteban San Román, Segundo; Girón Sierra, José María; Cruz García, Jesús Manuel de la


    The research on seakeeping control of fast ships requires difficult experiments for modeling and control design. To alleviate the ship motion certain active appendages are added, such moving flaps, T-foil and fins. The motion of appendages must be optimized to counteract each encountered wave. During our first research steps, a scaled down ship, with scaled appendages, has been used in a towing tank facility. The scaled ship is towed at fixed speeds of experimental interest, for instance at t...

  7. Unmanned Tactical Autonomous Control and Collaboration Coactive Design


    ix 10.  Ethics of Robotics Use in Defining Military Missions ..............85  11.  Recommended UTACC Coactive Design Focus Areas.............85  D...activities BP battle position C2 command and control C4I command, control, communications, computers, and intelligence CMU communications...interaction between agents necessary to complete tasks within a larger mission set. Without this information the reliance on specific environmental

  8. A Unified Pseudospectral Framework for Nonlinear Controller and Observer Design

    Gong, Qi; Ross, I. Michael; Kang,Wei


    Proceedings of the 2007 American Control Conference Marriott Marquis Hotel at Times Square New York City, USA, July 11-13, 2007 As a result of significant progress in pseudospectral methods for real-time dynamic optimization, it has become apparent in recent years that it is possible to present a unified framework for both controller and observer design. In this paper, we present such an approach for nonlinear systems. The method can be applied to a wide variety of nonlinear systems....

  9. The Design of Wheelchair Lifting Mechanism and Control System

    ZHAO Cong; WANG Zheng-xing; JIANG Shi-hong; ZHANG Li; LIU Zheng-yu


    In order to achieve a wheelchair lift function, this paper designs a tri-scissors mechanism. Through the so-called H-type transmission and L-type swing rod, the three scissors mechanisms lift in the same rate with only one liner motor while ensuring the stability of the lift. Finite element analysis in ANSYS is performed to verify the material strength. The control system with Sunplus SCM achieves the voice control of wheelchair walking and lifting.

  10. Design of a digital adaptive control system for reentry vehicles.

    Picon-Jimenez, J. L.; Montgomery, R. C.; Grigsby, L. L.


    The flying qualities of atmospheric reentry vehicles experience considerable variations due to the wide changes in flight conditions characteristic of reentry trajectories. A digital adaptive control system has been designed to modify the vehicle's dynamic characteristics and to provide desired flying qualities for all flight conditions. This adaptive control system consists of a finite-memory identifier which determines the vehicle's unknown parameters, and a gain computer which calculates feedback gains to satisfy flying quality requirements.

  11. Greenridge Multi-Pollutant Control Project Preliminary Public Design Report

    Connell, Daniel P


    the commercial readiness of an emissions control system that is specifically designed to meet the environmental compliance requirements of these smaller coal-fired EGUs. The multi-pollutant control system is being installed and tested on the AES Greenidge Unit 4 (Boiler 6) by a team including CONSOL Energy Inc. as prime contractor, AES Greenidge LLC as host site owner, and Babcock Power Environmental Inc. as engineering, procurement, and construction contractor. All funding for the project is being provided by the U.S. Department of Energy, through its National Energy Technology Laboratory, and by AES Greenidge. AES Greenidge Unit 4 is a 107 MW{sub e} (net), 1950s vintage, tangentially-fired, reheat unit that is representative of many of the 440 smaller coal-fired units identified above. Following design and construction, the multi-pollutant control system will be demonstrated over an approximately 20-month period while the unit fires 2-4% sulfur eastern U.S. bituminous coal and co-fires up to 10% biomass. This Preliminary Public Design Report is the first in a series of two reports describing the design of the multi-pollutant control facility that is being demonstrated at AES Greenidge. Its purpose is to consolidate for public use all available nonproprietary design information on the Greenidge Multi-Pollutant Control Project. As such, the report includes a discussion of the process concept, design objectives, design considerations, and uncertainties associated with the multi-pollutant control system and also summarizes the design of major process components and balance of plant considerations for the AES Greenidge Unit 4 installation. The Final Public Design Report, the second report in the series, will update this Preliminary Public Design Report to reflect the final, as-built design of the facility and to incorporate data on capital costs and projected operating costs.

  12. Generalizations of fuzzy linguistic control points in geometric design

    Sallehuddin, M. H.; Wahab, A. F.; Gobithaasan, R. U.


    Control points are geometric primitives that play an important role in designing the geometry curve and surface. When these control points are blended with some basis functions, there are several geometric models such as Bezier, B-spline and NURBS(Non-Uniform Rational B-Spline) will be produced. If the control points are defined by the theory of fuzzy sets, then fuzzy geometric models are produced. But the fuzzy geometric models can only solve the problem of uncertainty complex. This paper proposes a new definition of fuzzy control points with linguistic terms. When the fuzzy control points with linguistic terms are blended with basis functions, then a fuzzy linguistic geometric model is produced. This paper ends with some numerical examples illustrating linguistic control attributes of fuzzy geometric models.

  13. Design of Distributed Engine Control Systems with Uncertain Delay.

    Liu, Xiaofeng; Li, Yanxi; Sun, Xu

    Future gas turbine engine control systems will be based on distributed architecture, in which, the sensors and actuators will be connected to the controllers via a communication network. The performance of the distributed engine control (DEC) is dependent on the network performance. This study introduces a distributed control system architecture based on a networked cascade control system (NCCS). Typical turboshaft engine-distributed controllers are designed based on the NCCS framework with a H∞ output feedback under network-induced time delays and uncertain disturbances. The sufficient conditions for robust stability are derived via the Lyapunov stability theory and linear matrix inequality approach. Both numerical and hardware-in-loop simulations illustrate the effectiveness of the presented method.

  14. Design of feedback controller for TCP/AQM networks

    Sukant Kishoro Bisoy


    Full Text Available In this paper, we propose a novel proportional-differential-type feedback controller called Novel-PD as new active queue management (AQM to regulate the queue length with small oscillation. It measures the current queue length and uses the current queue length and differential error signals to adjust packet drop probability dynamically. We provide control theoretic analysis of system stability and develop guidelines to select control gain parameters of Novel-PD. The design of Novel-PD for TCP/AQM system is given in details. NS2 is used for conducting extensive simulation. The proposed controller is compared with random early detection (RED, random exponential marking (REM, proportional integrator (PI and proportional derivative (PD controller. Result shows that, Novel-PD is stable and achieves faster response in dynamic environments where number of TCP connections, bottleneck capacity, round trip time (RTT keeps changing. The proposed controller outperforms other AQM schemes.

  15. Design and Simulation of TF and TA Controller for Missile

    ZHA Xu; GUANG Cheng-qi; CUI Ping-yuan; LIU Yong-cai


    A nonlinear terrain following(TF) and terrain avoidance(TA) controller is proposed for missile control systems.Based on classical TF algorithm (adaptive angle method), a new method for TF controller is proposed by using angle of attack. A method of obtaining terrain outline data from digital elevation map (DEM) for TF control is discussed in order to save store space. A TA algorithm is proposed by using bank-to-turn technique. The block control model, which is suitable for backstepping design, is given for nonlinear model of missile. Making full use of the characteristics of the system and combining block control principle and backstepping technique, a robust controller design method is proposed. Uncertainties in every sub-block are allowed, and can be canceled by using the idea of nonlinear damping. It is proved that the state tracking errors are converged to a neighborhood of the origin exponentially. Finally, nonlinear six-degree-of-freedom simulation results for the missile model are presented to demonstrate the effectiveness of the proposed control law.

  16. Fuzzy controller design for networked control system with time-variant delays

    Li Zhang; Fang Huajing


    Networked control system is new hot-point in control engineering. A new delayed model for networked control systems is presented, based on which an LQR controller is designed. A method of delays estimation online is also given.For the difficulty on implementation of LQR in NCSs with time-variant delays, the Mamdani intelligent logic with LQR controller is addressed. The stability of the networked control system is also given. Simulation results prove that the novel controller can make the system stable and robustly preserve the performance in terms of time-variant delays.

  17. Control system design and analysis using the INteractive Controls Analysis (INCA) program

    Bauer, Frank H.; Downing, John P.


    The INteractive Controls Analysis (INCA) program was developed at the Goddard Space Flight Center to provide a user friendly efficient environment for the design and analysis of linear control systems. Since its inception, INCA has found extensive use in the design, development, and analysis of control systems for spacecraft, instruments, robotics, and pointing systems. Moreover, the results of the analytic tools imbedded in INCA have been flight proven with at least three currently orbiting spacecraft. This paper describes the INCA program and illustrates, using a flight proven example, how the package can perform complex design analyses with relative ease.

  18. Control system design and analysis using the INteractive Controls Analysis (INCA) program

    Bauer, Frank H.; Downing, John P.


    The INteractive Controls Analysis (INCA) program was developed at the Goddard Space Flight Center to provide a user friendly efficient environment for the design and analysis of linear control systems. Since its inception, INCA has found extensive use in the design, development, and analysis of control systems for spacecraft, instruments, robotics, and pointing systems. Moreover, the results of the analytic tools imbedded in INCA have been flight proven with at least three currently orbiting spacecraft. This paper describes the INCA program and illustrates, using a flight proven example, how the package can perform complex design analyses with relative ease.

  19. Microgravity isolation system design: A modern control analysis framework

    Hampton, R. D.; Knospe, C. R.; Allaire, P. E.; Grodsinsky, C. M.


    Many acceleration-sensitive, microgravity science experiments will require active vibration isolation from the manned orbiters on which they will be mounted. The isolation problem, especially in the case of a tethered payload, is a complex three-dimensional one that is best suited to modern-control design methods. These methods, although more powerful than their classical counterparts, can nonetheless go only so far in meeting the design requirements for practical systems. Once a tentative controller design is available, it must still be evaluated to determine whether or not it is fully acceptable, and to compare it with other possible design candidates. Realistically, such evaluation will be an inherent part of a necessary iterative design process. In this paper, an approach is presented for applying complex mu-analysis methods to a closed-loop vibration isolation system (experiment plus controller). An analysis framework is presented for evaluating nominal stability, nominal performance, robust stability, and robust performance of active microgravity isolation systems, with emphasis on the effective use of mu-analysis methods.

  20. Modelling and controller design for a UV disinfection plant

    van Mourik, S.; Geurts, Bernardus J.; Zwart, Heiko J.; Keesman, Karel

    A mathematical model describing fluid flow and concentration dynamics of micro-organisms inside a UV photoreactor is developed. Using physical arguments and techniques from system theory, we approximate this model by a first order linear one. For this reduced model, we design a controller. The

  1. Modelling and controller design for a UV disinfection plant

    van Mourik, S.; Geurts, Bernardus J.; Zwart, Heiko J.


    A mathematical model describing fluid flow and concentration dynamics of microorganisms inside a UV photoreactor is developed. Using physical arguments and techniques from system theory, we approximate this model by a first order linear one. For this reduced model, we design a controller. The

  2. Automated Control Surface Design and Sizing for the Prandtl Plane

    Van Ginneken, D.A.J.; Voskuijl, M.; Van Tooren, M.J.L.; Frediani, A.


    This paper presents a methodology for the design of the primary flight control surfaces, in terms of size, number and location, for fixed wing aircraft (conventional or unconventional). As test case, the methodology is applied to a 300 passenger variant of the Prandtl Plane. This box wing aircraft i

  3. Integration of Design and Control through Model Analysis

    Russel, Boris Mariboe; Henriksen, Jens Peter; Jørgensen, Sten Bay;


    A systematic computer aided analysis of the process model is proposed as a pre-solution step for integration of design and control problems. The process model equations are classified in terms of balance equations, constitutive equations and conditional equations. Analysis of the phenomena models...... (structure selection) issues for the integrated problems are considered. (C) 2002 Elsevier Science Ltd. All rights reserved....

  4. Quantitative Analysis and Design of a Rudder Roll Damping Controller

    Hearns, G.; Blanke, M.


    A rudder roll damping controller is designed using Quantitative feedback theory to be robust for changes in the ships metacentric height. The analytical constraint due to the non-minimum phase behaviour of the rudder to roll is analysed using the Poisson Integral Formula and it is shown how...

  5. Quality Control through Design and Process: Gambrel Roof Truss Challenge

    Ward, Dell; Jones, James


    Customers determine whether a product fulfills their needs or satisfies them. "Quality control", then, is the process of finding out what the customer wants, along with designing, producing, delivering, and servicing the product--and ultimately satisfying the customer's expectations. For many years, people considered a product to be of good…

  6. Design and control of integrated styrene aniline production plant

    Partenie, O.; Van der Last, V.; Sorin Bildea, C.; Altimari, P.


    This paper illustrates the operational difficulties arising from simultaneously performing exothermic and endothermic reactions, and demonstrates that a plant can be built and safely operated by integrating the design and plantwide control issues. The behaviour of reactor – separation – recycle

  7. Comparison of Two Independent LIDAR-Based Pitch Control Designs

    Dunne, F.; Schlipf, D.; Pao, L. Y.


    Two different lidar-based feedforward controllers have previously been designed for the NREL 5 MW wind turbine model under separate studies. Feedforward controller A uses a finite-impulse-response design, with 5 seconds of preview, and three rotating lidar measurements. Feedforward controller B uses a static-gain design, with the preview time defined by the pitch actuator dynamics, a simulation of a real nacelle-based scanning lidar system, and a lowpass filter defined by the lidar configuration. These controllers are now directly compared under the same lidar configuration, in terms of fatigue load reduction, rotor speed regulation, and power capture. The various differences in design choices are discussed and compared. We also compare frequency plots of individual pitch feedforward and collective pitch feedforward load reductions, and we see that individual pitch feedforward is effective mainly at the once-per-revolution and twice-per-revolution frequencies. We also explain how to determine the required preview time by breaking it down into separate parts, and we then compare it to the expected preview time available.

  8. Mars Surveyor '98 MVACS Robotic Arm Control System Design Concepts

    Bonitz, Robert G.


    This paper describes the control system design concepts for the Mars Volatiles and Climate Surveyor (MVACS) Robotic Arm which supports the scientific investigations to be conducted as part of the Mars Surveyor '98 Lander project. Novel solutions are presented to some of the unique problems encountered in this demanding space application with its tight constraints on mass, power, volume, and computing power.

  9. Optimal design and control of buoyancy-driven ventilation

    Terpager Andersen, Karl


    Relationships between airflow rates and opening areas of importance for design and control are analysed for buoyancy-driven ventilation in a room with two openings and uniform temperature. The optimal ratio between the inlet and outlet areas is found. The consequences of deviations from the optimum...

  10. Modelling and controller design for a UV disinfection plant

    Mourik, van S.; Geurts, B.J.; Zwart, H.J.; Keesman, K.J.


    A mathematical model describing fluid flow and concentration dynamics of micro-organisms inside a UV photoreactor is developed. Using physical arguments and techniques from system theory, we approximate this model by a first order linear one. For this reduced model, we design a controller. The contr

  11. Quality Control through Design and Process: Gambrel Roof Truss Challenge

    Ward, Dell; Jones, James


    Customers determine whether a product fulfills their needs or satisfies them. "Quality control", then, is the process of finding out what the customer wants, along with designing, producing, delivering, and servicing the product--and ultimately satisfying the customer's expectations. For many years, people considered a product to be of good…

  12. Design of a user interface for intuitive colonoscope control

    Kuperij, Nicole; Reilink, Rob; Schwartz, Matthijs P.; Stramigioli, Stefano; Misra, Sarthak; Broeders, Ivo A.M.J.


    The goal of this study is to improve the efficiency and efficacy of the standard colonoscopy procedure. This is done by addressing the intuitiveness of colonoscope control. For this purpose an interface in the form of a grip was designed that allows the user to intuitively steer and drive the colono

  13. Design Patterns for and Automation of Federation State Control

    Berg, T.W. van den; Jansen, R.E.J.; Ufer, H.


    The suitability of or choice for a particular design pattern for federation execution state control depends on several factors, such as the degree in which legacy applications can support particular patterns and the complexity of the federation. For small federations that involve only a handful of

  14. Computational design of nucleic acid feedback control circuits.

    Yordanov, Boyan; Kim, Jongmin; Petersen, Rasmus L; Shudy, Angelina; Kulkarni, Vishwesh V; Phillips, Andrew


    The design of synthetic circuits for controlling molecular-scale processes is an important goal of synthetic biology, with potential applications in future in vitro and in vivo biotechnology. In this paper, we present a computational approach for designing feedback control circuits constructed from nucleic acids. Our approach relies on an existing methodology for expressing signal processing and control circuits as biomolecular reactions. We first extend the methodology so that circuits can be expressed using just two classes of reactions: catalysis and annihilation. We then propose implementations of these reactions in three distinct classes of nucleic acid circuits, which rely on DNA strand displacement, DNA enzyme and RNA enzyme mechanisms, respectively. We use these implementations to design a Proportional Integral controller, capable of regulating the output of a system according to a given reference signal, and discuss the trade-offs between the different approaches. As a proof of principle, we implement our methodology as an extension to a DNA strand displacement software tool, thus allowing a broad range of nucleic acid circuits to be designed and analyzed within a common modeling framework.

  15. Model reduction for controller design for infinite-dimensional systems

    Opmeer, Mark Robertus


    The main aim of this thesis is, as the title suggests, the presentation of results on model reduction for controller design for infinite-dimensional systems. The obtained results are presented for both discrete-time systems and continuous-time systems. They are perfect generalizations of the corresp

  16. Implementation Of Simulink Controller Design On IRIS+ Quadrotor


    the dual objective is in advancing methods and tools of verifiable control system design and the embedded code generation that simplifies the V&V...need for proficiency in embedded coding that typically utilizes high-level programming languages like C/C++. The higher impact of the dual objective...93 APPENDIX C. TELEMETRY CONNECTION SETUP AND TROUBLESHOOTING

  17. Design of 3B3 beamline control system


    Both structure and design of the control system in BSRF-3B3 beamline, are discussed and the subsystems are described. The LabVIEW software has advantages on data collecting and real time inspecting. In the process of data collecting, some methods are taken to solve the problems that may be met.

  18. Process control for sheet-metal stamping process modeling, controller design and shop-floor implementation

    Lim, Yongseob; Ulsoy, A Galip


    Process Control for Sheet-Metal Stamping presents a comprehensive and structured approach to the design and implementation of controllers for the sheet metal stamping process. The use of process control for sheet-metal stamping greatly reduces defects in deep-drawn parts and can also yield large material savings from reduced scrap. Sheet-metal forming is a complex process and most often characterized by partial differential equations that are numerically solved using finite-element techniques. In this book, twenty years of academic research are reviewed and the resulting technology transitioned to the industrial environment. The sheet-metal stamping process is modeled in a manner suitable for multiple-input multiple-output control system design, with commercially available sensors and actuators. These models are then used to design adaptive controllers and real-time controller implementation is discussed. Finally, experimental results from actual shopfloor deployment are presented along with ideas for further...

  19. Design of trotting controller for the position-controlled quadruped robot



    This work presents a controller designed for position-controlled quadrupedal dynamic locomo-tion, aiming at simple and robust trotting control .The controller takes the torso attitude angles and velocities into planning foot trajectories .Firstly design of the servo motor actuated quadruped robot is introduced and the kinematic equations are deduced .Then a scheme is presented for controlling the robot torso attitude based on the virtual leg model .Furthermore , it demonstrates the design of the controller which enables the robot to have a wide range of trotting gaits and omni-directional mo-tions.Finally, results of robust trotting in various speeds , path tracking and push recovery in simu-lation are reported , and results of trotting on real quadruped robots will be studied .

  20. Intelligent Design and Implementation of Missile Fire Control System

    XIE Chun-si; WANG Min-qing; LI Wei-hai; LIU Xi-zuo; JIN Liang-an


    Missile fire control system is the core of ship-based missile weapon system, whose safeguard levelhas direct relation with the attack ability of naval vessels. After a long period of deep investigation and research, it was found that, in one missile fire control system, there are such problems as single safeguard system, low ratio of cost to efficiency, etc. By adopting intelligent control techniques and many measures to multiple securities, the new type of assistant system is designed, some difficult problems are solved, such as fixed project channel and unitary means of missiles, which can make the equipment carry out combat mission reliably and continuously.

  1. Modelling and control design for SHARON/Anammox reactor sequence

    Valverde Perez, Borja; Mauricio Iglesias, Miguel; Sin, Gürkan


    With the perspective of investigating a suitable control design for autotrophic nitrogen removal, this work presents a complete model of the SHARON/Anammox reactor sequence. The dynamics of the reactor were explored pointing out the different scales of the rates in the system: slow microbial...... metabolism against fast chemical reaction and mass transfer. Likewise, the analysis of the dynamics contributed to establish qualitatively the requirements for control of the reactors, both for regulation and for optimal operation. Work in progress on quantitatively analysing different control structure...

  2. Rotorcraft flight-propulsion control integration: An eclectic design concept

    Mihaloew, James R.; Ballin, Mark G.; Ruttledge, D. C. G.


    The NASA Ames and Lewis Research Centers, in conjunction with the Army Research and Technology Laboratories, have initiated and partially completed a joint research program focused on improving the performance, maneuverability, and operating characteristics of rotorcraft by integrating the flight and propulsion controls. The background of the program, its supporting programs, its goals and objectives, and an approach to accomplish them are discussed. Results of the modern control governor design of the General Electric T700 engine and the Rotorcraft Integrated Flight-Propulsion Control Study, which were key elements of the program, are also presented.



    One important step in zinc hydrometallurgy is the leaching process, which involves the dissolving of zinc-bearing material in dilute sulfuric acid to form zinc sulfate solution. The key problem in the process control is to determine the optimal pHs of the overflows of the continuous leaches and track them. An expert control system for the leaching process was designed to solve the key problem. A methodology is proposed for determining and tracking the optimal pHs with an expert control strategy based on a combination of steadystate mathematical models and rule models of the process.

  4. UML activity diagram swimlanes in logic controller design

    Grobelny, Michał; Grobelna, Iwona


    Logic controller behavior can be specified using various techniques, including UML activity diagrams and control Petri nets. Each technique has its advantages and disadvantages. Application of both specification types in one project allows to take benefits from both of them. Additional elements of UML models make it possible to divide a specification into some parts, considered from other point of view (logic controller, user or system). The paper introduces an idea to use UML activity diagrams with swimlanes to increase the understandability of design models.

  5. Designed patterns: flexible control of precipitation through electric currents.

    Bena, I; Droz, M; Lagzi, I; Martens, K; Rácz, Z; Volford, A


    Understanding and controlling precipitation patterns formed in reaction-diffusion processes is of fundamental importance with high potential for technical applications. Here we present a theory showing that precipitation resulting from reactions among charged agents can be controlled by an appropriately designed, time-dependent electric current. Examples of current dynamics yielding periodic bands of prescribed wavelength, as well as more complicated structures are given. The pattern control is demonstrated experimentally using the reaction-diffusion process 2AgNO3 + K2Cr2O7-->under Ag2Cr2O7 + 2KNO3.

  6. Design of Connectivity Preserving Flocking Using Control Lyapunov Function

    Bayu Erfianto


    Full Text Available This paper investigates cooperative flocking control design with connectivity preserving mechanism. During flocking, interagent distance is measured to determine communication topology of the flocks. Then, cooperative flocking motion is built based on cooperative artificial potential field with connectivity preserving mechanism to achieve the common flocking objective. The flocking control input is then obtained by deriving cooperative artificial potential field using control Lyapunov function. As a result, we prove that our flocking protocol establishes group stabilization and the communication topology of multiagent flocking is always connected.

  7. Nova control system: goals, architecture, and system design

    Suski, G.J.; Duffy, J.M.; Gritton, D.G.; Holloway, F.W.; Krammen, J.R.; Ozarski, R.G.; Severyn, J.R.; Van Arsdall, P.J.


    The control system for the Nova laser must operate reliably in a harsh pulse power environment and satisfy requirements of technical functionality, flexibility, maintainability and operability. It is composed of four fundamental subsystems: Power Conditioning, Alignment, Laser Diagnostics, and Target Diagnostics, together with a fifth, unifying subsystem called Central Controls. The system architecture utilizes a collection of distributed microcomputers, minicomputers, and components interconnected through high speed fiber optic communications systems. The design objectives, development strategy and architecture of the overall control system and each of its four fundamental subsystems are discussed. Specific hardware and software developments in several areas are also covered.

  8. A Substractive Clustering Based Fuzzy Hybrid Reference Control Design for Transient Response Improvement of PID Controller

    Endra Joelianto


    Full Text Available The well known PID controller has inherent limitations in fulfilling simultaneously the conflicting control design objectives. Parameters of the tuned PID controller should trade off the requirement of tracking set-point performances, disturbance rejection and stability robustness. Combination of hybrid reference control (HRC with PID controller results in the transient response performances can be independently achieved without deteriorating the disturbance rejection properties and the stability robustness requirement. This paper proposes a fuzzy based HRC where the membership functions of the fuzzy logic system are obtained by using a substractive clustering technique. The proposed method guarantees the transient response performances satisfaction while preserving the stability robustness of the closed loop system controlled by the PID controller with effective and systematic procedures in designing the fuzzy hybrid reference control system.

  9. Design and control of hybrid active power filters

    Lam, Chi-Seng


    Design and Control of Hybrid Active Power Filters presents an overview of the current quality problems and their compensators. To get a balance between the system cost and performance, hybrid active power filters (HAPFs) are valuable. The book presents the coverage of resonance phenomena prevention capability, filtering performance and system robustness analysis of HAPF; nonlinear inverter current slope characteristics and their linear operation region requirement analysis of the hysteresis PWM for the HAPF; minimum inverter capacity design procedure of HAPF, adaptive dc-link voltage controller for the HAPF and the real design example of a 220V 10kVA HAPF, in which the system performance analysis method, minimum dc voltage deduction concept and adaptive dc voltage idea can be further extended into the other active compensators, such as APF, static synchronous compensator STATCOM, etc. This book will benefit researchers, graduate students, and electrical power engineers in the field of power-quality compensati...

  10. Controller Design from Temporal Logic: Undecidability need not matter

    Fränzle, Martin


    for slightly more restrictive model classes, where the additional constraints on the temporal distribution of possible state changes are derived from considerations concerning the physical properties of embedded controllers. In the remainder, these considerations are shown to apply for interesting classes...... to a peculiar property of such models, namely that transitions can follow each other arbitrarily close in time, which they cannot in reality. However, intelligent exploitation of exactly this property is the core of many undecidability results in the field. Consequently, some of the intricacy of designing...... ``Controller Design from Temporal Logic: Undecidability Need Not Matter'' sets out to prove that this hypothesis is actually true and applies to some well-studied design formalisms. The demonstrator formalism used throughout is the core of the Duration Calculi, which is a major group of calculi proposed...

  11. Reliability-Based Control Design for Uncertain Systems

    Crespo, Luis G.; Kenny, Sean P.


    This paper presents a robust control design methodology for systems with probabilistic parametric uncertainty. Control design is carried out by solving a reliability-based multi-objective optimization problem where the probability of violating design requirements is minimized. Simultaneously, failure domains are optimally enlarged to enable global improvements in the closed-loop performance. To enable an efficient numerical implementation, a hybrid approach for estimating reliability metrics is developed. This approach, which integrates deterministic sampling and asymptotic approximations, greatly reduces the numerical burden associated with complex probabilistic computations without compromising the accuracy of the results. Examples using output-feedback and full-state feedback with state estimation are used to demonstrate the ideas proposed.

  12. Data-Driven Controller Design The H2 Approach

    Sanfelice Bazanella, Alexandre; Eckhard, Diego


    Data-driven methodologies have recently emerged as an important paradigm alternative to model-based controller design and several such methodologies are formulated as an H2 performance optimization. This book presents a comprehensive theoretical treatment of the H2 approach to data-driven control design. The fundamental properties implied by the H2 problem formulation are analyzed in detail, so that common features to all solutions are identified. Direct methods (VRFT) and iterative methods (IFT, DFT, CbT) are put under a common theoretical framework. The choice of the reference model, the experimental conditions, the optimization method to be used, and several other designer’s choices are crucial to the quality of the final outcome, and firm guidelines for all these choices are derived from the theoretical analysis presented. The practical application of the concepts in the book is illustrated with a large number of practical designs performed for different classes of processes: thermal, fluid processing a...

  13. Model Design for Water Wheel Control System of Heumgyeonggaknu

    Kim, Sang Hyuk; Ham, Seon Young; Lee, Yong Sam


    Heumgyeonggaknu (????) is powered by a water-hammering-type water wheel. The technique that maintains the constant speed of the water wheel is assumed to be the one used in the Cheonhyeong (???) apparatus in Shui Yun Yi Xiang Tai (???) made by the Northern Song (??) dynasty in the 11th century. We investigated the history of the development and characteristics of the Cheonhyeong apparatus, and we analyzed ways to transmit the power of Heumgyeonggaknu. In addition, we carried out a conceptual design to systematically examine the power control system. Based on the conceptual design, we built a model for a water wheel control system that could be used in experiments by drawing a 3D model and a basic design.

  14. Design and Control of Full Scale Wave Energy Simulator System

    Pedersen, Henrik C.; Hansen, Anders Hedegaard; Hansen, Rico Hjerm


    For wave energy to become feasible it is a requirement that the efficiency and reliability of the power take-off (PTO) systems are significantly improved. The cost of installing and testing PTO-systems at sea are however very high, and the focus of the current paper is therefore on the design...... of a full scale wave simulator for testing PTO-systems for point absorbers. The main challenge is here to design a system, which mimics the behavior of a wave when interacting with a given PTO-system. The paper includes a description of the developed system, located at Aalborg University......, and the considerations behind the design. Based on the description a model of the system is presented, which, along with a description of the wave theory applied, makes the foundation for the control strategy. The objective of the control strategy is to emulate not only the wave behavior, but also the dynamic wave...

  15. Modern linear control design a time-domain approach

    Caravani, Paolo


    This book offers a compact introduction to modern linear control design.  The simplified overview presented of linear time-domain methodology paves the road for the study of more advanced non-linear techniques. Only rudimentary knowledge of linear systems theory is assumed - no use of Laplace transforms or frequency design tools is required. Emphasis is placed on assumptions and logical implications, rather than abstract completeness; on interpretation and physical meaning, rather than theoretical formalism; on results and solutions, rather than derivation or solvability.  The topics covered include transient performance and stabilization via state or output feedback; disturbance attenuation and robust control; regional eigenvalue assignment and constraints on input or output variables; asymptotic regulation and disturbance rejection. Lyapunov theory and Linear Matrix Inequalities (LMI) are discussed as key design methods. All methods are demonstrated with MATLAB to promote practical use and comprehension. ...

  16. Design of PID Controller Simulator based on Genetic Algorithm



    Full Text Available PID (Proportional Integral and Derivative controllers take an important place in the field of system controlling. Various methods such as Ziegler-Nichols, Cohen-Coon, Chien Hrones Reswick (CHR and Wang-Juang-Chan are available for the design of such controllers benefiting from the system time and frequency domain data. These controllers are in compliance with system properties under certain criteria suitable to the system. Genetic algorithms have become widely used in control system applications in parallel to the advances in the field of computer and artificial intelligence. In this study, PID controller designs have been carried out by means of classical methods and genetic algorithms and comparative results have been analyzed. For this purpose, a graphical user interface program which can be used for educational purpose has been developed. For the definite (entered transfer functions, the suitable P, PI and PID controller coefficients have calculated by both classical methods and genetic algorithms and many parameters and responses of the systems have been compared and presented numerically and graphically

  17. Integrated Design and Implementation of Embedded Control Systems with Scilab.

    Ma, Longhua; Xia, Feng; Peng, Zhe


    Embedded systems are playing an increasingly important role in control engineering. Despite their popularity, embedded systems are generally subject to resource constraints and it is therefore difficult to build complex control systems on embedded platforms. Traditionally, the design and implementation of control systems are often separated, which causes the development of embedded control systems to be highly timeconsuming and costly. To address these problems, this paper presents a low-cost, reusable, reconfigurable platform that enables integrated design and implementation of embedded control systems. To minimize the cost, free and open source software packages such as Linux and Scilab are used. Scilab is ported to the embedded ARM-Linux system. The drivers for interfacing Scilab with several communication protocols including serial, Ethernet, and Modbus are developed. Experiments are conducted to test the developed embedded platform. The use of Scilab enables implementation of complex control algorithms on embedded platforms. With the developed platform, it is possible to perform all phases of the development cycle of embedded control systems in a unified environment, thus facilitating the reduction of development time and cost.

  18. A Design Approach for Controlled Self-Organization-Based Sensor Networks Focused on Control Timescale


    Many researches on network control with a design principle of self-organization have been studied for large-scale networks. Since self-organized control is based on local interactions between system elements, it has high scalability, adaptability, and robustness; however, the management of the whole system is very difficult. In order to solve this problem, a controlled self-organization scheme has been proposed, which aims for desired system behavior by controlling a part of self-organized no...

  19. Documentation control process of Brazilian multipurpose reactor: conceptual design and basic design

    Kibrit, Eduardo; Prates, Jose Eduardo; Longo, Guilherme Carneiro; Salvetti, Tereza Cristina, E-mail:, E-mail:, E-mail:, E-mail: [Instituto de Pesquisas Energeticas e Nucleares (IPEN/CNEN-SP), Sao Paulo, SP (Brazil)


    Established in the scope of Plan of Action of the Ministry of Science, Technology and Innovation (PACTI/MCTI) in 2007, the construction of the Brazilian Multipurpose Reactor (RMB) is on the way. This type of reactor has a broad spectrum of applications in the nuclear field and related technologies such as the radioisotopes used as supplies in the production of radiopharmaceuticals, with very much benefit to the Brazilian society being, therefore, the main goal of the Project. RMB Project consists of the following stages: site selection and site evaluation; design (conceptual design, basic design, detailed design and experimental design); construction (procurement, manufacturing; civil construction; electromechanical construction and assembling); commissioning; operation and decommissioning. Each stage requires adaptation of human resources for the stage schedule execution. The implementation of a project of this magnitude requires a complex project management, which covers not only technical, but also administrative areas. Licensing, financial resources, quality and document control systems, engineering are some of the areas involved in project success. The development of the conceptual and basic designs involved the participation of three main engineering companies. INTERTECHNE Consultores S.A. was in charge of conceptual and basic designs for conventional systems of buildings and infrastructure. INVAP S.E. was responsible for preparing the basic design of the reactor core and annexes. MRS Estudos Ambientais Ltda. has prepared documents for environmental licensing. This paper describes the procedures used during conceptual and basic design stages to control design documentation and flow of this documentation, involving the analysis and incorporation of comments from experts, control and storage of a volume of approximately 15,000 documents. (author)

  20. COA based robust output feedback UPFC controller design

    Shayeghi, H., E-mail: [Technical Engineering Department, University of Mohaghegh Ardabili, Ardabil (Iran, Islamic Republic of); Shayanfar, H.A. [Center of Excellence for Power System Automation and Operation, Electrical Engineering Department, Iran University of Science and Technology, Tehran (Iran, Islamic Republic of); Jalilzadeh, S.; Safari, A. [Technical Engineering Department, Zanjan University, Zanjan (Iran, Islamic Republic of)


    In this paper, a novel method for the design of output feedback controller for unified power flow controller (UPFC) using chaotic optimization algorithm (COA) is developed. Chaotic optimization algorithms, which have the features of easy implementation, short execution time and robust mechanisms of escaping from the local optimum, is a promising tool for the engineering applications. The selection of the output feedback gains for the UPFC controllers is converted to an optimization problem with the time domain-based objective function which is solved by a COA based on Lozi map. Since chaotic mapping enjoys certainty, ergodicity and the stochastic property, the proposed chaotic optimization problem introduces chaos mapping using Lozi map chaotic sequences which increases its convergence rate and resulting precision. To ensure the robustness of the proposed stabilizers, the design process takes into account a wide range of operating conditions and system configurations. The effectiveness of the proposed controller for damping low frequency oscillations is tested and demonstrated through non-linear time-domain simulation and some performance indices studies. The results analysis reveals that the designed COA based output feedback UPFC damping controller has an excellent capability in damping power system low frequency oscillations and enhance greatly the dynamic stability of the power systems.

  1. Controller Design of Complex System Based on Nonlinear Strength

    Rongjun Mu


    Full Text Available This paper presents a new idea of controller design for complex systems. The nonlinearity index method was first developed for error propagation of nonlinear system. The nonlinearity indices access the boundary between the strong and the weak nonlinearities of the system model. The algorithm of nonlinearity index according to engineering application is first proposed in this paper. Applying this method on nonlinear systems is an effective way to measure the nonlinear strength of dynamics model over the full flight envelope. The nonlinearity indices access the boundary between the strong and the weak nonlinearities of system model. According to the different nonlinear strength of dynamical model, the control system is designed. The simulation time of dynamical complex system is selected by the maximum value of dynamic nonlinearity indices. Take a missile as example; dynamical system and control characteristic of missile are simulated. The simulation results show that the method is correct and appropriate.

  2. Integrated seismic design of structure and control systems

    Castaldo, Paolo


    The structural optimization procedure presented in this book makes it possible to achieve seismic protection through integrated structural/control system design. In particular, it is explained how slender structural systems with a high seismic performance can be achieved through inclusion of viscous and viscoelastic dampers as an integral part of the system. Readers are provided with essential introductory information on passive structural control and passive energy dissipation systems. Dynamic analyses of both single and multiple degree of freedom systems are performed in order to verify the achievement of pre-assigned performance targets, and it is explained how the optimal integrated design methodology, also relevant to retrofitting of existing buildings, should be applied. The book illustrates how structural control research is opening up new possibilities in structural forms and configurations without compromising structural performance.

  3. Distributed Control System Design for Portable PC Based CNC Machine

    Roni Permana Saputra


    Full Text Available The demand on automated machining has been increased and emerges improvement research to achieve many goals such as portability, low cost manufacturability, interoperability, and simplicity in machine usage. These improvements are conducted without ignoring the performance analysis and usability evaluation. This research has designed a distributed control system in purpose to control a portable CNC machine. The design consists of main processing unit, secondary processing unit, motor control, and motor driver. A preliminary simulation has been conducted for performance analysis including linear accuracy and circular accuracy. The results achieved in the simulation provide linear accuracy up to 2 μm with total cost for the whole processing unit is up to 5 million IDR.

  4. Designing robust control-based HIV-treatment

    Fredy Andrés Olarte Dussán


    Full Text Available Designing a robust control-based treatment for human immunodeficiency virus (HIV-infected patients was studied. The dynamics of the immune system’s response to infection was modelled using a 5th order nonlinear model with separate efficacy coefficients for protease inhibitor (PIs and reverse transcriptase inhibitors (RTIs. The immune res-ponse has been represented as an uncertain system due to errors in parameter estimation and the existence of un-modelled dynamics. A polytopic system was constructed incorporating all possible system parameter values. A con-trol system was designed using robust pole location techniques stabilising the polytopic system around an equilibrium point having a low viral load. Numerical simulation results (including the organism’s pharmacokinetical response to anti-retroviral drugs showed that the control law could lead to long-term stable conditions, even in extreme cases.


    Wang Min; Wu Shunjun; Su Tao


    Targeting at the high expense and inflexibility to realize VMEbus bridge controller by professional Integrated Circuit (IC), this paper presents a scheme of adopting CPLD/FPGA (Complicated Programmable Logic Device/Field Programmable Gate Array) to design bridge controller between VMEbus and local bus. SHARC DSP (Digital Signal Processor) bus is an example. It has functions of nearly entire master/slave interface of VMEbus, and can act as DMA (Direct Memory Access) controller and perform block transfer in DMA or master processor initiative way without length limit. External circuit of the design is very simple. In comparison with special ICs, it has high performance to price ratio and can be easily applied to local buses of other processors with quite a little modification.

  6. Control theory based airfoil design using the Euler equations

    Jameson, Antony; Reuther, James


    This paper describes the implementation of optimization techniques based on control theory for airfoil design. In our previous work it was shown that control theory could be employed to devise effective optimization procedures for two-dimensional profiles by using the potential flow equation with either a conformal mapping or a general coordinate system. The goal of our present work is to extend the development to treat the Euler equations in two-dimensions by procedures that can readily be generalized to treat complex shapes in three-dimensions. Therefore, we have developed methods which can address airfoil design through either an analytic mapping or an arbitrary grid perturbation method applied to a finite volume discretization of the Euler equations. Here the control law serves to provide computationally inexpensive gradient information to a standard numerical optimization method. Results are presented for both the inverse problem and drag minimization problem.

  7. Design and analysis of a rotary motion controller

    Julio Cesar Caye


    Full Text Available This paper presents the design of a rotary motion controller based on the peritrochoid geometry of the rotary (Wankle engine. It uses an orifice limited flow of incompressible fluid between the chambers of the Wankle-type geometry to control the rotation of the rotor. The paper develops the theory of operation and then implements the design as a Matlab model to simulate the motion control under various conditions. It is found that the time to reach stabilised motion is determined by the orifice size and fluid density. When stabilised motion is achieved, the motion dependence on material and geometry factors is determined by the orifice flow equation. The angular velocity is also found to have a square root dependence on the applied torque when in the stabilised regime.

  8. Designing a Biomimetic Ornithopter Capable of Sustained and Controlled Flight

    Joon Hyuk Park; Kwang-Joon Yoon


    We describe the design of four ornithopters ranging in wing span from 10 cm to 40 cm, and in weight from 5 g to 45 g. The controllability and power supply are two major considerations, so we compare the efficiency and characteristics between different types of subsystems such as gearbox and tail shape. Our current ornithopter is radio-controlled with inbuilt visual sensing and capable of takeoff and landing. We also concentrate on its wing efficiency based on design inspired by a real insect wing and consider that aspects of insect flight such as delayed stall and wake capture are essential at such small size. Most importantly, the advance ratio, controlled either by enlarging the wing beat amplitude or raising the wing beat frequency, is the most significant factor in an ornithopter which mimics an insect.

  9. Design and implementation of a fuzzy logic yaw controller

    Wu, Kung C.; Swift, Andrew H.; Craver, W. Lionel, Jr.; Chang, Yi-Chieh


    This paper describes a fuzzy logic controller (FLC) designed and implemented to control the yaw angle of a 10 kW fixed speed teetered-rotor wind turbine presently being commissioned at the University of Texas at El Paso. The technical challenge of this project is that the wind turbine represents a highly stochastic nonlinear system. The problems associated with the wind turbine yaw control are of a similar nature as those experienced with position control of high inertia equipment like tracking antenna, gun turrets, and overhead cranes. Furthermore, the wind turbine yaw controller must be extremely cost-effective and highly reliable in order to be economically viable compared to the fossil fueled power generators.

  10. Design and Implementation of Automatic Air Flow Rate Control System

    Akbar, A.; Saputra, C.; Munir, M. M.; Khairurrijal


    Venturimeter is an apparatus that can be used to measure the air flow rate. In this experiment we designed a venturimeter which equipped with a valve that is used to control the air flow rate. The difference of pressure between the cross sections was measured with the differential pressure sensor GA 100-015WD which can calculate the difference of pressures from 0 to 3737.33 Pa. A 42M048C Z36 stepper motor was used to control the valve. The precision of this motor rotation is about 0.15 °. A Graphical User Interface (GUI) was developed to monitor and set the value of flow rate then an 8-bit microcontroller was used to process the control system In this experiment- the venturimeter has been examined to get the optimal parameter of controller. The results show that the controller can set the stable output air flow rate.

  11. Integration of multiple sensor fusion in controller design.

    Abdelrahman, Mohamed; Kandasamy, Parameshwaran


    The main focus of this research is to reduce the risk of a catastrophic response of a feedback control system when some of the feedback data from the system sensors are not reliable, while maintaining a reasonable performance of the control system. In this paper a methodology for integrating multiple sensor fusion into the controller design is presented. The multiple sensor fusion algorithm produces, in addition to the estimate of the measurand, a parameter that measures the confidence in the estimated value. This confidence is integrated as a parameter into the controller to produce fast system response when the confidence in the estimate is high, and a slow response when the confidence in the estimate is low. Conditions for the stability of the system with the developed controller are discussed. This methodology is demonstrated on a cupola furnace model. The simulations illustrate the advantages of the new methodology.

  12. Design of Telerobotic Drilling Control System with Haptic Feedback

    Faraz Shah


    system with haptic feedback that allows for the remote control of the vertical drilling operation. The human operator controls the vertical penetration velocity using a haptic device while simultaneously receiving the haptic feedback from the locally implemented virtual environment. The virtual environment is rendered as a virtual spring with stiffness updated based on the estimate of the stiffness of the rock currently being cut. Based on the existing mathematical models of drill string/drive systems and rock cutting/penetration process, a robust servo controller is designed which guarantees the tracking of the reference vertical penetration velocity of the drill bit. A scheme for on-line estimation of the rock intrinsic specific energy is implemented. Simulations of the proposed control and parameter estimation algorithms have been conducted; consequently, the overall telerobotic drilling system with a human operator controlling the process using PHANTOM Omni haptic device is tested experimentally, where the drilling process is simulated in real time in virtual environment.

  13. Intelligent Controller Design for DC Motor Speed Control based on Fuzzy Logic-Genetic Algorithms Optimization

    Boumediene ALLAOUA


    Full Text Available In this paper, an intelligent controller of the DC (Direct current Motor drive is designed using fuzzy logic-genetic algorithms optimization. First, a controller is designed according to fuzzy rules such that the systems are fundamentally robust. To obtain the globally optimal values, parameters of the fuzzy controller are improved by genetic algorithms optimization model. Computer MATLAB work space demonstrate that the fuzzy controller associated to the genetic algorithms approach became very strong, gives a very good results and possesses good robustness.

  14. Formation design and nonlinear control of spacecraft formation flying

    Wong, Hong

    The fundamental control challenges associated with Spacecraft Formation Flying (SFF) can be classified into two categories: (i) trajectory design and (ii) trajectory tracking. In this research, we address these challenges for several different operating environments. The first part of this research focuses on providing a trajectory generation and an adaptive control design methodology to facilitate SFF missions near the Sun-Earth L2 Lagrange point. Specifically, we create a spacecraft formation by placing a leader spacecraft on a desired Halo orbit and a follower spacecraft on a desired quasi-periodic orbit surrounding the Halo orbit. We develop the nonlinear dynamics of the leader spacecraft and the follower spacecraft relative to the leader spacecraft, wherein the leader spacecraft is assumed to be on a desired Halo orbit trajectory. Finally, we design formation maintenance controllers such that the leader and follower spacecraft track desired trajectories. In particular, we design a set of adaptive position tracking controllers for the leader and follower spacecraft in the presence of unknown spacecraft mass. The proposed control laws are simulated for the case of the leader and follower spacecraft pair and are shown to yield asymptotic convergence of the position tracking errors. The second part of this research focuses on providing nonlinear trajectory tracking control designs for SFF missions near Earth. First, we address output feedback tracking control problems for the coupled translation and attitude motion of a leader and a follower spacecraft. It is assumed that the translation and angular velocity measurements of the two spacecraft are not available for feedback. Second, we address a periodic trajectory tracking problem arising in spacecraft formation flying. In particular, the nonlinear position dynamics of a follower spacecraft relative to a leader spacecraft are utilized to develop a learning controller which learns a periodic, unknown model

  15. Version control friendly project management system for FPGA designs

    Zabołotny, Wojciech M.


    In complex FPGA designs, usage of version control system is a necessity. It is especially important in the case of designs developed by many developers or even by many teams. The standard development mode, however, offered by most FPGA vendors is the GUI based project mode. It is very convenient for a single developer, who can easily experiment with project settings, browse and modify the sources hierarchy, compile and test the design. Unfortunately, the project configuration is stored in files which are not suited for use with Version Control System (VCS). Another important problem in big FPGA designs is reuse of IP cores. Even though there are standard solutions like IEEE 1685-2014, they suffer from some limitations particularly significant for complex systems (e.g. only simple types are allowed for IP-core ports, it is not possible to use parametrized instances of IP-cores). Additionally, the overhead associated with packaging of IP-cores is significant and not justified for simple reusable blocks. This paper presents a system aimed at storing the whole design in a VCS oriented form. The hierarchy of sources is described with textual "extended project (EPRJ) files" which are fully controlled by the user and may also be put in a VCS. The IP blocks may be easily added to the project just by including the accompanying EPRJ file. Both absolute and relative file paths may be used which allows the flexible structure of directories. The sources of locally developed IP blocks may be stored in directories located inside the main source tree, while sources of independently developed blocks, using separate VCS repositories, may be located outside that tree. The environment allows splitting the design into smaller parts, which are synthesized independently. That reduces the time needed to recompile the whole design if only a few blocks are modified. The system creates the standard project, which can be used for convenient interactive work with the design. After the

  16. Maximum Entropy/Optimal Projection (MEOP) control design synthesis: Optimal quantification of the major design tradeoffs

    Hyland, D. C.; Bernstein, D. S.


    The underlying philosophy and motivation of the optimal projection/maximum entropy (OP/ME) stochastic modeling and reduced control design methodology for high order systems with parameter uncertainties are discussed. The OP/ME design equations for reduced-order dynamic compensation including the effect of parameter uncertainties are reviewed. The application of the methodology to several Large Space Structures (LSS) problems of representative complexity is illustrated.

  17. Design of nonlinear PID controller and nonlinear model predictive controller for a continuous stirred tank reactor.

    Prakash, J; Srinivasan, K


    In this paper, the authors have represented the nonlinear system as a family of local linear state space models, local PID controllers have been designed on the basis of linear models, and the weighted sum of the output from the local PID controllers (Nonlinear PID controller) has been used to control the nonlinear process. Further, Nonlinear Model Predictive Controller using the family of local linear state space models (F-NMPC) has been developed. The effectiveness of the proposed control schemes has been demonstrated on a CSTR process, which exhibits dynamic nonlinearity.

  18. Control Law Design for Twin Rotor MIMO System with Nonlinear Control Strategy

    M. Ilyas


    Full Text Available Modeling of complex air vehicles is a challenging task due to high nonlinear behavior and significant coupling effect between rotors. Twin rotor multi-input multioutput system (TRMS is a laboratory setup designed for control experiments, which resembles a helicopter with unstable, nonlinear, and coupled dynamics. This paper focuses on the design and analysis of sliding mode control (SMC and backstepping controller for pitch and yaw angle control of main and tail rotor of the TRMS under parametric uncertainty. The proposed control strategy with SMC and backstepping achieves all mentioned limitations of TRMS. Result analysis of SMC and backstepping control schemes elucidates that backstepping provides efficient behavior with the parametric uncertainty for twin rotor system. Chattering and oscillating behaviors of SMC are removed with the backstepping control scheme considering the pitch and yaw angle for TRMS.



    Based on linear matrix inequalities (LMI), the design method of reduced-order controllers of mixed sensitivity problem is studied for flight control systems. It is shown that there exists a controller with order not greater than the difference between the generalized plant order and the number of independent control variables, if the mixed sensitivity problem is solvable for strict regular flight control plants. The proof is constructive, and an approach to design such a controller can be obtained in terms of a pair of feasible solution to the well-known 3 LMI. Finally, an example of mixed sensitivity problem for a flight control system is given to demonstrate practice of the approach.

  20. Robust controller design for fuzzy parametric uncertain systems: an optimal control approach.

    Patre, Balasaheb M; Bhiwani, R J


    A new approach of designing a robust controller for fuzzy parametric uncertain systems is proposed. A linear time invariant (LTI) system with fuzzy coefficients is called as fuzzy parametric uncertain system (FPUS). The proposed method envisages conversion of the FPUS into an uncertain (interval) state space controllable canonical form system in terms of its alpha cut. Further, the problem of designing a robust controller is translated into an optimal control problem minimizing a cost function. For matched uncertainty, it is shown that the optimal control problem is a linear quadratic regulator (LQR) problem, which can be solved to obtain a robust controller for FPUS. The numerical examples and simulation results show the effectiveness of the proposed method in terms of robustness of the controller. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

  1. Design and Implementation of SCADA Based Induction Motor Control



    Full Text Available The introduction of Supervisory Control and Data Acquisition (SCADA system has been discussed in details. Network components, functionality, generation and features of SCADA has been discussed in details in this paper. Application and uses of SCADA system in different fields of engineering have also been mentioned. Also the working of the software components and development in SCADA has been explained with merits and demerits of the software. Programmable Logic Controller (PLC has been discussed in detail which includes features, working and automation purposes of PLC in this paper. Architecture, memory organization, addressing words, input/ output modules and programming of a PLC with all its components such as programming devices, consideration of programming and program control instructions has been studying for this paper. Working of the project with SCADA and PLC has been also discussed. Programming development has also been explained. A systematic approach of control system design using programming logic controller has been discussed in details with ladder logic diagram designing. PLC program development and programming with ladder diagram has been explained with the assignment of SCADA control screen. Also the SCADA screen developed has been shown at the different operation conditions of the processing system in this paper. Experimental setup and performance analysis explains the actual wok which has been adopted for the project.

  2. Design and implementation of the STKOS quality-control system

    Haixia; SUN; Danya; LI; Junlian; LI; Sizhu; WU; Tiejun; HU; Qing; QIAN


    Purpose: The aim of this study is to develop and implement a quality-control system to ensure authority control of the different knowledge units for the Scientific & Technological Knowledge Organization Systems(STKOS).Design/methodology/approach: First, we analyzed quality-control requirements based on the construction of the STKOS Metathesaurus. Then we designed a quality-control framework, the task management and transfer mechanism, and a service model. Afterwards, we carried out the experiments to check the rules and algorithms used in the system. Finally, the system was developed, and gradually optimized during its service.Findings: The quality-control system supports collaborative knowledge construction, as well as consistency checks of knowledge units with different granularity levels, including terminologies, relationships, and concepts. The system can be flexibly configured.Research limitations: The system is oriented to an English-language knowledge organization system, and may not perform well with Chinese-language systems and ontologies.Practical implications: The system can be used to support the construction of a single knowledge organization system, as well as data warehousing and interoperable knowledge organization systems. Originality/value: The STKOS quality-control system not only focuses on content building for the knowledge system, but also supports collaborative task management.

  3. Computer control of large accelerators, design concepts and methods

    Beck, F.; Gormley, M.


    Unlike most of the specialities treated in this volume, control system design is still an art, not a science. This presentation is an attempt to produce a primer for prospective practitioners of this art. A large modern accelerator requires a comprehensive control system for commissioning, machine studies, and day-to-day operation. Faced with the requirement to design a control system for such a machine, the control system architect has a bewildering array of technical devices and techniques at his disposal, and it is our aim in the following chapters to lead him through the characteristics of the problems he will have to face and the practical alternatives available for solving them. We emphasize good system architecture using commercially available hardware and software components, but in addition we discuss the actual control strategies which are to be implemented, since it is at the point of deciding what facilities shall be available that the complexity of the control system and its cost are implicitly decided.

  4. Flight Control Design for an Autonomous Rotorcraft Using Pseudo-Sliding Mode Control and Waypoint Navigation

    Mallory, Nicolas Joseph

    The design of robust automated flight control systems for aircraft of varying size and complexity is a topic of continuing interest for both military and civilian industries. By merging the benefits of robustness from sliding mode control (SMC) with the familiarity and transparency of design tradeoff offered by frequency domain approaches, this thesis presents pseudo-sliding mode control as a viable option for designing automated flight control systems for complex six degree-of-freedom aircraft. The infinite frequency control switching of SMC is replaced, by necessity, with control inputs that are continuous in nature. An introduction to SMC theory is presented, followed by a detailed design of a pseudo-sliding mode control and automated flight control system for a six degree-of-freedom model of a Hughes OH6 helicopter. This model is then controlled through three different waypoint missions that demonstrate the stability of the system and the aircraft's ability to follow certain maneuvers despite time delays, large changes in model parameters and vehicle dynamics, actuator dynamics, sensor noise, and atmospheric disturbances.

  5. Sensitivity method for integrated structure/active control law design

    Gilbert, Michael G.


    The development is described of an integrated structure/active control law design methodology for aeroelastic aircraft applications. A short motivating introduction to aeroservoelasticity is given along with the need for integrated structures/controls design algorithms. Three alternative approaches to development of an integrated design method are briefly discussed with regards to complexity, coordination and tradeoff strategies, and the nature of the resulting solutions. This leads to the formulation of the proposed approach which is based on the concepts of sensitivity of optimum solutions and multi-level decompositions. The concept of sensitivity of optimum is explained in more detail and compared with traditional sensitivity concepts of classical control theory. The analytical sensitivity expressions for the solution of the linear, quadratic cost, Gaussian (LQG) control problem are summarized in terms of the linear regulator solution and the Kalman Filter solution. Numerical results for a state space aeroelastic model of the DAST ARW-II vehicle are given, showing the changes in aircraft responses to variations of a structural parameter, in this case first wing bending natural frequency.

  6. Attitude Control System Design for the Solar Dynamics Observatory

    Starin, Scott R.; Bourkland, Kristin L.; Kuo-Chia, Liu; Mason, Paul A. C.; Vess, Melissa F.; Andrews, Stephen F.; Morgenstern, Wendy M.


    The Solar Dynamics Observatory mission, part of the Living With a Star program, will place a geosynchronous satellite in orbit to observe the Sun and relay data to a dedicated ground station at all times. SDO remains Sun- pointing throughout most of its mission for the instruments to take measurements of the Sun. The SDO attitude control system is a single-fault tolerant design. Its fully redundant attitude sensor complement includes 16 coarse Sun sensors, a digital Sun sensor, 3 two-axis inertial reference units, 2 star trackers, and 4 guide telescopes. Attitude actuation is performed using 4 reaction wheels and 8 thrusters, and a single main engine nominally provides velocity-change thrust. The attitude control software has five nominal control modes-3 wheel-based modes and 2 thruster-based modes. A wheel-based Safehold running in the attitude control electronics box improves the robustness of the system as a whole. All six modes are designed on the same basic proportional-integral-derivative attitude error structure, with more robust modes setting their integral gains to zero. The paper details the mode designs and their uses.

  7. Aircraft energy efficiency laminar flow control wing design study

    Bonner, T. F., Jr.; Pride, J. D., Jr.; Fernald, W. W.


    An engineering design study was performed in which laminar flow control (LFC) was integrated into the wing of a commercial passenger transport aircraft. A baseline aircraft configuration was selected and the wing geometry was defined. The LFC system, with suction slots, ducting, and suction pumps was integrated with the wing structure. The use of standard aluminum technology and advanced superplastic formed diffusion bonded titanium technology was evaluated. The results of the design study show that the LFC system can be integrated with the wing structure to provide a structurally and aerodynamically efficient wing for a commercial transport aircraft.

  8. Optimum design of control system in recoil mechanisms

    J. P. Sirpal


    Full Text Available The various parameters in the design of a control system in a conventional type of recoil mechanism have been optimized for minimum weight and the ideal form of velocity space variation during runout has been derived. A theoretical analysis for some of the equipments in service reveals that their actual values are very nearly the same as those given by theory except for the ratio l by di which are lower than those theoretically suggested indicating that wide margins of safety against buckling have been used in their design.

  9. Design of an AdvancedTCA board management controller (IPMC)

    Mendez, J.; Bobillier, V.; Haas, S.; Joos, M.; Mico, S.; Vasey, F.


    The AdvancedTCA (ATCA) standard has been selected as the hardware platform for the upgrade of the back-end electronics of the CMS and ATLAS experiments of the Large Hadron Collider (LHC) . In this context, the electronic systems for experiments group at CERN is running a project to evaluate, specify, design and support xTCA equipment. As part of this project, an Intelligent Platform Management Controller (IPMC) for ATCA blades, based on a commercial solution, has been designed to be used on existing and future ATCA blades. This paper reports on the status of this project presenting the hardware and software developments.

  10. CR mammography: Design and implementation of a quality control program

    Moreno-Ramirez, A.; Brandan, M. E.; Villasenor-Navarro, Y.; Galvan, H. A.; Ruiz-Trejo, C. [Instituto de Fisica, Universidad Nacional Autonoma de Mexico, DF 04510 (Mexico); Departamento de Radiodiagnostico, Instituto Nacional de Cancerologia, DF 14080 (Mexico); Instituto de Fisica, Universidad Nacional Autonoma de Mexico, DF 04510 (Mexico)


    Despite the recent acquisition of significant quantities of computed radiography CR equipment for mammography, Mexican regulations do not specify the performance requirements for digital systems such as those of CR type. The design of a quality control program QCP specific for CR mammography systems was thus considered relevant. International protocols were taken as reference to define tests, procedures and acceptance criteria. The designed QCP was applied in three CR mammography facilities. Important deficiencies in spatial resolution, noise, image receptor homogeneity, artifacts and breast thickness compensation were detected.

  11. Design of nonlinear discrete-time controllers using a parameter space sampling procedure

    Young, G. E.; Auslander, D. M.


    The design of nonlinear discrete-time controllers is investigated where the control algorithm assumes a special form. State-dependent control actions are obtained from tables whose values are the design parameters. A new design methodology capable of dealing with nonlinear systems containing parameter uncertainty is used to obtain the controller design. Various controller strategies are presented and illustrated through an example.

  12. Advanced discrete-time control designs and applications

    Abidi, Khalid


    This book covers a wide spectrum of systems such as linear and nonlinear multivariable systems as well as control problems such as disturbance, uncertainty and time-delays. The purpose of this book is to provide researchers and practitioners a manual for the design and application of advanced discrete-time controllers.  The book presents six different control approaches depending on the type of system and control problem. The first and second approaches are based on Sliding Mode control (SMC) theory and are intended for linear systems with exogenous disturbances. The third and fourth approaches are based on adaptive control theory and are aimed at linear/nonlinear systems with periodically varying parametric uncertainty or systems with input delay. The fifth approach is based on Iterative learning control (ILC) theory and is aimed at uncertain linear/nonlinear systems with repeatable tasks and the final approach is based on fuzzy logic control (FLC) and is intended for highly uncertain systems with heuristi...

  13. Design Gradient Descent Optimal Sliding Mode Control of Continuum Robots

    Farzin Piltan


    Full Text Available In this research, a new approach for gradient descent optimal sliding mode controller for continuum robots is proposed. Based on the new dynamic models developed, a novel technique for nonlinear control of continuum manipulators to be employed in various situations has also been proposed and developed. A section of a continuum arm is modeled using lumped model elements (masses, springs and dampers and control by nonlinear methodology (sliding mode method and optimization the sliding surface slope by gradient descent method. It is shown that this type of control methodology, although used to a certain model, can be used to conveniently control the dynamics of the arm with suitable tradeoff in accuracy of modeling. This relatively controller is more plausible to implement in an actual real-time when compared to other techniques of nonlinear controller methodology of continuum arms. Principles of sliding mode methodology is based on derive the sliding surface slope and nonlinear dynamic model and applied in the system. Based on the gradient descent optimization method, the sliding surface slope and gain updating factor has been developed in certain and partly uncertain continuum robots. This methodology is represented in certain and uncertain area whose only optimization for certain area and test this optimization for uncertainty. The new techniques proposed and methodologies adopted in this paper supported by MATLAB/SIMULINK results represent a significant contribution to the field of design an optimized nonlinear sliding mode controller for continuum robots.

  14. Design of fault tolerant control system for steam generator using

    Kim, Myung Ki; Seo, Mi Ro [Korea Electric Power Research Institute, Taejon (Korea, Republic of)


    A controller and sensor fault tolerant system for a steam generator is designed with fuzzy logic. A structure of the proposed fault tolerant redundant system is composed of a supervisor and two fuzzy weighting modulators. A supervisor alternatively checks a controller and a sensor induced performances to identify which part, a controller or a sensor, is faulty. In order to analyze controller induced performance both an error and a change in error of the system output are chosen as fuzzy variables. The fuzzy logic for a sensor induced performance uses two variables : a deviation between two sensor outputs and its frequency. Fuzzy weighting modulator generates an output signal compensated for faulty input signal. Simulations show that the proposed fault tolerant control scheme for a steam generator regulates well water level by suppressing fault effect of either controllers or sensors. Therefore through duplicating sensors and controllers with the proposed fault tolerant scheme, both a reliability of a steam generator control and sensor system and that of a power plant increase even more. 2 refs., 9 figs., 1 tab. (Author)

  15. Fuzzy robust attitude controller design for hydrofoil catamaran

    Ren Junsheng; Yang Yansheng


    A robust attitude controller for hydrofoil catamaran throughout its operating envelope is proposed, based on Tagaki-Sugeno (T-S) fuzzy model. Firstly, T-S fuzzy model and robust attitude control strategy for hydrofoil catamaran is presented by use of linear matrix inequality (LMI) techniques. Secondly, a nonlinear mathematical model of hydrofoil catamaran is established, acting as the platform for further researches. The specialty in interpolation of T-S fuzzy model guarantees that feedback gain can be obtained smoothly, while boat's speed is shifting over the operating envelope. The external disturbances are also attenuated to achieve H∞ control performance, meanwhile. Finally, based on such a boat,HC200B-A1, simulation researches demonstrate the design procedures and the effectiveness of fuzzy robust attitude controller.

  16. Design and Implementation of the ATLAS Detector Control System

    Boterenbrood, H; Cook, J; Filimonov, V; Hallgren, B I; Heubers, W P J; Khomoutnikov, V; Ryabov, Yu; Varela, F


    The overall dimensions of the ATLAS experiment and its harsh environment, due to radiation and magnetic field, represent new challenges for the implementation of the Detector Control System. It supervises all hardware of the ATLAS detector, monitors the infrastructure of the experiment, and provides information exchange with the LHC accelerator. The system must allow for the operation of the different ATLAS sub-detectors in stand-alone mode, as required for calibration and debugging, as well as the coherent and integrated operation of all sub-detectors for physics data taking. For this reason, the Detector Control System is logically arranged to map the hierarchical organization of the ATLAS detector. Special requirements are placed onto the ATLAS Detector Control System because of the large number of distributed I/O channels and of the inaccessibility of the equipment during operation. Standardization is a crucial issue for the design and implementation of the control system because of the large variety of e...

  17. Genetic Algorithm Based Proportional Integral Controller Design for Induction Motor

    Mohanasundaram Kuppusamy


    Full Text Available Problem statement: This study has expounded the application of evolutionary computation method namely Genetic Algorithm (GA for estimation of feedback controller parameters for induction motor. GA offers certain advantages such as simple computational steps, derivative free optimization, reduced number of iterations and assured near global optima. The development of the method is well documented and computed and measured results are presented. Approach: The design of PI controller parameter for three phase induction motor drives was done using Genetic Algorithm. The objective function of motor current reduction, using PI controller, at starting is formulated as an optimization problem and solved with Genetic Algorithm. Results: The results showed the selected values of PI controller parameter using genetic algorithm approach, with objective of induction motor starting current reduction. Conclusions/Recommendation: The results proved the robustness and easy implementation of genetic algorithm selection of PI parameters for induction motor starting.

  18. Fractional Order Nonlinear Feedback Controller Design for PMSM Drives

    Jian-Ping Wen


    Full Text Available Fractional order integral is introduced into active disturbance rejection controller (ADRC to establish the structure of fractional order proportional integral controller (FPI. Fractional order ADRC (FADRC is designed by replacing the nonlinear state error feedback control law using nonlinear function combination in ADRC with FPI, which can combine the high performance of ADRC estimating disturbances with the characteristics of fractional order calculus more really describing the physical object and spreading the stable region of the system parameters. The proposed FADRC is applied to permanent magnet synchronous motor (PMSM speed servo system in order to improve robustness of system against the disturbances. Compared with ADRC, simulation results verify that the proposed control method has given very good robust results and fast speed tracking performance.

  19. Control Design for an Advanced Geared Turbofan Engine

    Chapman, Jeffryes W.; Litt, Jonathan


    This paper describes the design process for the control system of an advanced geared turbofan engine. This process is applied to a simulation that is representative of a 30,000 lbf thrust class concept engine with two main spools, ultra-high bypass ratio, and a variable area fan nozzle. Control system requirements constrain the non-linear engine model as it operates throughout its flight envelope of sea level to 40,000 ft and from 0 to 0.8 Mach. The control architecture selected for this project was developed from literature and reflects a configuration that utilizes a proportional integral controller integrated with sets of limiters that enable the engine to operate safely throughout its flight envelope. Simulation results show the overall system meets performance requirements without exceeding system operational limits.

  20. Active noise control: A tutorial for HVAC designers

    Gelin, L.J.


    This article will identify the capabilities and limitations of ANC in its application to HVAC noise control. ANC can be used in ducted HVAC systems to cancel ductborne, low-frequency fan noise by injecting sound waves of equal amplitude and opposite phase into an air duct, as close as possible to the source of the unwanted noise. Destructive interference of the fan noise and injected noise results in sound cancellation. The noise problems that it solves are typically described as rumble, roar or throb, all of which are difficult to address using traditional noise control methods. This article will also contrast the use of active against passive noise control techniques. The main differences between the two noise control measures are acoustic performance, energy consumption, and design flexibility. The article will first present the fundamentals and basic physics of ANC. The application to real HVAC systems will follow.