Santosh Kumar Suman   and Awadhesh Kumar   

In this article, we are exploring and implementing the new model order reduction (MOR) method for Large-Scale Linear Dynamic System (LSLDS) to achieve reduced order. These technologies are designed to better understand and explain LSLDS based on the Modified Balanced Truncation Method (BTM). This refers to continuous/discrete LTI structures that are minimal / non-minimum. This reduced method allows MOR to preserve complete parameters with reasonable accuracy. The approach is based on the maintenance of dominant system modes and a relatively small state truncation. As the reduced-order model (ROM) is derived from the retention of dominant modes, the reduction remains stable. The main demerit of the balanced truncation method is that the ROM, stable states, does not match the original structures. By modified BTM to narrow the deviations in the ROM transfer function matrix, a gain factor is added to adjust the steady-state values of the reduction system without altering the dynamic behaviour of the system. The proposed method has been successfully applied to a real-time single area power system with ease of extension to a discrete-time case and the results obtained show the efficacy of the method. Application model and the results obtained indicate the effectiveness of the methodology. The time response of the system has been demonstrated by the proposed method, which proves to be excellent match, effectiveness and superiority compared to the response of other approaches in the literature review of the original system.

Mohammed Amer   Ayman Yahya   Ahmad Daraghmeh   Rami Dwaikat   and Bashir Nouri   

The agriculture sector occupies more than 25% of the total gross domestic products in Palestine. This provides jobs for more than 15.2% of the population in West Bank and Gaza Strip. The cultivated land is over 1.854 million dunum. However, people still using traditional ways of planting which would consume time and effort. Agriculture faces huge costs and transplant losses during planting. In this study, an automated planting machine has been introduced. This machine is a hand to the agriculture sector in Palestine. It is proposed to increase the speed and precision of planting. It is designed to do the basic cultivation steps by transmitting the transplant gently to the land. The study focused on the plants used in Palestine considering their dimensions and the distance between each two neighbor seedlings. The simulation and experimental results for the prototype showed an accurate functioning of the controlled system. Besides a precise and a smooth processing during planting, the basic planting steps were done in a satisfied way from plowing passing through planting to cover it with soil. By designing this machine, main concerns could be achieved as human needs, cost, and time saving.

Atsuhiro Aoki   Hideaki Shimamura   Munetaka Nakata   Kazuhiro Motegi   and Yoichi Shiraishi   

This paper suggests an IoT device utilization for skid suppression for work vehicles in the framework of Hybrid Twin and the performances of IoT utilization are experimentally evaluated. In the autonomous driving of work vehicles, stuck state or lock state should be avoided because it is very difficult to escape from these states autonomously. First of all, a state transition diagram consisting of grip, skid, stuck and lock states is configured and a skid ratio is newly defined to measure the degree of skid. Then, a three-stage skid suppression method is suggested based on skid ratio and a controlling system is implemented by using MATLAB/Simulink. Using an actual snow blower, an IoT device with some filtering processes is incorporated and the three-stage skid suppression method is applied. The experimental results show that the suggested approach is feasible but not a three-stage but a two-stage skid suppression method is likely to be efficient because of insufficient noise reduction. As future work, the noise reduction should be improved and the skid suppression method should be implemented in a Hybrid Twin approach.

Oluwasegun Somefun   Kayode Akingbade   and Folasade Dahunsi   

One of the lowest level control tasks, especially in robotics and other manufacturing industries, upon which other high-level controls are dependent, is the speed control of a dc motor. Usually, tuning the parameters of the proportional integral derivative (PID) controller for this task employs established conventional methods that expose the knowledge of nominal process model parameters to the control algorithm. These methods have found widespread use. Notwithstanding, a promising line of inquiry is: to search alternate possibilities of a PID being designed to automatically achieve comparable good control performance without using a formal mathematical process model approximation of the actual physical system, such as dc motor plant, in the frequency or time domain. In this paper, we propose an intelligent PID design method, "optimal closed PID-loop model predictive control", that answers this question using the characteristic settling-time (including delay-time) property of dynamic processes. The performance of this proposed method is benchmarked with popular process-model based methods. Simulation results illustrate the promise and effectiveness of the proposed tuning method, in ensuring good closed-loop performance quality for the dc motor, without using formal process models.

D. K. Sambariya   Omesh Nagar   and Aswant Kumar Sharma   

In power system, frequency is one of the main factor which affects the A.C. system. In order to maintain the performance of the system, frequency need to be controlled on the generation part as well as load side. In this paper, fractional order PID (FOPID) controller is designed for the three-area load frequency control (LFC) in an interrelated power system (PS) in MATLAB simulation. The LFC of generating units have used in frequency control of the dissolute response in the power system. FOPID controller parameters are intended using the Flower Pollination Algorithm (FPA) for the minimize error. The prototype of generating units with FOPID controller is simulated in MATLAB/SIMULINK platform. In this study, simulation researches on a three-area LFC with different generating units are considered. The objective function is the minimization of the Integral Squared Error (ISE) for the optimum strategy of FOPID parameters. These results presented that the FOPID controller was vital to the parameter variations in the considered system. The simulation results specialized much better performance of FOPID controller for LFC in comparison with other FOPID controllers available in the literature. FPA-FOPID Controller in the system as compared to the existing ICA-FOPID and GA-FOPID controller in literature. The result shows that the FPA result outperforms as compared with other results.

Chunming Xu   

This paper considers the parameter identification problem of block-oriented Hammerstein nonlinear systems with time-delay. Firstly, we adopt the data filtering technique to transform the identification model so that all the parameters will be separated in the resulting identification model which has no redundant parameters. Secondly, a multi-innovation stochastic gradient algorithm is used to estimate the system parameters. The proposed method has high computational efficiency and good accuracy. Simulation results are presented to demonstrate the effectiveness of the proposed algorithm.

Saleh Faraj Mansour Sulaiman   and Abdulrahman A. A. Emhemed   

Corporation robots basically consist of two robots that collaborate together to perform shared goals. Single robot is not suitable to handle heavy load and cannot handle long size load. Therefore, the corporation robots system is introduced to overcome with these limitations. This paper is mainly concerned on the design and construction of the corporation robots that can follow line and carry load. The PIC16F877A is used as microcontroller brain, while the circuit will be built and connected to IR sensors and motors. The corporation robots follow the line and work together as leader and slave to carry load from one point to another point. The experimental results achieved good performance for the robots movement regarding accurate line following and smooth handling the load.

Yousef Moh. Abueejela   and Haithem A. Ali   

This paper presents the use of ARDUINO board to control an autonomous mobile robot (AMR) for navigation purpose. The wheeled robot is capable to perform two tasks. The first task is to move autonomously to the north direction. And the second task is to avoid collision with unexpected static and moveable obstacles. The robot uses two sensors to navigate and avoid the obstacle, a digital compass HMC5883L uses to detect the north direction and update the situation of the robot during its movement. And the ultrasonic sensor uses to avoid nearest obstacles on the robot way. C language used to program the system to do its mission and installed to the ARDUINO board. The results obtained show that the robot was able to navigate and move to the north and avoid obstacles in the outdoor environment.

Abdalla Milad Faraj   Abdulgani Albagul   and Muhammad Abdulla Muhammed   

Control system is a collection of elements and operations that works together to accomplish a unique task, which are measurement, control, and actuating. A good performance of this system is based on a good signal transmitting between their components. One of these main signals is called "control signal", which actuate the actuator to perform the control task. Due to some limitation of the actuator; the problem attended with the control action is how to keep it within the actuator limits to avoid the nonlinearity saturation phenomena. Therefore to achieve the high performance of the system, the control signal (control action) should be regulated instantaneously with the process output (stability of the system) in control system design. This paper presents simulating two cases of study, which are temperature and level control processes. These processes are controlled by a parallel PID controller and applying some modification techniques that are used to enhance the control signal which is essentially to fortify the actuator from the saturation phenomena. The modification techniques are based on repositioning the controller terms of the conventional parallel PID structure without any change in the tuned controller parameters. The outcome of the paper will help interested researchers in the control engineering area to select a suitable PID structure to design a perfect control system.

Mustafa Saad   and Mohammed Khalfallah   

Ball and beam system is found in most laboratories of control systems engineering due to its simplicity and easiness in construction and control theoretically. The system consists of a motor attached with a beam at the center and a ball, which is placed on the top of beam. The problem with this system, is in the time of an electrical control signal is applied to the motor, the beam can be tilted about its horizontal axis and the ball will roll on the top of the beam. Therefore, if the system cannot be controlled properly, the ball may fall down from the beam. In this paper, PID controller Algorithm based on Arduino microcontroller which depends on the feedback signal is used to control the ball position using linear potentiometer position sensor. MATLAB software program has been used to plot the system response by observing the ball position for a predefined amount of time. The controller parameters have been tuned using trial and error method, tested for different set point tracking and for disturbance rejection in order to obtain a good system characteristic.

Mustafa Saad   

In the process industry many of the control applications deal with liquid level, flow, temperature and pressure processes. This paper presents the approach of modeling and controller design of liquid level control system for a nonlinear Coupled-Tank System. First of all, the mathematical equations for the nonlinear system are explored. And then, proportional plus integral (PI) controller is designed to control the level of the second tank for the nonlinear model, through variable manipulation of water pump in the first tank. The simulation study is done using MATLAB and the performance analysis in time domain of the controller is identified. In addition, ITAE criterion is used to evaluate the controller performance. Finally, the simulation results indicate that the controller work very well and the proposed controller has the ability to reject the effect of the disturbance.

Abdulrahman A.A.Emhemed   Aleisawee Alsseid   and Dirman Hanafi   

Power Plant Heat exchanger is widely used in chemical and petroleum plants because it can sustain wide range of temperature and pressure. Heat exchanger is a high nonlinearity and poor dynamics plant; therefore it is complex to model and difficult to control its dynamics. In this paper two types of heat exchanger model and controller are applied for selecting suitable model and controller. First model is called (Physical model) and derived using real parameter of heat exchanger plant. Second, a Second Order Plus Dead Time (SOPDT model) that is derived from the response of heat exchanger. While the controllers are consisted of fuzzy proportional derivative (FPD) controller and proportional integral derivative (PID) controller and applied to the model and their responses are compared with the existing PID controller. The PID controller response based on Physical model gives similar response of existing PID controller based real heat exchanger plant in comparison with SOPDT model. That means the Physical model is able to represent the heat exchanger plant dynamics more accurately than SOPDT model. For the controller, the FPD control gives a slight enhancement based on SOPDT model. Therefore, FPD controller is more suitable than PID controller.

Chunming Xu   

This paper considers the identification of nonlinear systems with color noise, and introduces a new time-varying forgetting factor based stochastic gradient (TVFF-SG) algorithm to estimate the system parameters. The basic idea of the time-varying forgetting factor is that when the algorithm starts, we give the forgetting factor a relative smaller value, which will speed up the convergence. In addition, the forgetting factor will increase slowly as time goes on so that the convergence procedure of the model will be more stable. Simulation results are presented to demonstrate the effectiveness of the proposed algorithm.

Ahmad Yusairi Bani Hashim   

In road construction, in particular on a bustling highway, an operator is needed to alert the drivers to decelerate the speeding vehicles. In doing so, an operator is asked to stand at a safe place, some distance from the construction site and to wave a small flag. Although the flag is light, prolonged waving flag cause tiredness to the operator. If the operator stops shaking, the safety of his co-workers is at risk. It is a straightforward thinking that replacing a human operator with a robot operator is a good choice while keeping the human-like figure. The presence of a human figure effectively alerts the drivers as compared to object signs or signal lights. This paper presents a robotic, human-like figure that performs a simple one axis controlled flag waving task. It comes with a monocular vision that video streams the oncoming vehicles. A program is written in Python language with SimpleCV module that processes the video data. A signal is sent to the controller upon detecting the approaching vehicles. As a result, the robot operator would move its arm, thus waving a flag as a warning signal. A pneumatically powered actuator drives the arm. The robot operator was tested in a controlled environment where the results showed that it has a potential for field implementation.

A.M. Pishchukhin   and T.A. Pishchukhina   

The paper deals with the solution of the optimal reallocation of control resources in the metasystem of stochastic controllers, as that can be read in conjunction functioning technology of manufacturing products within the range of the enterprise. In this theoretical solution to this problem is possible only for Markov processes with a normal distribution of output indices regulators values (for example, the volume of production, the quality of manufactured products). It is proved that the variances between the controlled variables in the metasystem, and virtual work needed to support them, there is a hyperbolic dependence. Connecting a finite state machine that distributes control resources proposed in the algorithm removes the restriction of Markov processes. Perhaps finding the minimum total variance even multiplies regulators.

Marvin Rabben   Roman Henze   and Ferit Küçükay   

The advancing integration of ADAS (Advanced Driver Assistance Systems) and the increasingly complex E/E architecture across all vehicle classes require a reliable and safe method for the assessment, evaluation and validation of said systems. At the Institute of Automotive Engineering (IAE), a test tool that functions as a full-size vehicle replacement has been developed allowing the full scope of tests to be performed while minimizing the risk to the test personal and vehicles involved. The test tool consists of three separate modules: a driving module, a soft crash target carrier and the soft crash target itself. The soft crash target carrier holding the soft crash target is connected to the driving module via detachable links. Considering a collision scenario as use case, the driving module separates from the soft crash target carrier just moments before a collision is imminent, performs evasive manoeuvres and thus leaves the possibly harmful collision area. The soft crash target is quickly exchanged according to the use case under consideration and is visible to common sensor technologies (radar, lidar, camera etc.). The developed test tool can furthermore be used for controllability studies according to ISO 26262 in cases where a second vehicle or collision partner is necessary.

Ti-Hung Chen   and Ming-Feng Yeh   

This paper will propose the state feedback control based networked control system (NCS) design with the differential evolution algorithm. For designing a networked control system, one has to overcome the problems about the random latency and the data packet dropouts. Here, we will apply the state feedback control theory to design a controller to overcome the random latency and the data packet dropouts of NCS and guarantee the stability of the overall system. To improve the control performance, the differential evolution algorithm (DE) is applied to search the optimal control parameters. In this way, one can design NCS more effectively and without need to solve a complex Lyapunov-Krasovskii stability criterion. Finally, computer simulations are given to demonstrate the proposed control strategy and to illustrate its effectiveness.

Mendili Manel   and Bouani Faouzi   

This paper focuses on resolving the trajectory tracking problem of two wheeled mobile robot. We begin by presenting the kinematic model of the robot which is the base of the control law then we present a PI controller and a model predictive controller to solve the problem of trajectory tracking. We performed a comparison between the performances of the classical PI controller and the predictive controller which is an interesting approach that considers an explicit performance criterion and minimizes it during the computation of the control law. Simulation results are provided in order to show the effectiveness of model predictive control in the resolution of trajectory tracking problem.

Quan Hai   Shutang Liu   and Changquan Hu   

In this paper, the generalized synchronization and the inverse generalized synchronization of different dimensional spatial chaotic dynamical systems are studied. The generalized synchronization results have been derived using active control method and Lyapunov stability theory. Numerical simulations are performed to verify the effectiveness of the proposed schemes.

Mircea Popa   Răzvan Bogdan   and Anca Sorana Popa   

One of the big challenges in our days is the rate of the urbanization which leads to an over congestion of cities. It is necessary to develop a new kind of city, based on high-tech technologies. This solution was called Smart City. In this type of city all the necessary tools and methods for continuous monitoring of the state of the city, in all the directions, for an efficient consumption of the resources, for modern health and education, for comfortable living conditions, for fluent transportation, care for the environment and for social and government problems have to be implemented. The present paper gives an overview of them and details a typical service/application consisting in a smart lighting system for a street.

Zhang Xu   Li Jie   and Zhang Wei   

This paper uses the general framework of dynamic feedback linearization for stabilization of mobile robots. Instead of using unicycle model for control design, this paper uses a comprehensive model which is based on the physics of differential drive robots. The model used in the paper describes nonholonomic underactuated behavior of robot in terms of the physical dimensions and velocities of the wheels. Next, the proposed control is applied to this model and it is theoretically proven that dynamic feedback linearization can successfully solve the stabilization problem. To evaluate the performance of proposed control, another controller is designed based on the Lyapunov's method. The performance of the two controllers and the complexity of control gain tuning process are compared. Next, the robustness of the proposed control against uncertainties is studied. The results of analysis and simulations show that the proposed control has very good performance against parametric uncertainties.

Moslem Dehghani   Taher Niknam   Mohammad-Reza Tavana   and Ghasem Asadi   

In islanding Micro-Grids (MGs), distributed generation units are in charge of controlling voltage, frequency, and current of the grid on their own without any assistance from the main grid. Therefore, it is of utmost importance to select and design a controller that is robust against disturbances and load variations. In this study, a new sliding mode controller with a rotating reference voltage algorithm is proposed which improves the load sharing between distributed generators (DGs) in an islanded mode MG. In the proposed algorithm, the amplitude of the reference voltage signal of the controller is adaptively modified to improve the performance and convergence rate of the controller. As a case study, the proposed strategy is studied based on the assumption that there are three DGs in the grid. One of the DGs is in charge of regulating voltage and frequency based on a reference signals, and the two other DGs are responsible for load sharing and loads current control mode. The MG under study consists of three low voltage distributed generation units operating in parallel mode. In order to have a realistic case study, it is assumed that the MG consists of different types of loads such as resistive, inductive and nonlinear loads. Extensive simulations carried out in MATLAB environment indicate that the proposed framework is able to provide more desirable total harmonic distortion (THD), lower steady state error, and faster response compared with classic sliding mode controllers.

Mohammad Amin Rashidifar   Ali Amin Rashidifar   and Abdolah Abertavi   

The paper is focused on the analysis of the Stewart platform to be used in the development of a device for the determination of mechanical properties of materials used for substituting spinal segments of human bodies. At the present time, the Stewart platform is widely used and its popularity is due mainly to the following facts, in comparison with serial mechanisms: higher stiffness, better dynamic properties of the mechanism, higher accuracy of the mechanism, precise and easy positioning. Simulations are conducted for the determination of an acceptable control system based on fuzzy logic. A controller description is included.

Hung-Ching Lu   Ming-Feng Yeh   and Yu-Wei Lu   

This study attempts to propose a random-type Gaussian mutation strategy to improve the solution accuracy of Gaussian barebones differential evolution (GBDE). The proposed Gaussian mutation strategy is not only parameter free, but also employed to enhance the population diversity and global searching ability of the original mutation strategy. The search performance of GBDE with the proposed mutation strategy is compared with two standard DEs (DE/rand/1 and DE/best/1), the original GBDE and its modified version in terms of solution accuracy. Simulation results on two real-world optimal control problems given in IEEE - CEC 2011 evolutionary algorithm competition demonstrate the effectiveness of the proposed GBDE algorithm.

Faizullah Mahar   and Muhammad Amin   

This paper deals with design, implementation and the performance analysis of Tabu search (TS) algorithm based PID controller. The experimental results demonstrate that implantation of TS-based controller designed by the suggested technique can deliver the finest system response as compared to the conventional techniques. The TS algorithm based design of controller using the suggested technique could be used to produce a software package for engineers to achieve the optimized controller design. This paper presents the optimized PID controller design for the system using the TS algorithm. The resulting output responses using the TS design is superior to that of the conventional method can also be used to support the simulation effects. These effects demonstrate that the suggested design method is very suitable for engineers. Moreover, the suggested technique can provide the best output performance with the stable operation confirmation.

Faizullah Maha   

The PID controller is one of the control strategies having simple structure was understood by plant operator, which is comparatively easy to tune. Irrespective of the attractiveness, the tuning characteristic of PID controllers is a task for engineers and scientists. Numerous procedures for tuning PID-controllers are recommended such as: Ziegler Nichols tuning method auto-tuning, artificial intelligence and optimization techniques. Evolutionary optimization techniques (EOTs) as emergent techniques, an efficient GA-based tuning approach aiming at enhancing PID control for complex processes is proposed. The test and simulation results demonstrate that the GA-based proposed scheme is capable and can be used to overcome the flaws of traditional fixed gain controller. The main role of the article is to appraise the algorithm for tuning of PID-controller gains along with minimization of cost function and argue about the capability, computational efficiency of GA to solve the problems in control systems.

D. K. Sambariya   and G. Arvind   

In this paper, a large–order system is reduced by using the self adaptive bat algorithm (SABA) to a reduced-order approximation. The numerator coefficients of a desired reduced-order system are optimized based on integral square error minimization as an objective function pertaining to a unit-step as input. The denominator of the reduced order model is solved by stability equation method. The efficacy of the proposed method is tested with SMIB test systems to get a corresponding reduced-order system. The results are satisfactory in terms of minimum error with the proposed method as compared to Routh approximation and Stability equation based reduced models.

D. K. Sambariya   and Vivek Nath   

A simultaneous study of load frequency control and automatic voltage regulation is considered. The single-area and two-area power systems have been considered with a combined model of AGC and AVR for analysis of frequency and voltage deviation. The primary aspect of the design is to keep real power control as to preserve frequency of the system in a prescribed limit. Reactive power control is used to keep the voltage magnitude of synchronous generator at a tolerable limit. The transients produced in dynamic responses are controlled using intelligent and soft-computing technique. The fuzzy logic controller and particle swarm optimization based PID controllers are considered. The steady state error and settling time of the dynamic responses are observed and found to be reduced very effectively. The frequency and terminal voltage results of a single-area power system with proposed PSO-PID controller is compared to the responses of system with controllers presented in literature and found to be more effective. The comparison of fuzzy logic controller with PSO-PID is done by observing the nature of two-area responses. The result obtained by soft computing algorithm and intelligent controller is analyzed on the basis of settling-time, undershoot and ISE Error.

S. M. Mohtavipour   H. Darvish Gohari   and H. S. Shahhoseini   

Design of the controller in an adaptive cruise control (ACC) system is a critical part which prevents the collision between the host vehicle and the front vehicle. In ACC, system starts to work from an initialization state to a stable state after a short time. Passing from the initialization state to the stable state has not been considered in the previous designs. However for a suitable design, the initialization states that can cause a collision and also the unstable states should be considered. Therefore in this paper first by improving the reference signal and then by using a PID controller and optimizing its gains with BFO optimization algorithm, the system will consider the unstable initialization states. Simulation results show that by improving the reference signal and optimizing the gains of PID controller, not only the collision before the stable state is prevented, but also the performance of the controller is improved 74.2% in safety constraint and 15% in comfort constraint in the specific profile of the front vehicle speed that has several driving situations like hard stop and stop & go.

Karin Nachbagauer   Stefan Oberpeilsteiner   and Wolfgang Steiner   

The present paper shows the embedding of the adjoint method in multibody dynamics and its broad applicability for examples for both, parameter identification and optimal control. Especially, in case of parameter identifications in engineering multibody applications, a theoretical enhancement of the proposed adjoint method by an error control of accelerations is inevitable in order to meet the circumstances of experimental studies using acceleration sensors in general.

Lukas Moltner   

The selective catalytic reduction (SCR) of nitrogenous oxides is the most promising technique to meet prospective emission regulations of cars. Due to its toxic potential the reducing agent ammonia cannot be stored in a car but it can be carried in the form of an urea-water-solution (UWS) which is injected into the hot exhaust gas and reacts to ammonia. This formation of ammonia upstream the catalytic converter is responsible for the efficiency of the complete SCR-process-chain. This paper deals with the numerical analysis and description of interactions between droplets of the urea-water-solution and the exhaust gas. For the description of the droplets' trajectories, a numeric model was developed, which considers, in contrast to previous surveys, the loss of the droplets' mass due to evaporation of water and thermal decomposition of urea. The model for the droplets' motion was extended by an evaporation model for binary fluids and additionally on a kinetic approach to describe the thermal decomposition. This model is able to determine the exact position of flying droplets, the droplets' velocity, the composition and its current temperature in a gas flow. These parameters are substantial for further considerations of the interactions between droplets and hot surfaces, e.g. wall wetting.

Gernot Grabmair   and Simon Mayr   

In this study, we present an adaptive self-tuning controller (STC) design for small embedded systems. The new free tool-chain for model based control design is based, among other software, on the open simulator Scilab-XCos. After a very short introduction of model based design terms, this article focuses on the code generator and the other programs of the tool-chain. The design concept is demonstrated by the non-trivial adaptive self-tuning control (STC) of the cart system in simulation and on a real laboratory experiment.

Mutita Songjun   

In this paper the parameter optimization ILC algorithm is used for trajectory tracking of the robot arm. This control scheme is based on the parameter optimization through a quadratic performance index which its solution will converge in norm to zero. The control design is very simple in the sense that the only requirement is to reduce the error of the movement of the robot arm for picking up the object at the desired target. Forward and Inverse kinematics analysis are applied to find the joint angles at the desired position and it will be compared with the current position to obtain the error value. The ILC algorithm will finally be used to correct the error trial to trial until the position of the robot arm is completely closed to the target.

Ebrahim Modarresi   and Faridoon Shabaninia   

Steam generator tube rupture is one of the most important accidents that is focused nowadays. In this work, the automating strategies of emergency operation are developed for SGTR accident in VVER 1000 nuclear reactor. After recognizing accident, reactor must be shut down and controlled properly in order to reach safe state of that. In control, cooldown is planned by establishing operational goals, forming strategies, and specifying operational means and constraints. According to operation manual reactor, cooling is done by means of releasing steam from steam valve BRU-A on steam generator. The reference set points of the controlled parameters are adaptively adjusted through fuzzy reasoning for optimal cooldown and depressurization. These strategies can make emergency operation optimal, and as well they considerably lengthen the operator response time. The validation of the proposed strategies was carried out using the micro-simulator with steam generator tube rupture(SGTR) events. The results indicate that the automation emergency operation successfully drives the plant at full power to a cold shutdown state with all the operational constraints satisfied. Analysis of result shows us:A. pressure of first loop wouldn't exceed primary value during accident. Maximum of pressure of reactor in second loop on steam generator “B” is 71.91 barg. B. maximum temperature of fuel rods and fuels don't exceed primary values. Maximum and minimum temperature of fuel rods are 788℃ and 546.95℃ respectively.

Mayank Tyagi   and M. Chouksey   

This paper includes modal analysis of an asymmetric rotor system. The analysis has been carried out in the rotating co-ordinate system so that the equations of motion do not include time dependent terms in it. After analysis, the eigenvalues are transformed back into stationary co-ordinate system. The real and imaginary parts of the eigenvalues thus obtained are plotted. Such analysis is very important as rotor systems with asymmetric nature gets unstable between some speed ranges. Stability graphs are plotted and analyzed to find out the regions of instability for the rotor system using a simple rotor model.

Sergey V. Bublichenko   

The problems associated with the concept of extreme principle, structural decomposition, entropy and the possibility of using the methods of the theory of categories. The most common results of statements of problems and mathematical models of management in the structure of the cutting technology the semiconductor ingots and other functional materials for thin plates for the preparation of base layers for the micro - and nanoelectronic devices are presented.

Mohammad Hossein Farrokhi   Faridoon Shabani   and Sayyed Hamid Abbasi   

Variety of the usage in Hard Disk Drives relies on the high speed, positioning system precision and reliability of their control mechanisms. Vibration is one of the most important concerns in the control mechanisms due to rotational movement of the HDD drivers and the data head speed so as to keep the performance under control, the movement disturbances should be accurately monitored. Disturbance Observers (DOBs) increase the control system robustness whilst improving the dynamic performance of the systems without employing sophisticated calculations and prerequisite; the plant inverse model calculation is eliminated in this method which empowers the usage and simplifies its implementation. This paper focuses on the suppression of vibration using Disturbance Observer and compares it with PID controller and Intelligent Active Force Controller to figure out the advantages of DOB.

S. Ravi   Dasari. Narasimha Rao   K. Mali. S. N. Krishna   and Vitaliy Mezhuyev   

Brushless DC motors are widely used for many industrial applications because of their high efficiency, high torque, higher speed ranges, noiseless operation and low volume. More advanced controllers are used to manage acceleration, control speed and fine-tune efficiency of BLDC motor. A proportional–integral–derivative controller is a generic control loop feedback mechanism widely used in industrial control systems because of its simple structure and easy implementation. The conventionally tuned PID controller is not providing optimum performance under nonlinear conditions and parameter variations. The aim of this research is to develop a complete model of the BLDC motor and to design an optimal controller for its control. The Genetic Algorithm is proposed as a global optimizer to find the optimized PID gains for control of BLDC motor.

Payzullahanov Muhammade-Sultanhan   

Samples a barium titanate by impact of the concentrated sunlight with a density of 200 W/cm² on the mix TiO₂+BaCO₃ are synthesized. Light influence causes synthesis of titanate of barium of tetragonal modification with the raised tetragonalyty degree in comparison with solid-phase synthesis and synthesis from fusion on the Sun simulator with a xenon lamp.

Faridoon Shabaninia   Shadi Pouyanfar   and Seyed Hamidreza Abbasi   

This paper describes the Neuro-Fuzzy logic based controller design for the buck DC-DC converters. As it is obvious form the previous type of controllers (conventional PID) for such converters which have been designed under the worst case condition for high load and lowest line condition, they present a lower loop in band width, and the system response is sluggish. In this regard, since the neural networks have powerful learning capabilities, optimization abilities, and adaptation, in this paper the design and analysis for a Neuro-Fuzzy PWM based PD controller is proposed. Lastly, In order to show that the Neuro logic based PD controller provides robust control for non-linear power electronics variable switching structure such as the dc-dc buck converter, MATLAB Simulink software is employed to confirm the corresponding results validity.

A. Mbarek   K. Ben Saad   and M. Benrejeb   

This paper deals with a position sensorless control of a permanent magnet stepping motor. The proposed controller is designed to reduce the studied actuator oscillations and overshoot which can induce an erratic working. As the mechanical solutions are expensive and cumbersome, the control ones are considered to be the most suitable. Closed loop control of these motors offers significant performance advantages. But, the use of position sensors complicates the drive design and its control system. To avoid the use of position sensors which are costly and cumbersome, we propose in this paper a sliding mode observer allowing the estimation of the motor position from the statoric voltages and currents. It is proven that a sliding mode observer is robust against observed systems parametric uncertainties and well adapted to a large variety of nonlinear systems such as electrical motors. The performances of the sensorless position proportional derivative controller and the robustness of the sliding mode observer are tested by numerical simulations. The obtained results show the efficiency of the proposed control law.

Faridoon Shabaninia   

Mirrors are smooth surfaced features of the car that provide additional visibility for the driver. In fact, an automobile cannot be easily guided without mirrors. There are two types of mirrors in cars, side-view mirrors and rear-view mirrors. Rear-view mirrors are installed to see rearward and side-view mirrors help drivers to see area behind and to the sides of vehicles. Although, these mirrors help for better vision, still there are regions called blind spots that a driver must be informed about them. Lots of accidents may happen as a result of no sight for these areas. A Common type of disruption in traffic, which leads sometimes to car crashing, is when the driver intends to leave the car park. As the car is being turned, the blind spot is growing larger and probability of accident is increasing. So, in this paper, we design a controller, based on fuzzy logic control (FLC), helps us to reduce the possibility of accident and traffic disruption. This system alters angels of side-view mirrors to compensate turning angle of the automobile, which results in changing blind spot into visible area.

Pin-Lin Liu   

In this paper, the robust stability of T-S fuzzy uncertain system for neural networks with time-varying delays is investigated. The constraint on the time-varying delay function is removed, which means that a fast time-varying delay is allowed. Based on the Lyapunov- Krasovskii functional techniques and integral inequality approach (IIA), novel robust stability criteria have been derived in terms of linear matrix inequalities which can be easily solved using the efficient convex optimization algorithm. By taking the relationship among the time-varying delay, its upper bound and their difference into account, some less conservative LMI-based delay-dependent stability criteria are obtained without ignoring any useful terms in the derivative of Lyapunov-Krasovskii functional. Examples are included to illustrate our results. These results are shown to be less conservative than those reported in the literature.

Faezeh Farivar   Mohammad Ali Nekoui   Mahdi Aliyari Shoorehdeli   and Mohammad Teshnehlab   

In this paper, evolutionary algorithms are proposed to compute the optimal parameters of Gaussian Radial Basis Adaptive Backstepping Control (GRBABC) for chaotic systems. Generally, parameters are chosen arbitrarily, so in several cases this choice can be tedious. Also, stability cannot be achieved when the parameters are inappropriately chosen. The optimal design problems are to introduce optimization algorithms like Genetic Algorithms (GA), Particle Swarm Optimization (PSO) in order to find the optimal parameters which minimize a cost function defined as an error quadratic function. These methods are applied to two chaotic systems; Duffing Oscillator and Lü systems. Simulation results verify that our proposed algorithms can achieve enhanced tracking performance regarding similar methods.

Tushar K. Roy   

The problem of stabilization of vertical, lateral and longitudinal dynamics for hover flight mode of an unmanned autonomous helicopter (UAH) in a gusty environment is considered. The controller design is based on a generic linear model which successfully describes the behavior of most small scale helicopters. A recursive (backstepping) design procedure is used to design the robust controller for vertical, longitudinal and lateral dynamics based on the Lyapunov’s method. For comparison purposes we design another controller based on the linear quadratic regulator (LQR) criteria. The simulation results demonstrate that the proposed controllers can effectively attenuate the gust effects and achieve rapid and accurate vertical, longitudinal and lateral position tracking when gusts occur.

Bashir M. Y. NOURI   and Ma’ali B. Y. SAUDI   

This paper derives an empirical model of the air flow through a variable area orifice of a 5-port proportional valve, in function of pressures at the supply port and at the pneumatic cylinder, i.e. including the flow resistance of the connecting tubes and fittings, and the (quasi-static) valve’s driving voltage.Effects of nonlinear flow through the valve, air compressibility in cylinder chambers, system identification, numerical simulation and model validation experiments were conducted and compared with theoretical models showing very good agreement. This Experimental model can be used in simulation and control of high performance pneumatic servo positioning systems, with applications in robotics and modern pneumatic tube transportation systems.

Zain Anwar Ali   M.Tanveer   Habib Shaukat   and Saad Anwar   

As the research project name suggest, the android operated robot arm is designed so as it can perform the activities of a human arm by the instructions given through android device (android app). A signal is generated when specific buttons on the android application are pressed which allows microcontroller to make the arm move according to the predefined program. Here Android application being the command center of the robotic arm as it commands the arm to move or grab specific things as the instruction is transferred to the arm through android JAVA and microcontroller language. At the receiver the signal is provided to the microcontroller which does several manipulations in this data using different scaling factors through programming, which controls the direction and speed of the motors that is responsible for the motion of the robotic arm.

Naing Lin Zaw   Hitke Aung Kyaw   and Kyaw Zaw Ye   

PLC (Power line communications) uses the existing power line infrastructure for communication purposes. While the majority of recent contributions have discussed PLC for high data-rate applications like Internet access or multimedia communication serving a relatively small number of users, in this paper presents a novel approach to model the transfer function of electrical power lines for broadband power line communication. The model has been verified with practical measurements conducted on actual power networks.

Alexandr Pishchukhin   and Tatiana Pishchukhina   

Enterprise model, as integration of grocery technologies, is represented metasystem. Such point of view allows putting and discus six problems of metasystem approach and to reveal probabilistic model of functioning enterprise based on the queuing system with a flow of demands from the market. Management in such model provides functioning of grocery technologies at a certain level of probability. By means of computer on two-grocery model of the enterprise is proved that such management the accuracy of technology switching – according to market requirements increases. Research showed that the described approach allows optimizing management of the enterprise on a scientific basis, maximizing "metasystem effect".

Parviz Amiri   and Mahsa Bagheri   

PLC is proposed as the essential tool in many different applications. In this paper, the PID controller is designed to control Motor Speed based on incoming information of system and Auto tuning. The control system is simulated by powerful software Matlab and Simulink. Simulation results also show better performance of motor that reduce the rise time, steady state error and overshoot and increase system stability.

Leonardo Acho   

Given a linear switched system composed of both Hurtwiz stable and unstable subsystems, and with additive unknown constant disturbance, a switching law with average dwell time between Hurwitz stable and unstable subsystems is proposed, together with an adaptive algorithm to compensate the unknown additive disturbance. Using Lyapunov theory, exponential stability of a desired degree of the plant state is assured and bounded-ness of the adaptive dynamic too.

Nina N. Subbotina   and Timofey B. Tokmantsev   

Perturbed inverse problem of dynamics are under consideration for dynamical systems linear relative controls when sampling history and sampling error estimate are known. Auxiliary optimal control problems are introduced to minimize a regularized integral discrepancy functional in the domain of admissible motions. The trajectories of the system are constructed with the help of characteristics of the Bellman equation in the domain of admissible motions. It is proven that the characteristics minimized the functional are solutions of the perturbed inverse problem of dynamics.

Tatyana Serdyuk   and Vladimir Gavrilyuk   

This paper deals with the elaboration of the method of definition of primary and secondary parameters of the rail circuits on the base of the measuring car-laboratory with the help of special program microprocessor apparatuses. It was proposed advanced mathematic model of the information channels (rail circuits) for scientific substantiation of a method of the code parameters measurement. The measurement of current in the rail circuit is carried out in the regime of automatic locomotive signaling. The parameters of the rail circuits are defined by the value of code current of the rail circuits in the beginning and the end of the rail path. The results of modeling are presented for the 50 Hz code rail circuit.

Adel A. Ghandakly   

This paper presents the development of a Genetic Algorithm Supervisory Loop (GASL) to enhance the performance of Adaptive Controllers in the Self Tuning Regulator (STR) framework. The GASL is designed to tune the identification model and control parameters to achieve an optimum performance of the process. The STR controller used to demonstrate the technique effectiveness is a real time Proportional plus Integral plus Derivative (PID) algorithm. The addition of the GASL to the PID STR provides superior performance by expanding the STR’s ability to maintain control of nonlinear systems under large and quick shifts in system modes and/or disturbances. In test cases, the basic STR shows performance deterioration, while the GAS enhanced STR maintained desirable performances. The GASL developed is applied to a nonlinear adaptive suspension system for investigation and assessment. Investigations results show the effectiveness of utilizing the GASL within the adaptive STR framework.

Pin-Lin Liu 

This paper studies the problem of stability analysis for descriptor systems with time-varying delay. By developing a delayed decomposition approach, information of the delayed plant states can be taken into full consideration, and new delay-dependent sufficient stability criteria are obtained in terms of linear matrix inequalities (LMIs). Then, based on the Lyapunov method, delay- dependent stability criteria are devised by taking the relationship between terms in the Leibniz-Newton formula into account. Criteria are derived in terms of LMIs, which can be easily solved by using various convex optimization algorithms. It is proved that the newly proposed criteria may introduce less conservatism than some existing ones. Meanwhile, the computational complexity of the presented stability criteria is reduced greatly since fewer decision variables are involved. Numerical examples are included to show that the proposed method is effective and can provide less conservative results.

Tushar K. Roy 

In this paper, I focus on the design and implementation of a controller for a two degree-of-freedom system. A nonlinear robust adaptive control technique is proposed to control the altitude of a small-scale helicopter for hovering as well as vertically take-off/landing near the ground surface in the presence of strong horizontal wind gusts. In order to stabilize the vertical dynamics of the small-scale helicopter, a recursive (backstepping) design procedure is used to design the robust adaptive controller based on Lyapunov approach. Simulation results demonstrate that the proposed robust adaptive backstepping controller is capable of controlling the altitude for hovering flight of a small-scale helicopter near ground surface in the presence of strong horizontal wind gusts.

Keith Darlington 

Intelligent systems encompass a wide range of software technologies including heuristic and normative expert systems, case-based reasoning systems, and neural networks. This field has been augmented in recent years by Web-based applications, such as recommender systems and the semantic Web. The uses of explanation facilities have their roots in heuristic rule-based expert systems and have long been touted as an important adjunct in intelligent decision support systems. However, in recent years, their uses have been explored in many other intelligent system technologies - particularly those making an impact in e-commerce such as recommender systems. This paper shows how explanation facilities work with a range of symbolic intelligent techniques and, when carefully designed, provide a range of benefits. The paper also shows how, despite being more difficult to augment with non-symbolic technologies, hybrid methods predominantly using rule-extraction techniques have provided moderate success for explanation facilities in a range of ad-hoc applications.

Gleb Dorozinsky Vadim Dunaevsky and Vladimir Maslov 

As is known, the miniaturization of analytical devices makes them more user-friendly and extends the sphere of their application. At the same time, however, the miniaturization deteriorates temperature schedules of the operation of devices because of localization that entails overheating and thereby making thermal errors of measurements more appreciable. This is especially critical to analytical devices operating on the basis of surface plasmon resonance because in that case a measurable value depends heavily on changes in a temperature. The main purpose of research is to use the method of nondestructive testing so as to analyze the thermal processes that take place in analytical devices operating on the basis of the surface plasmon resonance. This research suggests and shows the efficiency of the application of the thermal-vision method to detect the most heat-generating sources in analytical devices operating on the basis of the surface plasmon resonance. The results of this research can be used to improve the analytical devices as well as to streamline their design and fundamental basis.

A. Philippot P. Marangé F. Gellot and R. Riera 

This paper talks about a decentralized approach for diagnosis of discrete event systems based on the plant decomposition. A decentralized structure is used to avoid state space explosion found in centralized structure or decentralized structure with composition step. From plant models, all possible faults are identified to construct abnormal behavior models called diagnosers. Originality of this proposition is also to used model-checking to verify diagnosability of the system. The approach is illustrated using an academic benchmark.

V.A. Nikolsky 

In given article new models of the discrete mappings are offered and on their basis the further development of the K(E) transformation apparatus for discrete functions is given. On the basis of K(E) transformation a method of discrete dynamic systems synthesis is set that in combination with principles of the classic theory of random processes makes it possible to carry out compensation (invariance) of the deterministic chaos, and optimal filtration of stationary random perturbation.

V. V. Grigoriev S.V. Bystrov A.I. Ryabov and O. K. Mansurova 

The main purpose of the research is the extending of the concept of qualitative exponential stability and instability for a wider class of the dynamical systems and objects as well as developing of analytic and calculating technologies for analyzing the quality of processes and projecting of control devices for control systems. And if the property of asymptotic stability indicates the convergence or divergence of the processes in time, the exponential stability provides information about the speed of convergence or divergence processes, thereby characterizing the rapidness of the system. Meeting the conditions of quality exponential stability evaluates the average rate of convergence or divergence of processes, as well as ongoing processes of deviations of the time-average behavior, the last gives information about the behavior of transients (oscillation, overshoot). Development of analytical and computational techniques for the analysis of stability and instability of comparison systems and, as a result of multiply-connected systems, as well as the processes quality is almost an essential task for the study.

Mohsen Alipour and Mohammad Loghavi 

Development of controlled environment in greenhouse is of prim importance for out of season production, increasing yield and enhancing the quality of produce. Due to high cost and impossibility of continuous human attendance in greenhouse, it is desirable to control the greenhouse environment by employing automatic control devices. In This study, the greenhouse conditions were controlled by using artificial neural network (ANN). First, an experimental greenhouse was built and equipped with control instruments. Then by using electronic sensors, some climatic parameter data (temperature, humidity, carbon dioxide and light index) were measured and saved during five minute periods. In the next stage, three types of ANN including feed forward neural networks with multiple delays in the input, two-layer neural network with a feedback from hidden layer and input delay and three-layer neural network with two feedbacks from hidden layers and input delay were trained by 66% of the recorded data, and were evaluated by using the remaining data. The three-layer neural network with two feedbacks from hidden layers and input delay was able to better predict humidity and light index of the greenhouse with MSE,s of 0.025 and 0.032, respectively. Temperature and infrared index were better predicted by using the feed forward neural networks with multiple delays in the input with MSE,s of 0.016 and 0.017, respectively. In all cases, training time was less than 14 minutes and simulation time being always less than 0.2 second, makes using neural network feasible for automatic control of greenhouse.

Pin-Lin Liu 

In this paper, we consider the delay-range- dependent robust stability problem of uncertain singular system with interval time-varying delays. Stability criteria, which guarantee the concerned singular system is regular, free and stable, is derived in terms of linear matrix inequalities (LMIs) by introducing some identical equations with integral inequality approach (IIA) and using the Leibniz-Newton formula to reduce the conservatism of the results. The upper bound of time-delay can be obtained by using the modified generalized eigenvalue minimization problem (GEVP) technique such that the system can be stabilized for all time-delays. Finally, numerical examples show the method presented in our paper is more effective and less conservative than the existing ones.