WSEAS Transactions on Systems and Control
Print ISSN: 1991-8763
E-ISSN: 2224-2856
Volume 10, 2015
Notice: As of 2014 and for the forthcoming years, the publication frequency/periodicity of WSEAS Journals is adapted to the 'continuously updated' model. What this means is that instead of being separated into issues, new papers will be added on a continuous basis, allowing a more regular flow and shorter publication times. The papers will appear in reverse order, therefore the most recent one will be on top.
Volume 10, 2015
Title of the Paper: Application of Jordan Controlled Form for Nonlinear Optimal Control Systems Design
Authors: Anatoly Gaiduk, Elena Plaksienko, Igor Shapovalov
Abstract: The problem of optimal control system design for nonlinear control systems (plants) has been considered in many works. But the majority of the proposed design methods are focused on linear models which are received by the usual linearization. Therefore the real control systems are quasi optimal practically. Known methods of the optimal systems design on the basis of nonlinear models are very difficultly for practical use. Therefore new design methods of the nonlinear optimal control systems are claimed. This paper presents the application of a Jordan controlled form to analytical design of the optimal control system for nonlinear plants, equations of which are transformed to this form. For this reason the definition of Jordan controlled form and some features of the transformation to this form of the nonlinear systems equations are considered. The suggested method of the optimal control systems design includes two steps. At the first step a linearization control is designed on the base of the known stabilizing control and the nonlinear transformation of the plant state variables. In new variables the equations of the close system with the linearization control is linear. It gives possibility to apply the known method LQ to these linear equations on the second step. The resulting nonlinear control system is optimal in the sense of a minimum of nonlinear quadratic criteria. Coefficients values of the criteria can be chosen in accordance with the desired transients of the nonlinear optimal control system. The design problem has a solution if a plant is controllable. The optimal control is a feedback on the state variables of the plant. Efficiency of the stabilizing control and the suggested design method of nonlinear optimal control systems are shown on the examples of designing and simulation of nonlinear control systems.
Keywords: Nonlinear plant, equation, Jordan controlled form, nonlinear transformation, linearization control, quadratic criteria, optimal control
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #82, pp. 776-789
Title of the Paper: Discrete Controller Synthesis Based on Genetic Programming
Authors: Rami A. Maher, Mohamed J. Mohamed
Abstract: In this paper, an alternative way of a discrete controller synthesis is introduced. The synthesis is based on a proposed genetic programming algorithm, which is named Block Diagram Oriented Genetic Programming BDOGP. The standard GP structure tree is modified in such a way to obtain a complete block diagram of the discrete controller that satisfies a deadbeat response in a closed-loop system. In one framework solution, the algorithm gives both the block diagram topology and the values to the parameters within the controller structure. A new numeric constant mutation operation is added to the algorithm to strengthen the search for optimal parameters of the BDOGP solutions. Two examples are introduced to validate the use of the proposed algorithm, and for the sake of completeness, the state-space approach design of a deadbeat response is introduced briefly. For a servo system, a comparison between the results of the GP and the conventional state-space solutions shows the accuracy of the GP approach. The second example considers a temperature control in an HVAC system.
Keywords: Genetic Programming, Block Diagram Oriented Genetic Programming, Deadbeat Controller
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #81, pp. 763-775
Title of the Paper: Portfolio Optimization with Random Liability in the Stochastic Interest Rate Environments
Authors: Hao Chang, Wei Wei
Abstract: This paper applies dynamic programming principle and Legendre transform to study a dynamic asset allocation problem with liability process and stochastic interest rate model, where interest rate is assumed to be driven by the Ho-Lee model or the Vasicek model. By using variable change technique, we obtain the closed-form solutions to the optimal investment strategies in the quadratic utility framework. Finally, a numerical example is given to analyze the impact of market parameters on the optimal investment strategies and some economic implications are provided. The numerical results imply that the amount invested in the stocks in the liability setting is larger than that in the no-liability setting.
Keywords: the Ho-Lee model, the Vasicek model, asset and liability management(ALM), Legendre transform, optimal investment strategy
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #80, pp. 752-762
Title of the Paper: Robust Real-Time Chaos Detection from Measurement Data
Authors: Carlos M. N. Velosa, Kouamana Bousson
Abstract: The ability to distinguish between chaotic from regular dynamics is not a trivial task and the fact that noise cannot be avoided in real physical systems makes the problem even more challenging. Chaos becomes highly unpredictable after a very short period of time as a random-like motion that traditional detection techniques may fail, especially when measurement noises are taken into consideration. The present paper proposes a new algorithm to detect chaotic modes automatically (without any model), in real-time and in the presence of noise. The key idea behind the detection lies in the fact that a single component of a chaotic trajectory tends to exhibit an infinite number of local maxima at different time-instants. Using an auxiliary system acting as a denoiser and resorting to simple mathematical operations, it is established a parameter that characterizes the type of motion based on a specified threshold. Numerical simulations are presented to validate the effectiveness and robustness using three applications: a butterfly-shaped system identical to the celebrated Lorenz system; and two aerospace systems related to the attitude motion of spacecraft. The results show that the distinction is very clear and the detector is effective even for relatively low Signal-to-Noise Ratios. The proposed detector is easily-implementable and very efficient from the computational viewpoint as opposed to other tools of chaos detection.
Keywords: Chaos, Chaos detection, Robust detection, On-line detection, Spacecraft, Attitude motion
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #79, pp. 735-751
Title of the Paper: A Contribution to the Solution of Electromagnetic Problems Using the Method of Moments and the Haar Wavelet how Expansion Function
Authors: Aldo Artur Belardi, Antonio H. Piccinini Neto
Abstract: This paper presents the mathematical basis, and some results, concerning the application of the Haar Wavelets as the expansion function in the Method of Moments. As an example, the surface charge density on a finite, thin plane plate, and the Eddy current problem, in which the main computational performance aspects are evaluated. Some computational optimization techniques are used, and their main aspects are stressed in the paper.
Keywords: Moments, Wavelets, Haar
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #78, pp. 724-734
Title of the Paper: Dynamics Analysis of Cournot Triopoly Game Model with Heterogeneous Players in Exploitation of a Renewable Resource
Authors: Hongliang Tu, Junhai Ma
Abstract: Based on a dynamical multi-team Cournot game in the exploitation of a renewable resource, a new dynamic Cournot triopoly game model with one bounded rational player and two team players is established to find a renewable resource. By using the theory of bifurcations of dynamical systems, we studied the stability of the system, obtaining a point at which local stable regions reach the Nash equilibrium. Besides, we analyzed the resulting adjustment speed parameters and the weight parameter of the system, which could otherwise affect the dynamics behaviors of the system. The complexity of the system is demonstrated by means of bifurcation diagram, the Lyapunov exponents, the phase portrait, the time history diagram and the fractal dimension. Furthermore, the linear feedback control method is used to control the chaos of the system. The derived results have very important theoretical and practical significance to the renewable resource firms and market.
Keywords: Complexity, Chaos, Dynamic Cournot triopoly game, Bounded rationality, Team players
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #77, pp. 713-723
Title of the Paper: Design of an Intelligent Adaptive Drug Delivery System for Arterial Pressure Control
Authors: Anderson Luiz De Oliveira Cavalcanti, André Laurindo Maitelli
Abstract: Arterial pressure control is an important task, mostly in postsurgical patients. This work proposes an adaptive system to patient’s arterial blood pressure control using sodium nitroprusside. The proposed system uses Proportional-Integral (PI), Fuzzy-PI, rule-based and predictive controllers. To introduce an adaptive characteristic to PI controller, it was used an intelligent fuzzy supervisor with a kind of gain scheduling. This idea can be extended to rule-based and fuzzy-PI controllers. A Pseudo Random Binary Signal (PRBS), with level in accord of patient’s drug sensitivity, was used in all controllers to avoid greats decreases in blood pressure in the beginning of control. Also it was used an algorithm to reject wrong measurements in patient’s arterial blood pressure. The results obtained consider an adaptive predictive controller and a PI with Fuzzy scheduling considering two simulated patients. In all simulations, the mean arterial pressured considered as reference was 100 mmHg. The simulation results showed that the proposed system has good performance and stabilize the mean arterial pressure with small settling time and small overshoot.
Keywords: Adaptive control, arterial blood pressure, intelligent control
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #76, pp. 704-712
Title of the Paper: Design of Robust Fractional Order Proportional Integral Controller Based on Vector Method
Authors: Chunyang Wang, Meng Wu, Lili Jin, Nianchun Cai
Abstract: This paper detailedly discusses the geometry idea, design steps and algorithm implementation in designing a FOPI controller based on a vector method. It takes first order controlled plant, first order plus time delay controlled plant and fractional order plant as examples, using traditional method and vector method to solve the parameters of the FOPI controller. The results show that the vector method has the same dynamic response performance as the traditional method, which demonstrates the reasonability of the vector method. Compared with traditional method, the FOPI controller design method based on the geometry idea (vector method) is simpler and more convenient. Besides, the proposed method overcomes the traditional phenomenon of multiple solutions of controller parameters.
Keywords: Fractional order PI controller, Vector method, Tuning parameters, Robust, Optimization, Unique solution
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #75, pp. 695-703
Title of the Paper: Design of Model Predictive Control for Adaptive Damping of Power System Stabilization
Authors: Mohamed Zahran, Ali M. Yousef, Ghareeb Moustafa
Abstract: This paper proposes a robust control framework for power system stabilizer to improve system dynamic performance based on model predictive control (MPC). The effectiveness of the proposed power system stabilizer is validated by a simple power system composed of a synchronous generator connected to an infinite bus through a transmission line. A comparison between power system responses at variety of operating conditions using the proposed MPC and Linear Quadratic Regulator (LQR) control is obtained. The dynamic model of interconnected power system under study is established. To validate the effectiveness of the proposed MPC, the power system is simulated over a wide range of operating conditions. The digital simulation results prove the powerful of the proposed power system controller based on MPC theory in terms of fast power system oscillation damping under different operating conditions.
Keywords: Model Predictive Control, Synchronous Generator, LQR control, Power System Stabilization, Robust Systems Control
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #74, pp. 685-694
Title of the Paper: The Volatility Cluster Character of Corporate Bond Yield
Authors: Jie-Min Huang, Kai Chang, Xi Yang
Abstract: We chose weekly transaction data from 2011 to 2012 in Shenzhen and Shanghai Exchange platform, and the paper analyzed the volatility clustering effect of corporate bond yield spread mainly by using time series data. Firstly, the paper described the data character. Secondly, the paper analyzed the volatility cluster character of corporate bond yield by using Autoregressive Conditional Heteroskedasticity model. In the end, we did cointegration analysis. We found corporate bond yield have volatility cluster and asymmetric character. And investors could choose different corporate bonds with different yield volatility according to own analysis.
Keywords: corporate bond, yield, volatility cluster, cointegration analysis
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #73, pp. 675-684
Title of the Paper: Fault Prediction Using the Combination of Regularized OS-ELM and Strong Tracking SCKF
Authors: Zhanlong Du, Xiaomin Li, Leiping Xi, Jinzhong Zhang
Abstract: As one of the most important aspects in maintenance, fault prediction has attracted an increasing attention for avoiding system catastrophic damage and ensuring reliability. Considering prognosis of unmeasured fault parameter in nonlinear system, a novel forecasting algorithm is presented based on the combination of ROS-ELM (regularized online sequential extreme learning machine) time series predictor and STSCKF (strong tracking square-root cubature Kalman filter). ROS-ELM is utilized to forecast system measurements in future time instant, which are used by STSCKF as measurement variables during filter process. The fading factor is introduced into the square root of the STSCKF prediction error covariance to tune the gain matrix. A state and parameter joint filter based on STSCKF is proposed to solve the problem that faulty changing function is unknown in practice. An experiment case is provided to verify the good performance of the presented approach.
Keywords: Strong tracking filter, Square-root cubature Kalman filter (SCKF), State and parameter joint filter, Online sequential extreme learning machine (OS-ELM), Three-tank system, Failure prognosis
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #72, pp. 666-674
Title of the Paper: Color Mixing Machine Using PLC and SCADA
Authors: Ashraf Mohamed Ali Hassan
Abstract: This paper outlines the various stages of operations involved in the conversion of a manually operated color plants towards a fully automated color making plant. Over the years the demand for high quality, greater efficiency and quantity has increased in this globalized world for various colors. The initial phase of the design focuses on passing the inputs of color mixing and making process with various components. With the help of mixing tanks all colors coming from the process will be mixed in the required proportion. Color will be mixed using mixed motor. Making color in industry will be used for food beverage industry. Generally from three colors, nine colors will be made with different proportions so it will be used in different petrochemical companies. The SCADA is used to monitor the system. PLC is also used for the internal storage of instruction for the implementing function such as logic, sequencing, timing, counting and arithmetic to control through digital or analog input / output modules various types of machines processes.
Keywords: Color, Automated, Quality, Efficiency, Mixing, Process, SCADA, Monitor, PLC
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #71, pp. 650-665
Title of the Paper: Research on the Location Selecting Problem of Electric Vehicle Charging Station
Authors: Wang Meng, Liu Kai, Zhao Wanzhong, Lin Yi
Abstract: Firstly the location selecting principle of electric vehicle charging station are analyzed; and then the problem of electric vehicle charging station location selecting and its evaluation are described in detail. In order to determine the charging station location, a spatial clustering algorithm is put forwarded. The process of the spatial clustering algorithm is analyzed in detail. The example analysis of the charging station location shows the effectiveness of this algorithm. In order to evaluate the charging station location, the location factors of electric vehicle charging station are analyzed. Based on the location factors of electric vehicle charging station, the hierarchical evaluation structure of electric vehicle charging station location is constructed, divided into three levels, including 4 first-class factors of evaluation and 14 second-class factors of evaluation. A multi hierarchy fuzzy method to evaluate electric vehicle charging station based on the hierarchical evaluation structure is proposed. The fuzzy multi-level evaluation model and algorithm and given, analysis results show that the multi-level fuzzy method can reasonably, to complete the electric vehicle charging station location evaluation.
Keywords: electric vehicle, charging station, location selecting, spatial clustering, fuzzy analytic hierarchy process
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #70, pp. 642-649
Title of the Paper: Simulation and Implementation of Power Control Strategy Grid Connected Photovoltaic System
Authors: Yousry Atia, M. M. Salem, Aref Eliwa, Mohamed Zahran
Abstract: This paper introduces a direct power control strategy for a grid-connected voltage-source inverter. The proposed control strategy is implemented in the stationary reference frame without the necessity of the synchronous d-q transformation. The proposed control strategy based on the deadbeat current control technique and the relations between the grid currents and the instantaneous active and reactive power in the stationary reference frame. Then, the required inverter voltage in α-β reference frame is calculated directly based on instantaneous errors of active and reactive power. For its advantages, space vector modulation (SVM) is chosen to generate the VSI gating signals. Due the simplicity of the proposed control strategy, a fixed point microcontroller is used for control implementation. Extensive simulation and experimental results are provided which confirm the validity of the proposed control technique.
Keywords: Photovoltaic, Renewable Energy, Inverters, Direct power control, deadbeat control, VSI, grid connected systems
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #69, pp. 632-641
Title of the Paper: Fault Tolerant Control for Induction Motor Drive Using Descriptor Approach
Authors: Habib Ben Zina, Moez Allouche, Mansour Souissi, Mohamed Chaabane, Larbi Chrifi-Aloui
Abstract: This paper presents an active fault tolerant control (FTC) strategy for induction motor drive that ensures trajectory tracking and offset the effect of the sensor faults despite the presence of load torque disturbance. The proposed approaches use a fuzzy descriptor observer to estimate simultaneously the system state and the sensor fault. The physical model of induction motor is approximated by the Takagi-Sugeno (T-S) fuzzy technique in the synchronous d-q frame rotating with field-oriented control strategy. The performances of the trajectory tracking are analyzed using the Lyapunov theory and 2 L optimization. Finally the effectiveness of the proposed strategy has been illustrated in simulation results.
Keywords: Induction motor, Fault tolerant control, Trajectory tracking, Takagi-Sugeno, LMI
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #68, pp. 624-631
Title of the Paper: A Comparative Study between the FFT and DWT Method Applied to a Bearing Fault in Induction Motors – Results Dedicated to the Industry –
Authors: N. Bessous, S. E. Zouzou, W. Bentrah, S. Sbaa
Abstract: The diagnosis of rotating machines by signals analysis has evolved considerably in recent years thanks to advanced signal processing techniques. The bearing faults have an important percentage by comparison with the stator or rotor faults in induction machines. The method used to detect this defect is based on accurate and clear information at any time. In addition to that, many works have dealt with the diagnosis by several techniques. Our work will deal with two approach signals that are used for bearing fault diagnosis: 1- The first is based on the fast Fourier transform (FFT), by using the spectral analysis of the stator current. The accuracy of this method depends on the following conditions: invariable load and constant speed. 2- The second method is based on the discrete wavelet transform (DWT), which is regarded as a tool for analyzing the variable signals. These two approaches are applied to the experimental results, through an analysis of the stator current, only to find a clear defect and accurate information.
Keywords: Bearing defect, Discrete wavelet transform (DWT), Fault diagnosis, Induction motors, Inner raceway, Outer raceway, Spectral analyses (FFT)
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #67, pp. 616-623
Title of the Paper: Parameter Optimization of Automotive Suspension System Based on Particle Swarm Algorithm
Authors: C. Y. Wang, Z. J. Xu, W. Z. Zhao
Abstract: In this paper, the dynamic model of suspension system and road incentive model are established. The transfer functions of the parameters for the suspension system are derived, and they are quantized objectively. Then, taking the body vibration acceleration as the objective function, the suspension dynamic deflection and tire dynamic load as the main constraint condition, and the stiffness and damping of the front and rear suspension as optimization variables, the suspension is optimized with a particle swarm optimization algorithm, whose results are compared with the neighborhood transfer genetic algorithm. The optimization results show that the vehicle vibration acceleration is significantly reduced after optimization, and the riding comfort of vehicle and comfort of occupant are improved effectively.
Keywords: Vehicle, Suspension system, Parameter optimization, Particle swarm algorithm
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #66, pp. 608-615
Title of the Paper: Virtual Power Control and Sinusoidal Current Operation for Grid-Connected Inverter under Unbalanced Grid Voltages Conditions
Authors: Mahmoud M. Salem, Yousry Atia
Abstract: Power oscillation and current quality are the important performance targets for the grid-connected inverter under unbalanced and distorted grid voltages. In this work, the inherent reason for the current harmonic and power oscillations of the inverter are discussed. Then away from the positive and negative sequences analysis, novel strategy to determine the harmonic components of the grid currents during constant power control and to obtain relations for the power oscillations during sinusoidal current control are introduced. Based on the introduced analysis, a power control strategy is suggested. The proposed power control strategy uses a virtual power as a controlled variable. The virtual power depends on virtual grid voltages which can be extracted from actual grid voltages by using second order generalized integrator. By controlling the virtual power, sinusoidal grid currents with minimum THD is obtained under unbalanced and distorted grid voltages. For constant power operations, the actual power is used as a controlled variable. Based on an adaptive parameter, flexible control technique is used to switch between sinusoidal current control and constant power control operations. Simulation studies are carried out to confirm the effectiveness of the proposed controller to obtain constant power/sinusoidal current control operation under unbalanced and distorted grid voltages and to confirm the correctness of the introduced equations to calculate the grid current harmonic components and the power oscillations under unbalanced grid voltages.
Keywords: Grid-connected VSI, unbalanced grid voltages, Power oscillations, Current harmonics, Renewable energy
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #65, pp. 598-607
Title of the Paper: Applications of Various Control Schemes on a Four-Bar Linkage Mechanism Driven by a Geared DC Motor
Authors: Ahmad Al-Jarrah, Mohammad Salah, Suleiman Banihani, Khalid Al-Widyan, Anas Ahmad
Abstract: Four-bar linkage mechanisms are of interest for many specialists in the academia and industry. However, it is one of the mechanisms that is highly nonlinear and exhibits complex behavior. Therefore, it is difficult to model and control their dynamic responses. In this paper, various control schemes are explored and tested on the four-bar mechanism to investigate the dynamical performance under different operating conditions. First, a filtered proportional-integral-derivative controller was implemented on the mechanism and then compared with a filtered sliding mode controller, filtered fuzzy controller, and filtered genetic-based reinforcement neurocontroller. An experimental setup was built and designed at the Hashemite University to explore practically different techniques to control the position and speed of the driving link in the four-bar linkage mechanism. The main challenge in controlling the mechanism is to overcome dynamic fluctuations due to system inertias. Preliminary simulation results showed that according to the operating conditions, some controller exhibit better performance over the others.
Keywords: control techniques, nonlinear systems, four-bar linkage, mechatronics
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #64, pp. 584-597
Title of the Paper: Front Wheel Angle Control of Steering by Wire System Based on Fuzzy Adaptive PID Algorithm
Authors: Chunyan Wang, Dong Zhou, Wanzhong Zhao, Xiaoyue Gu
Abstract: Steer by wire system can be free to design steering force transmission characteristics and angular displacement transfer characteristics, which can realize the coordination of portability, the driver steering road feel and handling stability. The dynamics models of steer by wire and vehicle system are established. Control strategy of front wheel angle based on fuzzy adaptive PID control is put forward, and simulation in different working conditions and road test are conducted. The simulation results show that front wheel angle control based on fuzzy adaptive PID can make the system achieve good control stability in different conditions and different road test. The results of this study can provide certain theoretical basis for research and application of steer by wire system.
Keywords: vehicle, steering by wire, fuzzy adaptive PID, front wheel angle, control
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #63, pp. 577-583
Title of the Paper: Multilinked Position-Path Control for Autonomous Vehicle
Authors: V. Pshikhopov, M. Medvedev, V. Chufistov
Abstract: In this paper control forces and torques automatic distribution algorithms for a vehicle actuators are considered. Base control algorithm is designed by position and path control method for vehicles [1] – [3]. This control algorithm is based on kinematics and dynamics equations of vehicle. Distribution of control forces and torques between actuators is solved by applying of the pseudoinverse matrix. Another approach is mathematical programming problem solution. These two approaches does not separate control channel as it is in conventional control systems [4]. The considered methods are applied in the control system of unmanned airship. Modeling results and estimation of algorithms accuracy and performance are presented.
Keywords: Actuators, control, multilinked systems, vehicles
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #62, pp. 571-576
Title of the Paper: Global Finite-Time Output Feedback Stabilization of Uncertain High-Order Time-Varying Nonlinear Systems
Authors: Fangzheng Gao
Abstract: This paper investigates the problem of global finite-time stabilization by output feedback for a class of high-order time-varying nonlinear systems with uncertainties. By introducing sign function and necessarily modifying the homogeneous domination approach, a continuous output feedback controller is successfully constructed to guarantee the global uniform finite-time stability of the resulting closed-loop system. A simulation example is provided to illustrate the effectiveness of the proposed approach.
Keywords: High-order time-varying nonlinear systems, Output feedback, Homogeneous domination approach, Sign function, Global finite-time stabilization
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #61, pp. 562-570
Title of the Paper: Human Factors Based TEE Probe Positioning Control System Design
Authors: Dolwin C. C. Kho, Christina Pahl, Eko Supriyanto, Yin M. Myint, A. A. M. Faudzi, M. I. M. Salim
Abstract: Transesophageal Echocardiography is a portable, relatively non-invasive modality of the heart. It is intensively used in operating theaters as a surgical monitoring device. Moreover, it is applied as a diagnostic tool before cardiac surgeries are performed. The procedures utilizing TEE require wide ranges of duration, which highly depends on the operators’ experiences as well as other human factors. It is sometimes performed under exposure of fluoroscopy like X-Rays. This results in health risks caused by radiation to the operator. In order to decrease health related hazards, this paper proposes a remote control of the TEE probe position based on radiofrequency with considering the human factors. We analysed the performance of 433 MHz radiofrequency in different indoor environments. Furthermore, the developed remote control was evaluated and showed in all cases successfully positioned the probe positions.
Keywords: Transesophageal Echocardiography, human factors, remote control, radiofrequency, medical device, interference, clinical applications
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #60, pp. 552-561
Title of the Paper: The Deduction and Application of Climate Index Based on the L-M BP Neural Network Algorithm in Chinese Real Estate Market
Authors: Junhai Ma, Yujing Yang
Abstract: The paper introduces the intelligent neural network to make forecast for the climate index in the real estate market. At the same time, deeply mine the practical use of intelligent system of neural network, thus, abundant chaos phenomenons are obtained in the hidden nodes by numerical simulation. The bifurcation diagram and chaotic attractors are drawn from two dimensional chaotic neurons to seven dimensional neurons, and the sensitivity of initial weights for neuronal cell is verified. By comparing the traditional BP neural network with the improved L-M algorithm, we obtain the conclusion that the parameters of the nonlinear climate index system can affect the output of climate index system because certain ranges of parameters of hidden nodes may cause chaos. However, the improved L-M algorithm can choose the best parameters for the system, so that the complexity of the climate index system is reduced and chaos disappears, in addition it can shorten the training time, getting the higher precision and the faster convergence speed compared with conventional BP neural network in the system of climate index, which is better for the evaluation of climate index in the real estate market.
Keywords: The traditional BP neural network, Improved L-Malgorithm, Climate index, Highdimensional hidden nodes, Bifurcation diagram, Chaotic attractors
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #59, pp. 539-551
Title of the Paper: An Enhanced PID-PSS Based Robust Frequency H2 and H∞ Approachs under a Developed interface
Authors: Kabi Wahiba, Ghouraf Djamel Eddine, Naceri Abdellatif
Abstract: This article present a comparative study between two advanced robust frequency control strategies and their implementation using our created Graphical User Interface (GUI) under MATLAB: the first method based on loopshaping H∞ optimization technique and the second on robust H2 control method (LQG controller associated with KALMAN filter), and applied on automatic excitation control of synchronous generators, to improve transient stability and robustness of a single machine- infinite bus (SMIB) system operating in different several conditions. The computer simulation results (static and dynamic stability), with test of robustness against machine parameters uncertainty (electric and mechanic), have proved that good dynamic performances, showing a stable system responses almost insensitive to large parameters variations, and more robustness using robust H∞ controller in comparison with H2 approach by exploiting our developed GUI interface in this work.
Keywords: Synchronous machines and Excitations, AVR and PSS, advanced frequency control techniques, LQG control, Kalman filter, robust loop-shaping H∞ approach, stability and robustness, GUI/MATLAB
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #58, pp. 531-538
Title of the Paper: BAT Search Algorithm: A Novel Approach for Power System Stabilizers Design in Multimachine System
Authors: E. S. Ali
Abstract: A new metaheuristic method, the BAT search algorithm based on the echolocation behaviour of bats is proposed in this paper for optimal design of Power System Stabilizers (PSSs) in a multimachine environment. The PSSs parameter tuning problem is converted to an optimization problem which is solved by BAT search Algorithm. An eigenvalues based objective function involving the damping factor, and the damping ratio of the lightly damped electromechanical modes is considered for the PSSs design problem. The performance of the proposed BAT based PSSs (BATPSS) has been compared with Genetic Algorithm (GA) based PSSs (GAPSS) and the Conventional PSSs (CPSS) under various operating conditions and disturbances. The results of the proposed BATPSS are demonstrated through time domain analysis, eigenvalues and performance indices. Moreover, the results are presented to demonstrate the robustness of the proposed algorithm over the GA and conventional one.
Keywords: Power System Stabilizers, BAT Search Algorithm, Genetic Algorithm, Multimachine System, Power System Stability, Low Frequency Oscillations
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #57, pp. 520-530
Title of the Paper: Nonlinear Controller Design for Maximum Power Tracking in Grid Connected Photovoltaic Systems
Authors: Ouadia El Maguiri, Abdelmajid Farchi
Abstract: This work presents a new control method to track the maximum power point of a single-phase grid-connected photovoltaic (PV) system. This converter is built on two stages: a DC/ DC stage and a DC/ AC stage. The two blocks are bound by a DC voltage intermediate bus. We seek the achievement of three control objectives: (i) maximum power point tracking (MPPT) of (PV) module. (ii) tight regulation of the DC bus voltage and (iii) unity power factor (PF) in the grid. To meet these objectives, a multi-loop controller is designed using the backstepping technique based on an averaged nonlinear model of the whole controlled system. It is formally shown, through theoretical analysis and simulation results that the developed strategy control actually meets its objectives.
Keywords: photovoltaic system, maximum power point (MPP), boost converter, backstepping technique, unity power factor, lyapunov
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #56, pp. 513-519
Title of the Paper: Design of Unknown Input Functional Observers for Delayed Singular Systems with State Variable Time Delay
Authors: M. Khadhraoui, M. Ezzine, H. Messaoud, M. Darouach
Abstract: In this paper, we propose a new time-domain design of an Unknown Input functional Observer (UIFO) for delayed singular systems with known and unknown inputs. The order of this observer is equal to the dimension of the vector to be estimated. Constant and variable delays act on the known input vectors and a variable state delay is also taken into account. The proposed approach is based on the unbiasedness of the estimation error and Lyapunov-Krasovskii stability theorem. The observer optimal gain satisfies a sufficient condition of the observer stability dependent on the state delay. This condition is expressed in term of Linear Matrix Inequalities (LMIs) formulation. The proposed approach is tested on a numerical example.
Keywords: LMI, observer, stability, singular system, unknown input, variable time delay
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #55, pp. 503-512
Title of the Paper: Three-phase LCL-Filter for Grid-Connected Inverter Using Cooperative Bacteria Foraging Optimization
Authors: Ehab H. E. Bayoumi
Abstract: This paper establishes an LCL-filters design and control for three-phase grid inverter. The crucial object is to conquer optimum damping with a required system control bandwidth for the LCL-filter. This control technique is achieved by using Bacteria Foraging Optimization. Mathematical analysis has been introduced to investigate the steady-state and dynamic performances of the overall system. The proposed control method is using one set of current sensors for feedback control only. The proposed system is simulated and results are demonstrated that bacterial foraging optimization is a skilful clarification for implementing the best parameters of LCL-filters and PI current controller. Results support the proposed technique and highlight its practicability.
Keywords: LCL-filter, grid-connected inverter, bacteria foraging optimization
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #54, pp. 493-502
Title of the Paper: Modeling and Control of a Grid-Connected PV Energy Conversion System
Authors: Hamid Ouatman, Mohammed Ouassaid, Mohamed Cherkaoui
Abstract: This paper investigates the efficiency of the Photovoltaic (PV) array. The proposed model is based on a DC-DC boost converter and a three-phase grid connected DC-AC inverter. This structure is used to provide the flexibility of the system and the quality of the generated waves. In order to improve the efficiency of the Photovoltaic array, a Maximum Power Point Tracking (MPPT) is used to provide a good results if the converter is controlled with PID compensator. The control of the output voltage is provided by the Pulse Width Modulation (PWM) technique. The three-level Voltage Source Converter (VSC) regulates DC bus voltage and keeps unity power factor. The results are presented in this paper using Matlab/simulink, which validate the pracicability of the proposed system.
Keywords: PV System, MPPT, PID Compensator, Boost converter, PLL, Unity Power Factor, Three-level VSC
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #53, pp. 484-492
Title of the Paper: Feedback Zero-Sum Linear Quadratic Dynamic Game for Descriptor System
Authors: Salmah
Abstract: In this paper we present a Nash equilibrium problem of linear quadratic zero-sum dynamic games for descriptor system. We assume that the players give a linear feedback to the game. For the game with finite planning horizon we derive a differential Riccati type equation. For the game with infinite planning horizon we consider an algebraic Riccati type equation. The connection of the game solution with solution of Riccati equation will be studied. Furthermore for the game with infinite planning horizon we will derive numerical formulae for optimal Nash solution with invariant subspace method. The numerical formulae can be developed by considering generalized eigen vector that arised from descriptor system of the closed loop system.
Keywords: Nash equilibrium, feedback, zero-sum, linear quadratic, dynamic game, descriptor system
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #52, pp. 476-483
Title of the Paper: A Robust PID-PSS Using Evolutionary Algorithms Implemented Using Developed Interface
Authors: Ghouraf Djamel-Eddine, Naceri Abdellatif, Derrar Amina
Abstract: Power System Stabilizer (PSS) is a supplementary control signal of a generator’s excitation system based on Automatic Voltage Regulator (AVR), are now routinely used in the industry to damp out power system oscillations. Optimal tuning gain of AVR - PSS is necessary for satisfactory performance of power system. Genetic algorithms (GA) have been widely used for global optimization problems. This paper presents a systematic approach for designing and optimal tuning an advanced Conventional AVR-PSS gains, realized on PID-schemes (called AVRSA), to improve the effectiveness and investigates its robustness under uncertainly constraints on a SMIB system, using Genetic Algorithms. The proposed approach employs GA search for optimal setting of AVR-PSS parameters. The performance of the proposed GA-PSS under small and large disturbances, loading conditions and system parameters variations are tested. The simulation results have proved that GA are powerful tools for optimizing the AVR-PSS parameters, and obtained more robustness of the studied power system. This present work was performed and simulated using our graphical interface ‘GUI’ realized under MATLAB.
Keywords: AVR-PSS, genetic algorithms, GUI-MATLAB, synchronous generators , stability and robustness
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #51, pp. 467-475
Title of the Paper: Control of Pitch Angles to Optimize the Aerodynamic Using Particle Swarm Optimization
Authors: Belghazi Ouissam, Douiri Moulay Rachid, Cherkaoui Mohamed
Abstract: The main objective of this paper is to maximize the energy captured by the wind turbine. The wind turbine is an energy converter device that captures energy from the wind and converts it into useful work. Pitch angle control is the most common means for adjusting the aerodynamic torque of the wind turbine when the wind speed is higher than the speed and control variables evaluated can be chosen, as the energy of the wind speed, the generator. Different methods are available to control the pitch angle. In a previous work, we proposed the pitch angle control using the particle swarm optimization. The particle swarm optimization control strategy may have the potential when the system contains a strong non-linearity, such as the control objectives include fatigue loads or wind turbulence is strong. The simulation results by using actual detailed model for wind power system confirmation the effectiveness of the proposed methodology.
Keywords: Wind Turbine, Particle Swarm Optimization, Control, Pitch Angle
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #50, pp. 461-466
Title of the Paper: Exponential Regulation of Alkalinity and VFA in Continuous Anaerobic Digestion Processes under Uncertain Operational Conditions
Authors: Victor Alcaraz-Gonzalez, Fabian Azael Fregoso-Sanchez, Jean-Philippe Seyer, Hugo Oscar Mendez-Acosta, Victor Gonzalez-Alvarez, Juan Paulo Garcia Sandoval
Abstract: In this paper we propose a multivariable robust feedback control for regulating the alkalinity and the volatile fatty acid concentration in continuous anaerobic digestion processes used in wastewater treatment. The system exhibits a large lack of knowledge on kinetic parameters. Furthermore, key state variables, which cannot be measured, are estimated by using a Luemberger observer. Thus, even under this highly uncertain scenario, the proposed control law uses this partial information for regulating exponentially the control variables. The control objectives are firstly established upon physicochemical criteria based on normal operational conditions and then formally stated in terms of the concerned state variables. The resulting control law is tested experimentally in a 1 m3 pilot plant for the treatment of red wine vinasses under several uncertain situations in which the multivariable control law is able to recover the system stability around the pre-specified set points showing a very high performance and usefulness for this kind of processes.
Keywords: Alkalinity, Anaerobic Digestion, Interval Observers, Robust Regulation, Wastewater Treatment, Stability
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #49, pp. 453-460
Title of the Paper: Control System for Chemical Thermal Processes and its Usage for Measurement of Collagen Shrinkage Temperature
Authors: Petr Chalupa, Michaela Ba?inová, Jakub Novák, Martin Beneš
Abstract: This paper presents a hardware controller designed for a real-time control of laboratory thermal processes and describes its application to measurement of shrinkage temperature of collagen materials stabilized by ionizing radiation is described. Both hardware and software of the controller is presented in the paper. The controller can be used to control temperature of various technological and chemical processes. The controller contains a temperature sensor and a pulse width modulation actuator for the AC power supply of a thermal process. Fixed parameter control algorithms as well as adaptive control algorithms are programmed into the controller. Control of heating mantle is presented as an example of a real-time application of the controller. Measurement of shrinkage temperature is as an extension of heating mantle control is presented.
Keywords: temperature control, thermal process, adaptive control, collagen shrinkage
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #48, pp. 445-452
Title of the Paper: A Family of Adaptive H∞ Controllers for Switched Dissipative Hamiltonian Systems
Authors: Zhong Cao, Xiaorong Hou
Abstract: This paper investigates adaptive H∞ control problem for switched dissipative Hamiltonian systems (SDHSs). Firstly, using the dissipative Hamiltonian structural properties, such systems generated an augmented SDHS, with which some results on the controller design are then obtained. When there are external disturbances and parameter perturbations in such systems, a family of adaptive H∞ controller is designed using the multiple Lyapunov functions (MLFs). Secondly, an algorithm for solving parameters of controllers is proposed with symbolic computation. The proposed method avoids solving Hamilton-Jacobi-Issacs inequalities (equations), and the obtained controllers are relatively simple in form and easy in operation. Finally, a numerical example is studied by using the new results proposed in this paper to SDHSs with external disturbances and parameter perturbations, and some numerical simulations are carried out to support our new results.
Keywords: adaptive H∞ control, switched dissipative Hamiltonian systems (SDHSs), multiple Lyapunov functions (MLFs), symbolic computation
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #47, pp. 436-444
Title of the Paper: A Constructive Design of State Observer for Two-Dimensional Systems
Authors: Mohammed Alfidi, Zakaria Chalh, Mohamed Ouahi
Abstract: This paper is concerned with the design of 2-D state observer for a class of two-dimensional systems described by the Fornasini-Marchesini local state-space second model. The paper provides a constructive design method for the design of 2-D asymptotic state observer using a 2-D Lyapunov theory and a linear matrix inequalities (LMI) technique. An illustrative example is provided to demonstrate the feasibility of the proposed method.
Keywords: 2-D systems, Fornasini-Marchesini second model, stability, state observers, Linear Matrix Inequalities (LMI)
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #46, pp. 430-435
Title of the Paper: Dynamics Optimal Portfolios with CIR Interest Rate Under a Heston Model
Authors: Wei-Jia Liu, Shun-Hou Fan, Hao Chang
Abstract: This paper studies the dynamic portfolios with the Cox-Ingersoll-Ross(CIR) interest rate under a Heston model, which aims at maximizing the expected utility of the terminal wealth. In the model, the manager can invest his weatlh to a zero-coupon bond, a riskless asset and a stock. By applying dynamic programming principle, the explicit solutions of optimal portfolio strategy for constant relative risk aversion(CRRA) utility are achieved successfully. Finally, a numerical example is presented to characterize the dynamic behavior of optimal portfolio strategy.
Keywords: CIR interest rate, Heston model, CRRA utility, the optimal portfolio, dynamic programming
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #45, pp. 421-429
Title of the Paper: Recognition System of Handwriten Craft Motive Using Based Feature Extraction and Neural Network
Authors: Khalid Fardousse, Hassan Qjidaa
Abstract: In this paper, a diagonal feature extraction scheme for the recognizing an off-line handwritten motive is presented. In the feature extraction process, resized individual images motives of our base of the models “handwritten motives of crafts” of size 100x60 pixels is further divided into 60 equal zones, each of size 10x10 pixels. The features are extracted from the pixels of each zone by moving along their diagonals. This procedure is repeated for all the zones leading to extraction of 60 features for each basic image motives. These extracted features are used to train a feed forward back propagation neural network employed for performing classification and recognition tasks. Extensive simulation studies show that the recognition system using diagonal features provides good recognition accuracy while requiring less time for training.
Keywords: Feature extraction, recognition, neural networks, Image processing, handwritten Craft motives
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #44, pp. 415-420
Title of the Paper: The Effects of Corporate Ownership Structure on Environmental Information Disclosure—Empirical Evidence from Unbalanced Penal Data in Heavy-Pollution Industries in China
Authors: Kai Chang, Le Zhang
Abstract: This paper empirically examines the content and degree of environmental information disclosure for 671 corporate in eight heavy-pollution industries in the period from 2008 to 2012. The means and standard deviations of corporate EID exhibit an increasing trend, and corporate in heavy-pollution industries have greater divergent standpoint in voluntary environmental information disclosure. Corporate with more institutional investors-owned ownership and ownership concentration have significantly positive effects on voluntarily environmental information disclosure at the 95%confidence level. Our empirical results exhibit that Corporate with greater institutional owners-owned ownership and ownership concentration should voluntarily disclose more environmental information, should communicate with institutional owners and minority controlling shareholders firms’ environmental achievements and then strengthen their investment confidence and improve shareholders’ interests.
Keywords: environmental information disclosure, ownership structure, ownership concentration, institutional owner, top managers
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #43, pp. 405-414
Title of the Paper: Robust H∞ Filtering for Uncertain Differential Linear Repetitive Processes via LMIs and Polynomial Matrices
Authors: Said Kririm, Abdelazez Hmamed
Abstract: This paper is concerned with the full-order H∞ filtering problem for uncertain differential linear repetitive processes (LRPs). uncertain differential linear repetitive process (LRP) assumed to be stable along the pass, our attention is focused on the design of a full-order filter, which guarantees the filtering error process to be stable along the pass, and minimizes an upper bound for the H∞norm of its transfer function. approach are proposed to solve the full-order H∞ filtering problem
Keywords: Differential repetitive processes, H? filtering, Convex polytopic uncertainty
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #42, pp. 396-404
Title of the Paper: Design of Observer for One-Sided Lipschitz Nonlinear Systems with Interval Time-Varying Delay
Authors: Wanjun Liu, Yali Dong, Shikai Zuo
Abstract: This paper deals with state observer design problem for a class of nonlinear dynamical systems with interval time-varying delay that satisfies the one-sided Lipschitz condition. The systems under consideration include the well-studied Lipschitz system as a special case and possess inherent advantages with respect to conservativeness. By constructing a novel Lyapunov-Krasovskii functional and utilizing free-weighting matrices approach, novel sufficient conditions that guarantee the observer error converge asymptotically to zero are obtained for a class of nonlinear dynamical systems with interval time-varying delay in terms of linear matrix inequalities. The computing method for observer gain matrix is given. Finally, illustrative examples are given to demonstrate the effectiveness of the proposed method.
Keywords: Nonlinear observers, One-sided Lipschitz condition, Quadratic inner-boundedness, Asymptotic stability, Interval time-varying delay
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #41, pp. 385-395
Title of the Paper: Identification of Optimal Kernel Parameters of RKHS Model Based on Genetics Algorithm
Authors: Okba Taouali, Najeh Tawfik
Abstract: This paper proposes a new approach based on the Genetics Algorithm to determine the optimal kernel parameters of the Reproducing Kernel Hilbert Space (RKHS) model. These parameters are the width of the kernel function and the regularization parameter. The proposed meta-method has been tested to model some benchmarks such a benchmark of DC-Motor [21], a Wiener-Hammerstein benchmark [17], a Feedback’s Process Trainer PT326 [20] and a Continuous Stirred Tank Reactor CSTR [22] and the results are satisfactory
Keywords: RKHS, Kernel method, Regularization Networks, genetics algorithm, optimal parameters, Benchmarks model
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #40, pp. 373-384
Title of the Paper: Comparative Study Between Different Speed Controller Techniques Applied to the Indirect Field-Oriented Control of an Induction Machine-Performances and Limits
Authors: Chaymae Laoufi, Ahmed Abbou, Mohammed Akherraz
Abstract: This paper presents a comparative study between various control strategies. The design of different controllers, the sliding mode controller, the self tuning fuzzy logic controller, the fuzzy logic controller and the classical PI controller are proposed. The simulations results showed the performances and limits of the different cited controllers. In fact, the sliding mode controller is characterized by a high resistance to the perturbations of the machine parameters and the self tuning fuzzy logic controller is advantageous in terms of response time. Whiles fuzzy logic controller presents the better performances compared to the classical PI controller.
Keywords: Indirect Field-Oriented Control, Sliding Mode Controller, Fuzzy Logic Controller, PI Controller, Self Tuning Fuzzy Logic Controller
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #39, pp. 360-372
Title of the Paper: A Common Structure for H-Infinity Complementary Sensitivity Design of DTCT-PID Controller Parameters
Authors: Tooran Emami
Abstract: This paper presents a successful design methodology for Discrete-Time or Continuous-Time Proportional Integral Derivative (DTCT-PID) controller parameters that satisfy H-infinity complementary sensitivity constraint for a single input single output (SISO) system. These problems can be solved by finding all achievable DTCT-PID parameters that simultaneously stabilize the closed-loop characteristic polynomial and satisfy constraints defined by a set of related complex polynomials. The bilinear transformation is used to describe the Discrete-Time Proportional Integral Derivative (DTPID) controller parameters since this methodology is based on frequency response and sampled data collection of the system. This approach allows the users to apply the same approach for discrete-time or continuous-time H-infinity complementary sensitivity design of PID parameters. This methodology has been applied to a DC motor data that demonstrate the application of this methodology.
Keywords: H-infinity complementary sensitivity, PID controller, time delay, discrete- time, continuous time
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #38, pp. 350-359
Title of the Paper: Suboptimal Dual Controller for Stochastic Systems with Variable Design Parameter
Authors: Aderson Jamier Santos Reis, Andre Laurindo Maitelli
Abstract: This work concerns a refinement of a suboptimal dual controller for discrete time systems with stochastic parameters. The dual property means that the control signal is chosen so that estimation of the model parameters and regulation of the output signals are optimally balanced. The control signal is computed in such a way so as to minimize the variance of output around a reference value one step further, with the addition of the term referring to a future estimate two steps ahead . An algorithm is used for the adaptive adjustment of the adjustable parameter lambda, for each step of the way. The actual performance of the proposed controller is evaluated through a Monte Carlo simulations method.
Keywords: Dual control, Stochastic control, Suboptimal control, Time varying systems
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #37, pp. 341-349
Title of the Paper: Adaptive Stabilization of Nonholonomic Mobile Robots with Unknown Kinematic Parameters
Authors: Deheng Hou, Fangzheng Gao
Abstract: This paper investigates the problem of adaptive stabilization of nonholonomic mobile robots with nonholonomic constraints under the condition that the kinematic parameters are unknown and no known constants can (lower and upper) bound them. By defining a new unknown parameter which need dynamic updating, and also by using input-state-scaling transformation and backstepping technique, an adaptive state-feedback stabilizing controller is designed. The asymptotical stability of the control system is proved with Lyapunov stability theory. A simulation example is provided to show the effectiveness of the proposed method.
Keywords: Nonholonomic mobile robots, Unknown kinematic parameters, Adaptive control
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #36, pp. 335-340
Title of the Paper: Design of the Neuro-Like Learning Control System for a Vehicle
Authors: Valery Finaev, Iskandar Kobersy, Denis Beloglazov, Igor Shapovalov, Evgeny Kosenko, Victor Soloviev
Abstract: The paper is devoted to design of the neuro-like learning control system for a vehicle or an autonomous mobile robot with a use of artificial neuro-fuzzy networks advantages. Operation of the vehicle control system is aimed to solve the obstacle avoidance task in uncertainty conditions. We described the advantages of artificial intelligence methods in the tasks of control systems design using neuro-fuzzy approach. The structure of learning control system consisting of three modules (motion direction control module; velocity control module; obstacle identification module) is given. The stages of each module design are defined and the structures of neuro-fuzzy networks for the implementation of modules are chosen. We presented description of the operation algorithms of the motion direction control module, the velocity control module, the identification module for the obstacles on vehicle path, and the structure of neuro-like learning control system.
Keywords: Control, Uncertainty, Training, Neuro-Fuzzy Networks, Vehicle, Autonomous Mobile Robot
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #35, pp. 328-334
Title of the Paper: Matrix Equations in Multivariable Control
Authors: Roman Prokop, Jiří Korbel
Abstract: The contribution is focused on a control design and simulation of multi input output (MIMO) linear continuous-time systems. Suitable and efficient tools for description and controller derivation are algebraic notions as rings, polynomial matrices, and Diophantine equations. The generalized MIMO PI controller design is studied for stable and unstable systems. A unified approach through matrix Diophantine equation can be applied in both cases. All stabilizing feedback controllers are obtained via solutions of a matrix Diophantine equation. The methodology allows defining scalar parameters (one or more) for tuning and influencing of controller parameters. A Matlab-Simulink program implementation was developed for simulation and verification of the studied approach. Illustrative examples show the effectiveness and flexibility of the proposed method for some simple MIMO systems.
Keywords: Polynomial matrices, Diophantine equations, Multivariable systems, Stabilization
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #34, pp. 320-327
Title of the Paper: Complexity Analysis and Chaos Control of a R&D Game with Spillovers and Endogenous Demand in a Triopoly Spillovers and Endogenous Demand in a Triopoly
Authors: Lijian Sun, Junhai Ma
Abstract: A R&D input game model with spillovers and endogenous demand in a triopoly market is considered in which all the players are bounded rational. Assume that the two players make up a cooperative team, they share the technology achievements completely and have same cost. Technology spillover exists between the cooperative team and the third player. R&D investment helps to expand market demand. On the basis of analyzing the stability of the only Nash equilibrium point, the local stable regions are obtained. Three-dimensional stable regions are investigated and the results show that the spillover rate of R&D has an obvious impact on the stable regions. Impact of technology spillover rate and endogenous demand on the profits is studied, and it is interesting that profits of different players could not lose stability synchronously. The complex dynamics, such as bifurcation scenarios, route to chaos and attractors are displayed by 2D bifurcation diagrams, the results show that if the adjustment speed of R&D input is high, the economic system tends to lose stability. The chaos is eliminated by using the feedback control method. Basins of attraction are investigated and we find the domain of attraction become smaller with increase of spillover rate and R&D input modification speed.
Keywords: R&D game, spillovers, endogenous demand, teamwork, basins of attraction
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #33, pp. 307-319
Title of the Paper: Dynamic Modeling and Improvements in the Tuning of PI Controllers for Fluidized Catalytic Cracking Unit
Authors: M. Mythily, D. Manamalli, R. Raja Nandhini
Abstract: The Fluidized Catalytic Cracking Unit is one of the most important dynamic and complex process in a refinery that cracks down longer chain hydrocarbons to yield Gasoline. The process is highly nonlinear and multi variable with severe interactions. The input to the Cracking reactor is a mixture of hydrocarbons that makes the reaction kinetics very complicated due to the involved reactions. The purpose of this study is to develop a detailed dynamic model of a typical FCC unit that consists of the reactor, regenerator, blower and catalyst transfer lines and to properly select the controller tuning rule so that the preferred performance criteria is achieved. Enough detail is provided in the simulated model to capture the major dynamics including nonlinearities, interactions and constraints. A four lump yield model is plugged to the simulated FCCU model to capture the reaction kinetics. With an objective to satisfy minimum overshoot as the performance criteria, PI controllers implemented for reactor and regenerator temperature control of FCCU were tuned with two different tuning rules for satisfying minimum overshoot as the required performance criteria.
Keywords: Fluidized Catalytic Cracking Unit, Four Lump Yield Model, Gasoline yield, Reactor and Regenerator temperature control, PI Controller Tuning, minimum overshoot
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #32, pp. 297-306
Title of the Paper: Distributed Coordination Strategy for Target-Enclosing Operations by Particle Swarms
Authors: Tae-Hyoung Kim
Abstract: This paper presents a methodology for group coordination and cooperative control of n agents to achieve a target-enclosing operation in three-dimensional (3D) space. In the developed coordination strategy, multiple agents are controlled in a distributed manner to converge to an assigned formation while tracking the target object moving in 3D space. The distinctive features of the proposed method are as follows: First, it is a simple, memoryless control scheme. Second, no communication mechanism between agents is necessary, and thus it is inherently a distributed control strategy. From these viewpoints, it seems easy to implement. Further, it appears to be a practical method for the following reasons: (i) it is robust against any finite number of transient measurement errors and (ii) it can achieve the control objectives even when constraints on the control input exist. We also present a scheme to decrease the possibility of a collision between agents. Numerical examples are given to illustrate the efficacy of the proposed method and the achievement of an assigned formation in 3D space.
Keywords: Multi-agent systems, distributed coordination, cooperative robot systems, circulant matrices
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #31, pp. 289-296
Title of the Paper: Improved Power System Stabilizer by Applying LQG Controller
Authors: Ali M. Yousef, Mohamed Zahran, Ghareeb Moustafa
Abstract: Power system stabilizers (PSSs) are traditionally used to provide damping torque for the synchronous generators to suppress the oscillations by generating supplementary control signals for the generator excitation system. Numerous techniques have previously been proposed to design PSSs but many of them are synthesized based on a linearized model. The dynamic characteristics of the proposed PSS are studied in a typical synchronous machine connected to infinite-bus of power system through transmission line. This paper deals with the applying of the Linear Quadratic Gaussian (LQG) technique to the design of the robust controller for two models of power system. The first model represents only the electrical control part of power system by means synchronous generator connected to infinite bus, while the second model, adding a turbine and governor to the model 1. Combined the Kalman filter, which is an optimal observer with the optimal LQR regulator to construct the optimal LQG controller are evaluated. Electromechanical oscillations of small magnitude and low frequency exist in the power system operation and often persist for long periods of time. Simulation results show the proposed PSS is robust for such nonlinear dynamic system and achieves better performance than the conventional PSS in damping oscillations.
Keywords: Power System Stabilization, Advanced Controller, Robust Systems Control, LQR, LQG
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #30, pp. 278-288
Title of the Paper: Speed Control of Permanent Magnet Synchronous Motor Using Power Reaching Law Based Sliding Mode Controller
Authors: Navaneethan S., Jovitha Jerome
Abstract: The Permanent Magnet Synchronous Motors (PMSM) are high-performance electromechanical motion devices essentially superseding traditional dc servomotors and fractional horsepower induction machines because of their high performance capability. The necessity for high performance in PMSM systems increases as the demand for precision controls. In order to optimize the speed-control performance of the PMSM system with different disturbances and uncertainties, a nonlinear speed-control algorithm for the PMSM servo systems using sliding-mode control is developed in this paper. A sliding-mode controller is designed based on conventional reaching law but the amount of chattering and reaching time are high. So a sliding mode controller is designed based on single power rate reaching law and double power rate reaching law methods. These methods improve the performance significantly. A comparison is made between PMSM servo system designed using Proportional Integral (PI) controller and sliding mode controllers designed based on different reaching law methods.
Keywords: PMSM, precision controls, sliding mode controller, chattering, reaching law, power rate reaching law
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #29, pp. 270-277
Title of the Paper: Novel Criterion for Synchronization Stability of Complex Dynamical Networks with Coupling Lags
Authors: Peizhong Liu, Jianeng Tang, Detian Huang
Abstract: In the paper, a general complex dynamical network with coupling lags is introduced. Then the problem of synchronization stability analysis for the complex dynamical network is further discussed. By use of linear matrix inequalities (LMI), a novel Lyapunov functional is constructed. And then we have obtained a new general stability criterion of synchronization state in the complex dynamical networks. In the end, numerical simulations are provided to verify the effectiveness and feasibility of the developed theorem.
Keywords: Complex dynamical network, synchronization stability analysis, linear matrix inequalities, coupling lags, asymptotic stability
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #28, pp. 263-269
Title of the Paper: Hardware Implementation of a Predictive DTC-SVM with a Sliding Mode Observer of an Induction Motor on the FPGA
Authors: Saber Krim, Soufien Gdaim, Abdellatif Mtibaa, Mohamed Faouzi Mimouni
Abstract: The first objective of this research is to present an improved Direct Torque Control based on the Space Vector Modulation (DTC-SVM) and a Sliding Mode Observer (SMO). The disadvantages of the conventional Direct Torque Control (DTC) are the high ripples for the electromagnetic torque and the stator flux, as well as the distortions of the stator current. To solve these problems, we have used the approach of the(DTC) based on the space vector modulation. Also, one of the major problems for controlling induction machines is the lack of knowledge about the real values of some parameters, such as the stator resistance which is subjected to large variations during the operation. To follow the change in the internal state of the system and the stator resistance we use a technique based on the SMO. This technique overcomes the limitations of the open-loop estimator, like the adaptation of the variation of the stator resistance at a low speed, the correction of measurement errors of the stator currents, and the estimation errors of the stator flux. The second objective is to propose a novel method for implementing a DTC-SVM with an SMO on the Field Programmable Gate Array (FPGA). The advantages of this method are not only the simulation, control and testing of the correct operation, but also the development of a discrete algorithm and the generation of the Very-high-speed integrated circuits Hardware Description Language (VHDL) code which can be implemented on the FPGA. The performances of the DTC-SVM with an SMO are evaluated by digital simulation and developed to be implemented on Xilinx Virtex-V FPGA with an xc5vfx70t-3ff1136 package using the toolbox Xilinx system generator.
Keywords: Direct Torque Control (DTC), predictive controller, Space Vector Modulation (SVM), induction motor, Sliding Mode Observer (SMO), Xilinx System Generator (XSG), Field Programmable Gate Array (FPGA)
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #27, pp. 249-262
Title of the Paper: Application of Unified Smith Predictor for Load Frequency Control with Communication Delays
Authors: Ashu Ahuja, S. K. Aggarwal
Abstract: The presence of communication delay in modern load frequency control (LFC) systems complicates the design and implementation of the controller to achieve robust performance of the system. In this work, the performance of proportional-integral (PI) controller, state feedback controller using linear matrix inequality (LMI) and Unified Smith Predictor (USP) has been analyzed in case of LFC with time delays. USP approach is used to design the state feedback controller. An equivalent representation of the augmented plant is designed, which consists of original time delayed plant and USP. Linear Matrix Inequality (LMI) is used for designing controller for the augmented plant designed from two area LFC scheme. A robust controller is found out that ensures stable dynamic performance despite of delay.
Keywords: Communication delay, Unified Smith Predictor, Linear Matrix Inequality, load frequency control
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #26, pp. 237-248
Title of the Paper: The Research and Application of NMPC in Automatic Train Operation
Authors: Xiaojuan Lu, Qi Guo, Haiying Dong, Baofeng Ma
Abstract: According to the requirement of safety, punctuality, comfort and energy saving and environmental protection of high speed train, this paper presents that the terminal on strained nonlinear model predictive control based on Particle Swarm Optimization is applied to control of Automatic Train Operation(ATO)system. Firstly, according to the energy saving theory a target curve of saving energy operation of train was designed, namely speed distance curve. In terms of comfort and punctuality, acceleration and distance versus time curves were designed. secondly, through PSO algorithm and gradient descent method were drawn into NMPC, which formed hybrid optimization model, optimal control was achieved. In the end, PSO-NMPC was applied to the simulation analysis of the nonlinear parameter model of CRH2A(China Railway High-space), and then validity and feasibility of the algorithm applied in ATO was verified.
Keywords: ATO, NMPC, Particle Swarm Optimization Algorithm, Energy saving optimization
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #25, pp. 228-236
Title of the Paper: Modified Critical Directions for Inequality Control Constraints
Authors: Javier F. Rosenblueth
Abstract: For optimal control problems involving equality and inequality constraints in the control functions, some fundamental questions related to second order necessary conditions are posed. In particular, for a wide range of problems, we provide a direct derivation of such conditions in terms of a certain quadratic function, under some normality assumptions, and on a specific convex set of differentially admissible variations defining the critical directions. The question of whether this result can be improved by weakening the assumptions and modifying the set of critical directions by enlarging it is also studied. Under certain assumptions, an affirmative answer to that question is provided.
Keywords: Optimal control, second order conditions, equality and/or inequality constraints, regularity
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #24, pp. 215-227
Title of the Paper: Sliding Mode Control Without Reaching Phase for Multimachine Power System Combined with Fuzzy PID Based on PSS
Authors: Faiza Dib, Khaddouj Ben Meziane, Ismail Boumhidi
Abstract: The objective of this paper is to design a nonlinear robust controller for the multimachine power system. We present in this study a sliding mode control method without the reaching phase by modifying the terms of the output tracking error combined with the fuzzy Proportional Integral Derivative based on Power System Stabilizer (FPID-PSS). The Mamdani fuzzy inference is used in this study to find the optimal values of the three parameters (Kp, Ki, Kd) of (PID -PSS). The proposed approach is designed to eliminate completely the reaching phase and to enhance the stability and the dynamic response of the multimachine power system. In order to test the effectiveness of the proposed method, the simulation results show the damping of the oscillations of the angle and angular speed with reduced overshoots and quick settling time.
Keywords: Fuzzy Logic, Reaching Phase, Sliding Mode Control, Proportional Integral Derivative, Power System Stabilizer, Multimachine Power System
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #23, pp. 206-214
Title of the Paper: Research of Condition Based Maintenance Evaluation Model for the On-Post Vacuum Circuit Breaker on Least Squares Support Vector Machine Based on Particle Swarm Optimization Algorithm
Authors: Yanbin Cui, Yi Liang
Abstract: With the connections between the safe operation and national economy development getting closer, the original scheduled maintenance has been unable to adapt to the current demand for electricity. The condition-based maintenance, which is an immediate and effective maintenance mode for supply equipment, achieves supply companies general concern. This paper aims at the existing problems in on-post vacuum circuit breaker, builds the device status and risk assessment index system based on actual situation, and proposes on-post vacuum circuit breaker condition-based maintenance overhaul which based on particle swarm optimization and least squares support vector machine. This paper collects 100 box transformer substation data from distribution network in a power company to do empirical analysis, the mean absolute percentage error and mean square error is 0.1296% and 0.0716, respectively. Thus, this method has high accuracy and good generalization ability, which can be applied to the evaluation of condition-based maintenance.
Keywords: Condition-based maintenance, On-post vacuum circuit breaker, Particle swarm optimization, Least squares support vector machine, Comprehensive evaluation
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #22, pp. 198-205
Title of the Paper: Real Time Implementation of Sliding Mode Based Direct and Indirect Current Control Techniques for Shunt Active Power Filter
Authors: Rajesh K. Patjoshi, Kamalakanta Mahapatra, Venkata Ratnam Kolluru
Abstract: This paper presents a new and efficient control algorithm which adopted the voltage source inverter to decrease current harmonics generated by the nonlinear load. The sliding mode control (SMC) is employed with the current control loop to achieve fast dynamics control and a simple proportional-integral (PI) controller is adopted in the outer voltage control loop to achieve slow dynamics control. The proposed scheme implements simplified control algorithms depending on the direct current control (DCC) and indirect current control (ICC) techniques for designing trajectories in sliding mode control based shunt active power filter (SAPF). The performances of the DCC and ICC techniques were verified through a simulation with MATLAB-SIMULINK and real-time implementation in Opal RTLab. A comparison has been made between the two configurations showing their topological contrasts and load compensation capabilities under ideal, unbalanced and distorted source voltage conditions.
Keywords: current harmonics, fast dynamics, SMC, DCC, ICC, SAP, Real-time
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #21, pp. 186-197
Title of the Paper: Identification of UAV Engine Parameters
Authors: Ivo Stančić, Ante Ljubičić, Mojmil Cecić
Abstract: The design of low-cost and efficient configurations of UAV (Unmanned Aerial Vehicle) becomes increasingly more important for improving the performances, flight characteristics, and increase of a payload. Ability of vertical take-off and landing is a challenging but important task for the UAV to achieve a high level of autonomy. The fundamental requirement for vertical take-off or landing is the ability to precisely direct and control the air thrust against ground, which plays a vital role in stability of the airplane. When dealing with low-cost components (ducted fan motors and its controller), parameters of mechanical and electrical systems of vital importance are unknown or partially known, and thus some kind of identification process has to be done. This paper focuses on identification of thruster motor parameters and aspects related to electric and electronic devices. Motor and motor controller is modelled as MISO system (Multiple Input Single Output) whose parameters are identified. Identification is performed in a laboratory, by feeding the motor controller with series of an input signals and measuring motor thrust in dynamic conditions by the force transducer.
Keywords: UAV, VTOL, ducted fun motor, motor parameters identification, motor thrust, systems theory
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #20, pp. 179-185
Title of the Paper: Fractional Order Controller Design for Inverted Pendulum an a Cart System (POAC) Inverted Pendulum On A Cart System (POAC)
Authors: Abhaya Pal Singh, Himanshu Agarwal, Pallavi Srivastava
Abstract: In this paper we propose a Fractional Order Controller for an under-actuated system (POAC). This system has two degrees-of-freedom and one control input. The model of the system is derived using Euler Lagrange method and the stabilization is achieved with constraints using Fractional Order Controller. To validate the control law, simulation are performed and compared with Integer Order Controller.
Keywords: Coefficient of friction, Fractional order controller (FOC), FOPID, IOC, PID, POAC, Underactuated robotic system
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #19, pp. 172-178
Title of the Paper: Motion Control of Human Bipedal Model in Sagittal Plane
Authors: Nurfarahin Onn, Mohamed Hussein, Collin Howe Hing Tang, Mohd Zarhamdy Md Zain, Maziah Mohamad, Wei Ying Lai
Abstract: This paper discusses the construction of a mathematical model for a planar seven-link bipedal model which is comprised of an upper body and two legs (thigh, shank and feet in every leg) in the sagittal plane. Procedures of kinematic model and dynamic model constructions are presented in this paper. The mathematical model for dynamic equations of motion based on the absolute angle is obtained using Lagrange’s equations. Then, a dimension transformation of mathematical model into relative angles was performed. New inertia matrix of the transformed equations was verified to be symmetric. Periodic cubic spline is used to obtain smooth walking trajectories of every joint in the biped model. Computed torque controller was applied in the trajectory tracking control of the proposed bipedal robot model. To investigate the performance of motion controller, a simulation study was conducted. The simulation results show that the performance of the purposed motion controller is superior with very minimal tracking error. In future, the controller will be extended and modified with various types of intelligent approaches to give continuous, automatic and online computation of required inertia matrix with certain constraint while the system is in motion.
Keywords: seven-link human biped model, Lagrange’s Equation, computed torque control
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #18, pp. 160-171
Title of the Paper: FUZZY Based PID Controller for Speed Control of D.C. Motor Using LabVIEW
Authors: Salim, Jyoti Ohri
Abstract: This paper presents an implementation of self-tuned PID controller (FPID) for speed control of DC motor based on LabVIEW (Laboratory Virtual Instrument Engineering Workbench Environment). The algorithms of fuzzy PID controller (FPID) and conventional PID controller (CPID) are implemented using PID and Fuzzy Logic simulation toolkits of the Lab View environment. The simulation results demonstrate that the designed self-tuned PID controller realize a perfect speed tracking with lesser rise time and settling time, minimum steady state error and give better performance compared to conventional PID controller.
Keywords: DC Motor, Ziegler-Nichols Tuning, Speed Control, Fuzzy Logic and Fuzzy plus PID controller, LabVIEW
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #17, pp. 154-159
Title of the Paper: PRM Path Planning Optimization Algorithm Research
Authors: Li Gang, Jingfang Wang
Abstract: Under limited environment, PRM (probabilistic roadmap method) algorithm is used to plan initial path in mobile robot path planning?a path optimization algorithm is proposed based on the improved node method and geometric smooth strategy. The node enhancing method is used to optimize the initial planning with the base PRM algorithm, the original path nodes are gradually substituted by some new nodes, and the number of the inflection points will be reduced greatly in the path, thus the length of path will be shorten. At the same time, a new strategy of geometric optimization is used to smooth the optimized path, the path smoothing is achieved. The simulation result shows that the algorithm can reduce the length of the searched path, the smoothness of the path is greatly improved.
Keywords: mobile robot, path planning, PRM algorithm, node enhancing, routine optimization
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #16, pp. 148-153
Title of the Paper: Firefly Algorithm Based Speed Control of DC Series Motor
Authors: Ali E. S.
Abstract: This paper presents the speed control of DC series motor supplied by Photovoltaic (PV) system. The proposed design problem of speed controller is formulated as an optimization problem. Firefly Algorithm (FA) is employed to search for optimal Proportional Integral (PI) parameters of speed controller by minimizing the time domain objective function. The performance of the proposed FA based speed control of DC series motor has been compared with Genetic Algorithm (GA) and the Conventional PI controller tuned by Ziegler Nichols (ZN) under various operating conditions and disturbances. The results of the proposed FA are demonstrated through time domain analysis, and various performance indices. Simulation results have shown the validity of the proposed technique in controlling the speed of DC series motor over GA and conventional algorithm.
Keywords: DC Series Motor, Firefly Algorithm, Genetic Algorithm, Photovoltaic System, PI Controller, Speed Control
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #15, pp. 137-147
Title of the Paper: Global Finite-Time Stabilization of Stochastic Nonlinear Systems with Low-Order Nonlinearities
Authors: Yanling Shang
Abstract: This paper investigates the problem of global finite-time stabilization by state feedback for a class of stochastic nonlinear systems with low-order nonlinearities, to which the existing control methods are inapplicable. By skillfully adopting the method of adding a power integrator and constructing twice continuous differential Lyapunov functions, a stepwise constructive continuous state feedback control methodology is proposed. Based on stochastic finite-time stability theorem, it is proved that the solution of the closed-loop system is finite-time stable in probability. Two simulation examples are provided to illustrate the effectiveness of the proposed approach.
Keywords: Stochastic nonlinear systems, Low-order nonlinearities, Finite-time stable in probability
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #14, pp. 127-136
Title of the Paper: Nonlinear Model Based Predictive Control Using Multiple Models Approach Expanded on Laguerre Bases
Authors: Ghassen Marouani, Abdelkader Mbarek, Tarek Garna, Hassani Messaoud
Abstract: This paper proposes a nonlinear model based predictive control (NMPC) algorithm for nonlinear systems by using multiple models approach. To have a less complexity model we expand each linear sub-model on an orthogonal Laguerre basis, the characteristic pole of which should be optimized. In this paper we propose a pole optimization algorithm based on the Gauss-Newton method and we use the provided Laguerre multiple model (LMM) to synthesize a NMPC algorithm. The proposed pole optimization technique as well as the NMPC using LMM approach are validated on a chemical reactor.
Keywords: Nonlinear systems, Multiple models, Laguerre basis, Predictive control
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #13, pp. 113-126
Title of the Paper: Microcontroller Software Library for Process Control
Authors: Jan Dolinay, Petr Dostálek, Vladimír Vašek
Abstract: This paper deals with library of program modules for process control applications running on microcontrollers. The aim of the library is to make it easier to create control applications for microcontrollers. It should allow creating such applications by putting together existing program modules provided in the library with little new code required. The software is written in C language and works with Freescale HCS08 8-bit microcontrollers and the Kinetis series 32-bit ARM-based microcontrollers. It should also be easy to port the code to other platforms.
Keywords: Discrete controller, hcs08, kinetis, microcontroller, program library, pwm
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #12, pp. 105-112
Title of the Paper: Application of Carbon Emissions Prediction Using Least Squares Support Vector Machine Based on Grid Search
Authors: Wei Sun, Yi Liang, Yanfeng Xu
Abstract: The rapid development of the global economy has brought a high-speed increase in carbon emissions, which is the primary cause of the greenhouse effect, thus how to effectively alleviate the economic and ecological threats caused by greenhouse effect, as well as studies about carbon emissions mechanism and related fields are all of great urgency. This paper puts forward a new method for carbon emissions prediction--least squares support vector machine based on grid search, where grid search is used to optimize the regularization parameter and kernel width parameter in least squares support vector machine. Then choose population, per capita GDP, energy consumption per unit GDP, urbanization rate, the proportion of coal consumption and proportion of value added services these six influencing factors as independent variables, for the aim to predict China's annual carbon emissions. The results show that the mean absolute percentage error of this new method is 1.61%, superior to that of BP neural network model, illustrating the proposed can be effectively used to predict the carbon emissions.
Keywords: Carbon emissions prediction, Least squares support vector machine, Grid search optimization
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #11, pp. 95-104
Title of the Paper: Design of Predictive Fractional Order PI Controller for the Quadruple Tank Process
Authors: G. Prakash, V. Alamelumangai
Abstract: Industrial processes are usually higher order processes and hence the effect of dead time is one of the important problems which may make the system unstable. Various control strategies have been introduced for the system with large dead time. Predictive PI control is one of the compensation technique which is a modified form of smith predictor algorithm. Introducing the concept of fractional order controller (in which the integrator and differentiator are of fractional order) in predictive control strategy the benefits of both can be derived. In this paper an attempt is made to design and analyze the scheme to compensate the effect of dead time present in a process through predictive fractional order PI controller. The Quadruple tank process taken to study the performance of the control strategy is a MIMO process which includes positive zero in its characteristics. The experimental model considered in this work is with large dead time. Therefore it is a challenging job to develop a control strategy for performance improvement. The performance of the process with developed scheme is evaluated using settling time, rise time, peak time, overshoot and ISE through simulation. Hagglund, Gainshaping, Amigo and Z-N tuning techniques are used to tune PI controller.
Keywords: Predictive PI Controller, Fractional Order Controller, Hagglund, Gainshaping, Amigo, Z-N, Quadruple tank process
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #10, pp. 85-94
Title of the Paper: Containment Control of Second-Order Multi-Agent Systems in a Sampled-Data Setting
Authors: Qingli Liu, Dongmei Xie, Hongshuai Shang
Abstract: In this paper, we study the containment control issue of second-order multi-agent systems in a sampled-data setting under the assumption that only the sampled position information can be measured. The communication topology graph between the leaders and followers is assumed to be directed, while the topology among the followers is assumed to be undirected. Necessary and sufficient containment control criteria for multi-agent systems with periodic sampling are first established, where we present the specific range size of parameters and the relationship among the eigenvalues of Laplacian matrix, sampling interval, and scaling parameter. Then we extend our results to multi-agent systems with non-periodic sampling interval. Finally, experimental results are provided to illustrate the effectiveness of the theoretical results.
Keywords: Multi-agent systems, position information, containment control, time-varying sampling interval
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #9, pp. 76-84
Title of the Paper: Evolutionary Algorithm for Identification of a Flexible Single-Link Manipulator System
Authors: Ali A. M. Al-Khafaji, Nik M.R. Shaharuddin, Intan Z. M. Darus
Abstract: This study presents an investigation into dynamic modelling of a flexible single-link manipulator system using differential evolutionary technique (DE) and particle swarm optimization technique (PSO). Details of simulation study, Model Selection, optimization and result analysis are given in this study. The input-output data of the system were first acquired through the simulation study using finite element method (FDM) based on Lagrangian approach. A bang-bang torque was applied as an input and the dynamic responses of the system were investigated. Next, an appropriate model structure was chosen and optimized using DE and PSO. One Step Ahead (OSA) prediction, correlation tests and mean squared error (MSE) have been performed for validation and verification of the obtained model in characterizing the manipulator system. Furthermore, an unseen data was used to observe the prediction ability of the model. A comparative assessment of the two models in characterizing the manipulator system is presented in time and frequency domains. Results demonstrate the advantages of DE over PSO in parametric modeling of the flexible manipulator system used in this study.
Keywords: Differential evolutionary algorithm, particle swarm optimization, flexible single-link manipulator, system identification, finite element method, dynamic modelling
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #8, pp. 58-75
Title of the Paper: Existence and Global Attractivity of Positive Periodic Solutions in Shifts δ± for a Nonlinear Dynamic Equation with Feedback Control on Time Scales
Authors: Meng Hu, Lili Wang
Abstract: This paper is concerned with a nonlinear dynamic equation with feedback control on time scales. Based on the theory of calculus on time scales, by using a fixed point theorem of strict-set-contraction, some criteria are established for the existence of positive periodic solutions in shifts ± of the system; then, by using some differential inequalities and constructing a suitable Lyapunov functional, sufficient conditions which guarantee the global attractivity of the system are obtained. Finally, two numerical examples are presented to illustrate the feasibility and effectiveness of the results.
Keywords: positive periodic solution, global attractivity, shift operator, feedback control, time scale
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #7, pp. 48-57
Title of the Paper: A Comparative Power Quality Study of DFIG and PMSG Based Wind Energy Conversion System
Authors: Lata Gidwani
Abstract: Wind Energy Generation Systems (WECS) are confronted with increasing demands for power quality and harmonic distortion control. With the advances in power electronics technology, the rapid growth of variable speed WECS is now witnessed. However, the power quality still remains an important issue to be addressed thoroughly by researchers. This paper presents a comparative study on grid connected WECS having two different Wind Turbine Generator Systems (WTGS) using DFIG and PMSG. Both WTGS systems are connected to power grid through conventional back to back converters and Unconventional Power Electronic Interface (UPEI) in different cases. Four cases are compared examining the effect of proposed unconventional power electronic interface on both WTGS systems. Transient simulations are carried out under the condition of sudden short circuit disturbance and the performance of both systems is compared for active power, reactive power and speed control. The comparison also aims to present in a thorough and coherent way the aspects of power quality in terms of reduction in Total Harmonic Distortion (THD) at various fault locations and buses. All the simulations are made in Matlab/Simulink.
Keywords: Wind Energy Conversion System, Wind Turbine Generator System, Unconventional Power Electronic Interface, Power Quality, Total Harmonic distortion
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #6, pp. 38-47
Title of the Paper: Robust Fault-Tolerant Tracking Control Scheme for Nonlinear Nonaffine-In-Control Systems Against Actuator Faults
Authors: Hongcheng Zhou, Dezhi Xu
Abstract: In this paper a theoretical framework of robust fault-tolerant control (FTC) for a class of nonlinear nonaffine-in-control systems is developed. In the framework, an observer-like auxiliary system is designed via adaptive and sliding mode techniques, which is only required to ensure that the output of the auxiliary system asymptotic tracking plant output. Based on the auxiliary system, a reconfigurable fault-tolerant tracking controller is proposed for nonaffine-in-control systems. In this paper, the focus is on the accommodation of the actuator faults and resulting disturbances. It is shown that the proposed FTC design results in asymptotic convergence of the tracking error to zero. Finally, the proposed approach is verified using a three-degree-of-freedom simulation of a typical fighter aircraft and the significantly improved system response demonstrates the practical potential of the theoretic results obtained.
Keywords: Fault tolerant control, Adaptive sliding mode observer, Non-affine nonlinear systems, Actuator faults, Disturbances
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #5, pp. 29-37
Title of the Paper: Title Control of Pitch Angles to Optimize the Aerodynamic Using Particle Swarm Optimization
Authors: Belghazi Ouissam, Douiri Moulay Rachid Cherkaoui Mohamed
Abstract: The main objective of this paper is to maximize the energy captured by the wind turbine. The wind turbine is an energy converter device that captures energy from the wind and converts it into useful work. The controlling the pitch of the blade is the most common means for adjusting the aerodynamic torque of the wind turbine when wind speed is above rated speed and various controlling variables may be chosen, such as generator power, generator speed and wind speed. Different methods are available to control the pitch angle. The particle swarm optimization control strategy may have the potential when the system contains a strong non-linearity, such as the control objectives include fatigue loads or wind turbulence is strong. The simulation results by using actual detailed model for wind power system confirm the effectiveness of the proposed methodology.
Keywords: Wind Turbine, Particle Swarm Optimization, Control, Pitch Angle
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #4, pp. 22-28
Title of the Paper: Thrust Control of Traction Linear Induction Motors in Switch Areas
Authors: Cai-Xia Tao, Dan Zhang, Xiao Li
Abstract: Rail transit systems powered by linear induction motors have gained widespread popularity. In order to solve the problem of no thrust in switch areas where there are no sensor boards, the motor thrust is increased prior to entering the switch area so that the total thrust remains constant. In the two conditions,where include and exclude secondary,not only the linear induction motor models was established, but also the simulation models of the direct thrust control and the constant thrust control were established. Simulation studies were conducted on the direct thrust of a single motor, and the constant thrust control of the train.Experimental results have validated the models.
Keywords: Rail Transit System, Linear Induction, Motor, Direct Thrust Control, Switch Area, Prior, Secondary
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #3, pp. 16-21
Title of the Paper: Development of Hybrid Maximum Power Point Tracking Control Algorithm for Photovoltaic System
Authors: Ayaz Ahmad, L. Rajaji
Abstract: Renewable energy now-a-days is playing vital role in energy demand market and solar and wind are most wanted renewable energy resources to support the enormous power demand across the globe. Due to insufficient wind for more than half of the year, wind turbines are not capable of meeting the power demand. Hence, solar is treated as the main energy resource among all the renewable energy resources since sunlight is available almost all the days even though it is only available in day time. Solar system or photovoltaic (PV) system is capturing sunlight and converts it into electricity either for off-grid or in-grid applications. Amount of generation of electricity is purely depending upon the amount of sunlight captured by the PV panels and hence tracking of sunlight in order to capture maximum power is the main requirement in solar energy sector. In this paper, a novel hybrid maximum power point tracking (MPPT) algorithm is presented and it has the combination of the features of perturb & observe algorithm and constant voltage algorithm. Proposed hybrid MPPT algorithm is applied to single phase residential and commercial solar inverters and the results have been captured. Both simulation and experimental results have been presented in this paper in order to validate the proposed algorithm.
Keywords: PV panel, MPPT algorithm, Tracking efficiency, Solar system and DCDC converter
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #2, pp. 7-15
Title of the Paper: Active Control of Acoustic Noise by Magnetic Resonance Imaging: A Simulation Study
Authors: Hirofumi Nagashino
Abstract: In medical imaging for clinical diagnosis and biomedical research magnetic resonance imaging (MRI) is one of the prevailing techniques. A lot of subjects of MRI are annoyed by the loud noise that MRI generates. In the present study computer simulation of active control of the noise induced by MRI was performed. The sound generated by the measurement sequences for the brain was recorded with an IC recorder in an MRI scanner room. Prediction of the time series of the sound was attempted using linear prediction and artificial neural networks (ANN). By subtraction of the predicted value from the sound value the sound intensity is reduced. With several optimization techniques of ANN such as steepest decent method, Levenberg-Marquadt method, etc, active control of the noise was examined. In the present paper, the comparison of the simulation results of the prediction with those methods is described.
Keywords: MRI, acoustic noise, active noise control, linear prediction, artificial neural networks, steepest decent method, Levenberg-Marquadt method
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #1, pp. 1-6
