Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961411
P. Biswal, S. Biswas
Failure Detection and Diagnosis (FDD) has become an important part for most modern day complex systems. Discrete Event System (DES) paradigm has been applied for FDD of a wide range of applications because of modeling simplicity and computational efficiency due to abstraction. Several variants of DES frameworks namely, FSMs, process algebra, Petri Nets (PN) etc. have been used for FDD based on the type of system being considered. In most of the works on FDD of DES models, the conclusion was binary i.e., diagnosable or non-diagnosable. Thorsley et al. investigated diagnosability of stochastic DES, where failure is determined when it is found that probability of the system traversing though failure states is higher than a threshold (which may be dynamic). Thorsley's work was based on FSM based DES models, which are suitable for centralized systems. In this paper we will concentrate on PN based DES framework which is mainly applicable for decentralized systems. FDD algorithms for PN based DES work successfully for systems where binary decisions regarding diagnosability suffice. However, there exist many decentralized systems where incorporation of stochastic information in the models and diagnosability decisions by comparison with a threshold are more practical. In this paper we propose a new FDD mechanism for Stochastic PN based DES models. The scheme is illustrated on a simple chemical reaction chamber.
{"title":"Diagnosability in stochastic Petri Net based DES models","authors":"P. Biswal, S. Biswas","doi":"10.1109/MED.2014.6961411","DOIUrl":"https://doi.org/10.1109/MED.2014.6961411","url":null,"abstract":"Failure Detection and Diagnosis (FDD) has become an important part for most modern day complex systems. Discrete Event System (DES) paradigm has been applied for FDD of a wide range of applications because of modeling simplicity and computational efficiency due to abstraction. Several variants of DES frameworks namely, FSMs, process algebra, Petri Nets (PN) etc. have been used for FDD based on the type of system being considered. In most of the works on FDD of DES models, the conclusion was binary i.e., diagnosable or non-diagnosable. Thorsley et al. investigated diagnosability of stochastic DES, where failure is determined when it is found that probability of the system traversing though failure states is higher than a threshold (which may be dynamic). Thorsley's work was based on FSM based DES models, which are suitable for centralized systems. In this paper we will concentrate on PN based DES framework which is mainly applicable for decentralized systems. FDD algorithms for PN based DES work successfully for systems where binary decisions regarding diagnosability suffice. However, there exist many decentralized systems where incorporation of stochastic information in the models and diagnosability decisions by comparison with a threshold are more practical. In this paper we propose a new FDD mechanism for Stochastic PN based DES models. The scheme is illustrated on a simple chemical reaction chamber.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"38 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124993620","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961380
Abraham Castellanos Silva, I. Landau, Petros A. Ioannou
The adaptive feedback approach is now widely used for the rejection of multiple narrow band disturbances with unknown and time varying frequencies in Active Vibration Control (AVC) and Active Noise Control (ANC). The approach is based directly or indirectly on the use of the Internal Model Principle and the Youla-Kučera parametrization combined with an adaptive law. All the algorithms associated with the approach make the assumption that the plant zeros are different from the poles of the disturbance model in order to achieve disturbance compensation. However in practice the problem is more intricate since it is not clear what happens if the plant have very low damped complex zeros (often encountered in mechanical structures) and the frequency of the disturbance is close to the anti-resonance frequency (the resonance frequency of the plant zeros). A recent international investigation on adaptive regulation in the presence of unknown time varying disturbances [16] has considered such a situation for a benchmark example. Several solutions have been proposed and the most successful has been based on the appropriate choice of the desired closed loop poles to be achieved by the Youla-Kučera central controller [5] using a Q FIR filter with the minimum number of parameters. Recently in [12] it was suggested that over parametrization of the Q (FIR) filter can enhance the robustness of the linear and adaptive scheme in the vicinity of plant complex zeros. The present paper compares these two approaches using the same benchmark example as in [16]. The results from simulations and real time experiments used to evaluate the two approaches are presented.
在主动振动控制(AVC)和主动噪声控制(ANC)中，自适应反馈方法被广泛用于抑制未知时变频率的多窄带干扰。该方法直接或间接地基于内部模型原理和youla - ku era参数化与自适应律的结合。与该方法相关的所有算法都假设植物零点与扰动模型的极点不同，以实现扰动补偿。然而，在实践中，问题更加复杂，因为不清楚如果对象具有非常低的阻尼复零(经常在机械结构中遇到)并且干扰的频率接近反共振频率(对象零的共振频率)会发生什么。最近一项关于存在未知时变扰动的自适应调节的国际研究[16]已经将这种情况作为基准示例。已经提出了几种解决方案，最成功的解决方案是基于youla - ku时代中央控制器[5]使用具有最小参数数量的Q FIR滤波器来实现所需闭环极点的适当选择。最近在[12]中提出，Q (FIR)滤波器的过参数化可以增强线性和自适应方案在植物复零附近的鲁棒性。本文使用[16]中相同的基准示例比较了这两种方法。给出了两种方法的仿真和实时实验结果。
{"title":"Direct adaptive regulation in the vicinity of low damped complex zeros — Application to active vibration control","authors":"Abraham Castellanos Silva, I. Landau, Petros A. Ioannou","doi":"10.1109/MED.2014.6961380","DOIUrl":"https://doi.org/10.1109/MED.2014.6961380","url":null,"abstract":"The adaptive feedback approach is now widely used for the rejection of multiple narrow band disturbances with unknown and time varying frequencies in Active Vibration Control (AVC) and Active Noise Control (ANC). The approach is based directly or indirectly on the use of the Internal Model Principle and the Youla-Kučera parametrization combined with an adaptive law. All the algorithms associated with the approach make the assumption that the plant zeros are different from the poles of the disturbance model in order to achieve disturbance compensation. However in practice the problem is more intricate since it is not clear what happens if the plant have very low damped complex zeros (often encountered in mechanical structures) and the frequency of the disturbance is close to the anti-resonance frequency (the resonance frequency of the plant zeros). A recent international investigation on adaptive regulation in the presence of unknown time varying disturbances [16] has considered such a situation for a benchmark example. Several solutions have been proposed and the most successful has been based on the appropriate choice of the desired closed loop poles to be achieved by the Youla-Kučera central controller [5] using a Q FIR filter with the minimum number of parameters. Recently in [12] it was suggested that over parametrization of the Q (FIR) filter can enhance the robustness of the linear and adaptive scheme in the vicinity of plant complex zeros. The present paper compares these two approaches using the same benchmark example as in [16]. The results from simulations and real time experiments used to evaluate the two approaches are presented.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131435633","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961473
M. Abbache, B. tabbache, A. Kheloui
This paper proposes an independent control of two induction motors fed nine switches inverter. In this context, an adaptive direct torque control is developed to ensure the separate control of the both induction motors. Simulations are carried-out on induction motors, to show that the developed independent control is effective and provides a simple configuration with high performance in terms of speed and torque responses.
{"title":"Direct torque control of nine switches inverter — Dual induction motors","authors":"M. Abbache, B. tabbache, A. Kheloui","doi":"10.1109/MED.2014.6961473","DOIUrl":"https://doi.org/10.1109/MED.2014.6961473","url":null,"abstract":"This paper proposes an independent control of two induction motors fed nine switches inverter. In this context, an adaptive direct torque control is developed to ensure the separate control of the both induction motors. Simulations are carried-out on induction motors, to show that the developed independent control is effective and provides a simple configuration with high performance in terms of speed and torque responses.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132117295","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961552
A. Pyrkin, A. Bobtsov, S. Kolyubin, O. Borisov, V. Gromov
In the paper an output control approach for a class of nonlinear MIMO systems is presented. A multicopter with four symmetrical rotors, i.e. a quadcopter, is chosen to illustrate effectiveness of the proposed adaptive control approach based on the high-gain principle so-called “consecutive compensator”. Output controller is designed by decomposition of the mathematical model on two parts. The first one is a static MIMO transformation (more precisely, in the considering case a system of linear equations which relates lift forces generated by the actuators and virtual control inputs). The second one is a few SISO channels. Such trick allows to design a control law in two steps. At the first step we design virtual controls for each SISO channel. Here we apply the mentioned systematic approach “consecutive compensator”. And then after the inverse MIMO transformation we get a set of real lift forces.
{"title":"Output controller for quadcopters based on mathematical model decomposition","authors":"A. Pyrkin, A. Bobtsov, S. Kolyubin, O. Borisov, V. Gromov","doi":"10.1109/MED.2014.6961552","DOIUrl":"https://doi.org/10.1109/MED.2014.6961552","url":null,"abstract":"In the paper an output control approach for a class of nonlinear MIMO systems is presented. A multicopter with four symmetrical rotors, i.e. a quadcopter, is chosen to illustrate effectiveness of the proposed adaptive control approach based on the high-gain principle so-called “consecutive compensator”. Output controller is designed by decomposition of the mathematical model on two parts. The first one is a static MIMO transformation (more precisely, in the considering case a system of linear equations which relates lift forces generated by the actuators and virtual control inputs). The second one is a few SISO channels. Such trick allows to design a control law in two steps. At the first step we design virtual controls for each SISO channel. Here we apply the mentioned systematic approach “consecutive compensator”. And then after the inverse MIMO transformation we get a set of real lift forces.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132236712","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961517
Ladislav Král, Jakub Prüher, M. Simandl
The paper proposes a suboptimal adaptive control for a nonlinear stochastic system subject to functional uncertainty. The problem of a real-time identification of the unknown nonlinear system is tackled by using the Gaussian process based non-parametric model. The covariance function of the Gaussian process is chosen in such a way that allows deriving the control law in a closed form. The control action stems from the bicriterial dual approach that uses two separate criteria to introduce both of the mutually opposing aspects between estimation and control. Properties of the novel dual controller are tested and validated in a numerical example by Monte Carlo analysis.
{"title":"Gaussian process based dual adaptive control of nonlinear stochastic systems","authors":"Ladislav Král, Jakub Prüher, M. Simandl","doi":"10.1109/MED.2014.6961517","DOIUrl":"https://doi.org/10.1109/MED.2014.6961517","url":null,"abstract":"The paper proposes a suboptimal adaptive control for a nonlinear stochastic system subject to functional uncertainty. The problem of a real-time identification of the unknown nonlinear system is tackled by using the Gaussian process based non-parametric model. The covariance function of the Gaussian process is chosen in such a way that allows deriving the control law in a closed form. The control action stems from the bicriterial dual approach that uses two separate criteria to introduce both of the mutually opposing aspects between estimation and control. Properties of the novel dual controller are tested and validated in a numerical example by Monte Carlo analysis.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134479534","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961438
Fu-Hai Frank Wu, J. Jang
Automatic tempo estimation for musical audio with low pulse clarity presents challenges. In order to increase the pulse clarity of the input audio signals, the proposed method applies source filtering, especially low pass filtering, to the raw audio, so there are multiple audio clips for the processes. These processes are based on tempogram derived from onset detection function to obtain the tempo pair, which is the output of tempo-pair estimator, and their relative strength by the long-term periodicity (LTP) function. Finally, a classifier-based selector chooses the best estimated results from the different paths of audio. The performance of 1st place in at-least-one-tempo-correct index and 2nd place in P-score index in the evaluation MIREX 2013 audio tempo estimation demonstrate the effectiveness of the proposed method to audio tempo estimation.
{"title":"A supervised learning method for tempo estimation of musical audio","authors":"Fu-Hai Frank Wu, J. Jang","doi":"10.1109/MED.2014.6961438","DOIUrl":"https://doi.org/10.1109/MED.2014.6961438","url":null,"abstract":"Automatic tempo estimation for musical audio with low pulse clarity presents challenges. In order to increase the pulse clarity of the input audio signals, the proposed method applies source filtering, especially low pass filtering, to the raw audio, so there are multiple audio clips for the processes. These processes are based on tempogram derived from onset detection function to obtain the tempo pair, which is the output of tempo-pair estimator, and their relative strength by the long-term periodicity (LTP) function. Finally, a classifier-based selector chooses the best estimated results from the different paths of audio. The performance of 1st place in at-least-one-tempo-correct index and 2nd place in P-score index in the evaluation MIREX 2013 audio tempo estimation demonstrate the effectiveness of the proposed method to audio tempo estimation.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134485756","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961401
Omar Ai-Buraiki, M. B. Thabit
In this paper, we propose a model predictive control (MPC) approach for controlling the autonomous bicycle kinematics to stabilize the bicycle steer and roll angles. The dynamical model is the so-called `Whipples Bicycle Model', where the roll (lean) angle and the steer angle of the bicycle are the two outputs of the model and the torques across the roll and steer angle as the two control variables. The autonomous bicycle was tested for varying velocities.
{"title":"Model predictive control design approach for autonomous bicycle kinematics stabilization","authors":"Omar Ai-Buraiki, M. B. Thabit","doi":"10.1109/MED.2014.6961401","DOIUrl":"https://doi.org/10.1109/MED.2014.6961401","url":null,"abstract":"In this paper, we propose a model predictive control (MPC) approach for controlling the autonomous bicycle kinematics to stabilize the bicycle steer and roll angles. The dynamical model is the so-called `Whipples Bicycle Model', where the roll (lean) angle and the steer angle of the bicycle are the two outputs of the model and the torques across the roll and steer angle as the two control variables. The autonomous bicycle was tested for varying velocities.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115794473","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961479
G. Antonelli, E. Cataldi
The low level control for an underwater vehicle equipped with a manipulator is addressed in this paper. The end-effector trajectory is assumed to be properly inverted into vehicle and joint desired trajectories to be sent to the respective low level controllers. Off-the-shelf manipulators are often equipped with low level position or velocity joint control thus preventing the design of a controller at system level, i.e., taking into account the whole dynamic interactions. Design for the vehicle controller taking into account the presence of the manipulator is achieved resorting to an adaptive, recursive approach. A stability analysis is provided to analytically support the proposed controller. After physical considerations a minimal set of dynamic parameters is used in order to implement a light version of the controller. Numerical simulations validate the proposed approach.
{"title":"Recursive adaptive control for an underwater vehicle carrying a manipulator","authors":"G. Antonelli, E. Cataldi","doi":"10.1109/MED.2014.6961479","DOIUrl":"https://doi.org/10.1109/MED.2014.6961479","url":null,"abstract":"The low level control for an underwater vehicle equipped with a manipulator is addressed in this paper. The end-effector trajectory is assumed to be properly inverted into vehicle and joint desired trajectories to be sent to the respective low level controllers. Off-the-shelf manipulators are often equipped with low level position or velocity joint control thus preventing the design of a controller at system level, i.e., taking into account the whole dynamic interactions. Design for the vehicle controller taking into account the presence of the manipulator is achieved resorting to an adaptive, recursive approach. A stability analysis is provided to analytically support the proposed controller. After physical considerations a minimal set of dynamic parameters is used in order to implement a light version of the controller. Numerical simulations validate the proposed approach.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"92 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115886828","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961533
Domenico Colacino, A. Merola, C. Cosentino, F. Amato
Pneumatic Artificial Muscle (PAM) is becoming one of the most used actuator technology for the development of biorobotic applications, such as robotic orthoses and wearable exoskeletons, which require the accurate control of the impedance during human-robot interactions. Although the adaptable compliance of PAMs is desirable, the nonlinear and hysteretic relation between contraction length and pulling force, as well as the air pressure within the chamber of the PAM, make difficult the identification and the control of the dynamics of such actuators. After the description of the experimental setup designed for the dynamic identification of PAMs, this paper presents a novel and accurate model of the hysteresis of the mechanical response of PAMs. Some experimental tests have been performed on a real pneumatic muscle in order to reproduce the different features of the hysteretic behavior which are taken into account in the definition of the model. The proposed model, which has been validated through some experiments, provides some advantages in terms of ease of parameter identification and implementation into a control system, thanks to the use of a limited number of parameters.
{"title":"Identification and modelling of the friction-induced hysteresis in pneumatic actuators for biomimetic robots","authors":"Domenico Colacino, A. Merola, C. Cosentino, F. Amato","doi":"10.1109/MED.2014.6961533","DOIUrl":"https://doi.org/10.1109/MED.2014.6961533","url":null,"abstract":"Pneumatic Artificial Muscle (PAM) is becoming one of the most used actuator technology for the development of biorobotic applications, such as robotic orthoses and wearable exoskeletons, which require the accurate control of the impedance during human-robot interactions. Although the adaptable compliance of PAMs is desirable, the nonlinear and hysteretic relation between contraction length and pulling force, as well as the air pressure within the chamber of the PAM, make difficult the identification and the control of the dynamics of such actuators. After the description of the experimental setup designed for the dynamic identification of PAMs, this paper presents a novel and accurate model of the hysteresis of the mechanical response of PAMs. Some experimental tests have been performed on a real pneumatic muscle in order to reproduce the different features of the hysteretic behavior which are taken into account in the definition of the model. The proposed model, which has been validated through some experiments, provides some advantages in terms of ease of parameter identification and implementation into a control system, thanks to the use of a limited number of parameters.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115455518","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961569
Jie Yu, H. Yamaura
An optimal controller architecture design based on mixed H2/H∞ norm is presented for the rejection of printing medium loading disturbance in a class of image transfer belt modelled as a four-rollers-belt system. By selecting the feedback information purposely, the proposed H2/H∞ controller acts in all variables concerning quality of the original image formation. With the comparison of the conventional PID speed control design, it is shown that the image transfer belt system is successfully maintained in the satisfying condition.
{"title":"Optimal mixed H2/H∞ controller design for vibration suppression in a class of image transfer belt","authors":"Jie Yu, H. Yamaura","doi":"10.1109/MED.2014.6961569","DOIUrl":"https://doi.org/10.1109/MED.2014.6961569","url":null,"abstract":"An optimal controller architecture design based on mixed H2/H∞ norm is presented for the rejection of printing medium loading disturbance in a class of image transfer belt modelled as a four-rollers-belt system. By selecting the feedback information purposely, the proposed H2/H∞ controller acts in all variables concerning quality of the original image formation. With the comparison of the conventional PID speed control design, it is shown that the image transfer belt system is successfully maintained in the satisfying condition.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123293824","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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