J. Paulusová, Ladislav Korosi, M. Dubravská, Martin Paulus
In this paper neuro-fuzzy predictive controller for nonlinear system is addressed, proposed and tested. The proposed neuro-fuzzy convolution model consists of a steady-state neuro-fuzzy model and a gain independent impulse response model. The proposed model is tested in model based predictive control of a real laboratory plant. The basic principles of predictive control algorithm for thermo-optical plant are proposed. The paper deals with theoretical and practical methodology, offering approach for intelligent neuro-fuzzy control design and its successful application.
{"title":"Neuro-fuzzy predictive control of thermo-optical plant","authors":"J. Paulusová, Ladislav Korosi, M. Dubravská, Martin Paulus","doi":"10.1109/PC.2015.7169969","DOIUrl":"https://doi.org/10.1109/PC.2015.7169969","url":null,"abstract":"In this paper neuro-fuzzy predictive controller for nonlinear system is addressed, proposed and tested. The proposed neuro-fuzzy convolution model consists of a steady-state neuro-fuzzy model and a gain independent impulse response model. The proposed model is tested in model based predictive control of a real laboratory plant. The basic principles of predictive control algorithm for thermo-optical plant are proposed. The paper deals with theoretical and practical methodology, offering approach for intelligent neuro-fuzzy control design and its successful application.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131586689","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}
In this paper, the anisotropy-based/ℋ∞ suboptimal filtering problem for linear discrete time-invariant (LDTI) system with nonzero-mean stochastic input is considered. The original problem is reduced to the optimization problem with convex restrictions. The solution is based on the sufficient condition for boundedness of the anisotropic norm.
{"title":"Suboptimal anisotropy-based/ℋ∞ filtering for LDTI systems with nonzero-mean input","authors":"V. Timin, A. Kustov","doi":"10.1109/PC.2015.7169953","DOIUrl":"https://doi.org/10.1109/PC.2015.7169953","url":null,"abstract":"In this paper, the anisotropy-based/ℋ∞ suboptimal filtering problem for linear discrete time-invariant (LDTI) system with nonzero-mean stochastic input is considered. The original problem is reduced to the optimization problem with convex restrictions. The solution is based on the sufficient condition for boundedness of the anisotropic norm.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115449988","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}
A heat exchanger is a specialized device that assists in the transfer of heat from one fluid to the other. In some cases, a solid wall may separate the fluids and prevent them from mixing. In other designs, the fluids may be in direct contact with each other. Heat exchangers are requisite in a range of industrial technologies, particularly in the energetic, chemical, polymer and rubber industry. Heat exchange processes often contain time-delay. This paper deals with design of a universal digital control algorithm for control of a great deal of processes with time-delay. This algorithm is realized by the digital Smith Predictor based on polynomial approach - Linear Quadratic (LQ) method. For a minimization of the LQ criterion is used spectral factorization. The designed polynomial controllers were verified not only by simulation but also by a real-time control of an experimental laboratory heat exchanger.
{"title":"Use of polynomial approach for control of heat exchanger","authors":"V. Bobál, M. Kubalcik, P. Dostál, S. Talas","doi":"10.1109/PC.2015.7169957","DOIUrl":"https://doi.org/10.1109/PC.2015.7169957","url":null,"abstract":"A heat exchanger is a specialized device that assists in the transfer of heat from one fluid to the other. In some cases, a solid wall may separate the fluids and prevent them from mixing. In other designs, the fluids may be in direct contact with each other. Heat exchangers are requisite in a range of industrial technologies, particularly in the energetic, chemical, polymer and rubber industry. Heat exchange processes often contain time-delay. This paper deals with design of a universal digital control algorithm for control of a great deal of processes with time-delay. This algorithm is realized by the digital Smith Predictor based on polynomial approach - Linear Quadratic (LQ) method. For a minimization of the LQ criterion is used spectral factorization. The designed polynomial controllers were verified not only by simulation but also by a real-time control of an experimental laboratory heat exchanger.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130730866","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}
The paper describes the time optimal path-planning method designed for differential wheeled mobile robots operating on flat ground. The robots are used as support teaching tool by the path-planning problematic exercising. Whereas the exercise is designed for students without any prior knowledge about the path-planning, the graph version of the A* algorithm was chosen as the appropriate algorithm for the problematic introduction. The students are supposed to exercise the path-planning using the evaluation functions of various difficulties. The most complex of them is the evaluation function reflecting both the transportation time and the time required for a robot rotation. Its mathematical formulation is described in the paper and its functionality is shown in three case studies where the shortest time-path between two locations in a labyrinth is required to be found.
{"title":"The time optimal path-planning of mobile robots motion respecting the time cost of rotation","authors":"Pavel Škrabánek, M. Mariska, P. Doležel","doi":"10.1109/PC.2015.7169968","DOIUrl":"https://doi.org/10.1109/PC.2015.7169968","url":null,"abstract":"The paper describes the time optimal path-planning method designed for differential wheeled mobile robots operating on flat ground. The robots are used as support teaching tool by the path-planning problematic exercising. Whereas the exercise is designed for students without any prior knowledge about the path-planning, the graph version of the A* algorithm was chosen as the appropriate algorithm for the problematic introduction. The students are supposed to exercise the path-planning using the evaluation functions of various difficulties. The most complex of them is the evaluation function reflecting both the transportation time and the time required for a robot rotation. Its mathematical formulation is described in the paper and its functionality is shown in three case studies where the shortest time-path between two locations in a labyrinth is required to be found.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125114156","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}
The paper provides modifications of the bounded real lemma application in the state feedback control design for discrete-time linear systems. This feasible task is formulated as an enhanced algorithm, applicable in the closed-loop control structure stability analyze and suitable in design of the control law matrix parameters. In relation to existing forms, the proposed method maintains the principle of Lyapunov matrix decoupling, proposed the comparable structures of the linear matrix inequalities while maintaining bonds among the variables.
{"title":"Discrete-time state feedback control design for linear systems","authors":"D. Krokavec, A. Filasová","doi":"10.1109/PC.2015.7169730","DOIUrl":"https://doi.org/10.1109/PC.2015.7169730","url":null,"abstract":"The paper provides modifications of the bounded real lemma application in the state feedback control design for discrete-time linear systems. This feasible task is formulated as an enhanced algorithm, applicable in the closed-loop control structure stability analyze and suitable in design of the control law matrix parameters. In relation to existing forms, the proposed method maintains the principle of Lyapunov matrix decoupling, proposed the comparable structures of the linear matrix inequalities while maintaining bonds among the variables.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116433897","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}
This contribution presents a new method for the prevention of problems caused by saturating sensors in an otherwise linear loop. Different from the known anti-windup schemes for input constraints the compensator is not stabilized during saturation, as this can lead to a deadlock situation in case of persistent disturbances. The new approach also does not use the modification of the linear part of the loop with the aid of a saturation indicator. The main feature of the new solution is an appropriate design of the controller which guarantees that sensor saturation does not destabilize the nonlinear loop. As the signal model for the persistent disturbances is active during saturation a robust rejection of persistent disturbances is achieved. Using a two-degrees-of-freedom control structure one also obtains a robust reference behaviour.
{"title":"Prevention of windup in output constrained minimum-phase systems","authors":"P. Hippe","doi":"10.1109/PC.2015.7169729","DOIUrl":"https://doi.org/10.1109/PC.2015.7169729","url":null,"abstract":"This contribution presents a new method for the prevention of problems caused by saturating sensors in an otherwise linear loop. Different from the known anti-windup schemes for input constraints the compensator is not stabilized during saturation, as this can lead to a deadlock situation in case of persistent disturbances. The new approach also does not use the modification of the linear part of the loop with the aid of a saturation indicator. The main feature of the new solution is an appropriate design of the controller which guarantees that sensor saturation does not destabilize the nonlinear loop. As the signal model for the persistent disturbances is active during saturation a robust rejection of persistent disturbances is achieved. Using a two-degrees-of-freedom control structure one also obtains a robust reference behaviour.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116543165","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}
Martin Jelemenský, Ayush Sharma, M. Fikar, R. Paulen
This paper deals with a multi-objective optimization of a general batch diafiltration process in the presence of fouling. Fouling, as one of the major problems in the membrane separation process, causes the decrease in the membrane area and thus the decrease in the filtration rate. The optimization problem considers a weighted combination of objectives for minimum-time and minimum-diluant operation. We apply numerical (orthogonal collocation) and analytical (Pontryagins minimum principle) methods to obtain the optimal operation of diafiltration process when fouling is considered. A case study from literature highlights the properties and economical benefits of the optimal operation.
{"title":"Multi-objective optimization of batch dialfiltration processes in the presence of membrane fouling","authors":"Martin Jelemenský, Ayush Sharma, M. Fikar, R. Paulen","doi":"10.1109/PC.2015.7169943","DOIUrl":"https://doi.org/10.1109/PC.2015.7169943","url":null,"abstract":"This paper deals with a multi-objective optimization of a general batch diafiltration process in the presence of fouling. Fouling, as one of the major problems in the membrane separation process, causes the decrease in the membrane area and thus the decrease in the filtration rate. The optimization problem considers a weighted combination of objectives for minimum-time and minimum-diluant operation. We apply numerical (orthogonal collocation) and analytical (Pontryagins minimum principle) methods to obtain the optimal operation of diafiltration process when fouling is considered. A case study from literature highlights the properties and economical benefits of the optimal operation.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122728181","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}
Steady-state control error occurs in case of unmeasured disturbances or disagreement between the model and the actual behaviour of the system because, state-space controllers do not have integral character. This problem (offset-free reference tracking) of state-space controllers has been observed in both theoretical and application areas (industrial MPC Implementation IDCOM, DMC, and QDMC IDCOM-M) for long time. The common solution is based on the model of the controlled system which is extended with the disturbance model. The article describes a simple approach to implement a system based on standard state-space controller with state vector estimation with additional parallel I-controller. Approach involving the I-controller in the process model of the controlled system is considered as another variant of predictive controller. The proposed solution with four variants of state-space controllers are demonstrated by simulation of MIMO system with three inputs and two.
{"title":"A comparative study of state-space controllers with offset-free reference tracking","authors":"F. Dušek, Daniel Honc, R. Sharma","doi":"10.1109/PC.2015.7169958","DOIUrl":"https://doi.org/10.1109/PC.2015.7169958","url":null,"abstract":"Steady-state control error occurs in case of unmeasured disturbances or disagreement between the model and the actual behaviour of the system because, state-space controllers do not have integral character. This problem (offset-free reference tracking) of state-space controllers has been observed in both theoretical and application areas (industrial MPC Implementation IDCOM, DMC, and QDMC IDCOM-M) for long time. The common solution is based on the model of the controlled system which is extended with the disturbance model. The article describes a simple approach to implement a system based on standard state-space controller with state vector estimation with additional parallel I-controller. Approach involving the I-controller in the process model of the controlled system is considered as another variant of predictive controller. The proposed solution with four variants of state-space controllers are demonstrated by simulation of MIMO system with three inputs and two.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123901170","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}
This paper deals with the nonlinear model predictive control of the superheated steam temperature in the power plant once-through boiler. Particularly the controller response on impulse of unmeasured disturbance in the form of flue gas heat is investigated. The two different nonlinear predictive controllers are described in the paper. The feedback of the first controller is closed by nonlinear open loop observer with correction for offset free reference tracking. The second controller works with the close loop state and unmeasured disturbance observer based on the nonlinear moving horizon algorithm. Responses of these two controllers and response of the original controller based on the adaptive PID are compared.
{"title":"Nonlinear model predictive control of the steam superheating - unmeasured disturbance suppression","authors":"J. Opalka, L. Hubka","doi":"10.1109/PC.2015.7169966","DOIUrl":"https://doi.org/10.1109/PC.2015.7169966","url":null,"abstract":"This paper deals with the nonlinear model predictive control of the superheated steam temperature in the power plant once-through boiler. Particularly the controller response on impulse of unmeasured disturbance in the form of flue gas heat is investigated. The two different nonlinear predictive controllers are described in the paper. The feedback of the first controller is closed by nonlinear open loop observer with correction for offset free reference tracking. The second controller works with the close loop state and unmeasured disturbance observer based on the nonlinear moving horizon algorithm. Responses of these two controllers and response of the original controller based on the adaptive PID are compared.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116368170","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}
This paper describes the development of nonlinear state-space predictive controller based on distributed fuzzy-neural model. The presented approach assumes a state-space representation in order to obtain more compact form of the model, without statement of a great number of parameters needed to represent nonlinear relations. To increase the flexibility of the network, a set of fuzzy inferences is used to estimate the current system states, as well as to construct a simple predictor needed to update the future system behavior along the defined horizons. At each sampling period an optimization task performing Quadratic Programming minimization assuming the imposed constraints on the system parameters is solved. The performance of the proposed controller is assessed by simulation experiments in modeling and control of nonlinear systems with complicated dynamics.
{"title":"Distributed fuzzy-neural state-space predictive control","authors":"Y. Todorov, M. Terziyska, Luybka Doukovska","doi":"10.1109/PC.2015.7169934","DOIUrl":"https://doi.org/10.1109/PC.2015.7169934","url":null,"abstract":"This paper describes the development of nonlinear state-space predictive controller based on distributed fuzzy-neural model. The presented approach assumes a state-space representation in order to obtain more compact form of the model, without statement of a great number of parameters needed to represent nonlinear relations. To increase the flexibility of the network, a set of fuzzy inferences is used to estimate the current system states, as well as to construct a simple predictor needed to update the future system behavior along the defined horizons. At each sampling period an optimization task performing Quadratic Programming minimization assuming the imposed constraints on the system parameters is solved. The performance of the proposed controller is assessed by simulation experiments in modeling and control of nonlinear systems with complicated dynamics.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134191370","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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