Sharif Digital Repository

This paper presents a control oriented model for predicting turbine major variables in a turbocharged spark ignition engine. The turbine is simulated as a two-nozzle chamber where the pressure ratio over the two nozzles is not the same. A convex nonlinear estimation algorithm is formulated to determine the relation between these pressure ratios. The new model is experimentally validated with transient and steady state data collected from a 1.7 liter gasoline engine. The results show the new model can predict the turbine mass flow with an average error of 1.4%. In addition, the application of the turbine model is illustrated for the design of a nonlinear observer to estimate the turbocharger... 

In this study, adaptive observer-based synchronization of chaotic systems is considered. The master and slaves systems have different dynamics and it is assumed that the master system parameters are unknown while its states are available. First, it is assumed that the slave system parameters are known but its states are not completely available. It is shown that an observer for the slave system can be designed and applied for the purpose of synchronization. Based on a Lyapunov function, an adaptive law for master parameters estimation and a control law for the synchronization goal are extracted. Stability of the entire system including the observer dynamics has been proved. Further, it is... 

In this paper, an approach is proposed to estimate the location of leakages in liquid transmission lines with a high accuracy. First, the mathematical model is analyzed and a closedform solution is provided for the partial differential equations of the pipeline. Next, the leakage location is calculated using the closed-form solution. The calculations are applied to various leakages and are extended to a case in which the pressure and flowrate do not converge to constant values. Considering a singleleakage pipeline system, a linear observer is utilized to estimate the leakage location with reduced errors. The simulation results are presented and the proposed method is verified by changing the... 

In this paper a decentralized control scheme for multiple cooperative manipulators is developed to achieve the desired performance in motion and force tracking, in the presence of uncertainties in dynamic equations of the robots. To eliminate the effects of uncertainties in the closed-loop performance, a new adaptive control algorithm is proposed. Based on the Lyapunov stability method, it is proved that all the error signals in the closed-loop system which is compose of a robot, an observer and a controller asymptotically converge to zero. Also to avoid the difficulties of using velocity sensors within the cooperative system, an output feedback control scheme with a linear observer is used.... 

This paper presents the feedback linearization control of HIV infection. A multi-input multi-output (MIMO) dynamic nonlinear HIV infection model for this purpose has been used. For this purpose, three widely used drugs are considered. A Luenberger-like nonlinear observer (LNO) is designed for estimation of unavailable states. To minimize the side effects of drugs, the concentration of ZDV which has the highest side effect is fixed to a minimum value and the external controllers parameters are obtained by maximizing an objective function. In the control design, limitations on drug consumption and unavailability of all states are taken into account. The closed-loop stability has been... 

This paper presents a dynamically smooth nonlinear observer for satellite attitude determination. The proposed observer uses a 3-axis gyro and a single vector measurement to estimate the attitude of a satellite. The proposed observer preserves orthogonality of the estimated attitude matrix for all time. Almost global and exponential convergence of the estimated attitude to its true value is proven without persistency of excitation conditions. The convergence rate is shown to depend on properties of certain time varying reference vectors expressed in inertial frame. A procedure for maximizing a lower bound of the convergence rate is also presented. Performance of the proposed observer is... 

Forecasting is a challenging problem in highly nonlinear dynamic systems. The main goal in development of forecasting models in complex systems is to produce a model that can accurately behave similar to the main system. In problems such as air pollution forecasting, the presence of uncertainties and nonlinearities affects the model's precision. In this paper, ozone concentration, which is well-known as an index for air pollution is forecasted using neuro-fuzzy models. Causal variables are integrated in the models in order to enhance the model's performance. The results are compared to a fuzzy logic approach to demonstrate reliability and accuracy of the proposed model using real observed... 

In this study, a nonlinear observer for high-speed estimation of the sample surface topography in a small duration of the probe transient motion utilizing a 2DOF model of TR-AFM is proposed. Since the time duration to reach the steady-state periodic motion of the oscillating probe in conventional imaging methods is relatively high, the proposed nonlinear observer in this research is able to address this limitation and estimate the surface topography throughout transient oscillation of the microcantilever. With this aim, topography estimation process utilizing a Thau observer without any linearization of the system dynamics is designed and coupled with the system dynamics to achieve sample... 

In this study, a nonlinear observer for high-speed estimation of the sample surface topography in a small duration of the probe transient motion utilizing a 2DOF model of TR-AFM is proposed. Since the time duration to reach the steady-state periodic motion of the oscillating probe in conventional imaging methods is relatively high, the proposed nonlinear observer in this research is able to address this limitation and estimate the surface topography throughout transient oscillation of the microcantilever. With this aim, topography estimation process utilizing a Thau observer without any linearization of the system dynamics is designed and coupled with the system dynamics to achieve sample... 

This work considers the problem of designing a fault tolerant system for IPMS motor drive subject to current sensor fault. To achieve this goal, two control strategies are considered. The first is based on field oriented control and a developed adaptive backstepping observer which simultaneously are used in the case of fault-free. The second approach proposed is concerned with fault tolerant strategy based on observer for faulty conditions. Stator resistance as possible source of system uncertainty is taken into account under different operating conditions. Current sensors failures are detected and observer based on adaptive backstepping approach is used to estimate currents and stator... 

This paper describes a control scheme that allows an IPMS motor drive system to operate in the event of current and speed sensor faults. This task can be achieved by two control strategies: a nominal performance controller and a fault detection part. The nominal controller combines field oriented control and addresses fault tolerance scheme. Fault-tolerant strategy will operate in parallel with the system until a fault is detected. This approach is based on the adaptive backstepping observer. Stator resistance as possible source of system uncertainty is taken into account under different operating conditions. Sensors failure are detected and developed observer is used to estimate currents... 

A new algorithm for complete pre-flight calibration of triple magnetometers is developed. The traditional approach for calibrating these sensors are based on a cumbersome procedure called 'swing' that involves levelling and rotating the vehicle containing the magnetometers through a series of known headings. Application of such a procedure is difficult and costly. Recently, new approaches have been developed to calibrate magnetometers without the need of attitude information. Such methods are used mostly for the calibration of biases and scale factors. Additionally in situations where misalignment errors are also to be estimated, they are usually modelled as errors of a non-orthogonal frame...