Sharif Digital Repository

Adaptation is a recurring phenomenon in biology by which biochemical systems can robustly- and in some cases completely- adapt their regulated outputs to en- vironmental disturbances and uncertainties. In nature, such a feature has been evolved in biological circuits through the construction of integral feedback control structures. Three types of biologically plausible controllers have been recently in- troduced which can ensure the existence of robust perfect adaptation for arbitrary plants. In this thesis, the main purpose is to have a comparison between them. To this end, we first find a stability criterion to relate the system’s stability with its internal parameters. We then calculate a... 

Examining composite quantum systems through quantum thermodynamics, we face the new concept of binding energy. In this thesis, we are going to present a general definition for binding energy in quantum systems which covers any kind of interactions. First of all, we examine the possibility of energy exchange in a quantum system using quantum thermodynamics. In this theory, energy exchanges of an open quantum system may be divided in to two portions: heat and work; due to an accepted definition, heat is the portion of energy that is supposed to change entropy, while work has no influence on that. In this research, we restrict our calculations to the systems which are thermally closed and... 

Conventional chemotherapy methods impact both normal and cancerous cells; therefore, it is essential to design novel drug delivery systems in order to reduce drugs’ side effects. Having high retention time in blood and the capability of crossing blood-brain barriers are the characteristics of nano-scaled drug delivery systems.The research thesis is about the synthesis and characterization of the light-sensitive biocompatible nanogels with the core-shell structure with the intention of Doxorubicin anti-cancer drug delivery. These smart nanogels possess a hydrophobic core coated with hydrophilic starch polymeric chain modified with beta-cyclodextrin. The formation of the core-shell structure... 

The subject of this study is design of a linear quadratic Gaussian controller based on identification of dynamic behavior of unmanned model helicopter “Raptor” in its hover flight. To achieve this end, first, the helicopter linear transfer functions are identified with frequency response method by applying specific inputs to the model of Raptor in the X-Plane software and receiving system outputs via Simulink. Next, using the identified dynamic model of the helicopter, an optimum linear controller is designed for hover flight. As an optimum linear controller needs all the state variables, a Kalman filter is utilized to estimate them, using outputs of various sonsors such as GPS and gyro.... 

Preventing critical damages to structures and hence saving the lives and money is an inevitable work which a designer has to do. During the earthquake, huge amount of energy applies to the structure and finding a way to reduce transfer of this energy to main structure is crucial. For this purpose, Structural Control systems may be used. Metallic Dampers are one of those systems which absorb the earthquake input energy by having nonlinear deformations. In this Thesis, one type of this dampers which is innovated by Estekanchi, have been studied .Indeed, this damper is a connection between bracing and main frame. In this damper a U shape part acts as a sacrificing portion and absorbs energy by... 

In this work dynamic behavior of a two body TSS with main satellite as rigid body is studied and effects of tether elasticity and tension on the satellite dynamic are indicated in station keeping phase and circular orbit. Also a simplified modeling is introduced which could be used in nonlinear controller design. Lagrange and extended Lagrange method is used to derive equations of motion. It is shown that longitudinal vibration of tether has small effect on satellite attitude and angular velocity and because of high frequency it can be decoupled from satellite dynamic. In the simplified model, orbital motion is decoupled from equations of TSS and main satellite dynamic. Effect of decoupling... 

Microrobots have the potential to access small spaces for manipulation or for acting as a sensor. Magnetic microrobots are the most common types of microrobots. Magnetic microrobots have gained particular traction for medical applications due to safety of tissues. For instance, disease diagnosis, minimally invasive surgery and cell manipulation are potential applications of magnetic microrobots. The performance of a single microrobot could be improved by using multiple robots. For example each microrobot could carry a small payload to a goal inside a microfluidic channel, or could assemble fast and in parallel. In order to employ multiple robots, it is necessary to control each microrobot... 

Magnetic steering of continuum robots is a promising technology that uses a magnetic field to control the robot without contact and can improve the accessibility, safety, and accuracy of the robot. On the other hand, magnetic localization can also be used as a positioning method without direct line of sight in various applications. Common magnetic localization methods face the challenge of dependence on initial guess, divergence, and high computational cost. In this research, by eliminating the unknowns related to the orientation and rewriting the equations, a new method for magnetic localization has been presented. The advantage of the new method in convergence and increasing the speed of... 

Gas turbine engine control is a demanding task that requires the regulation of the thrust as well as the satisfaction of the limitations such as engine aerodynamic instability, over temperature and over speed. Fuzzy logic is an attractive technique for the control of poor understood unmodeled, or complex systems especially where the experience of human operators is available to provide qualitative rules. In such cases, it has been found that control decisions can be made on the basis of linguistic measures or fuzzy algorithms. The controller that is designed on the basis of this theory is called fuzzy logic controller. The main objective of this thesis is hardware implementation of fuzzy... 

Direct Torque Control (DTC) is one of the vector methods to control Permanent Magnet Synchronous Machines (PMSM). In order to achieve an appropriate control in vector control methods, an accurate estimation of flux is indispensable. Flux estimation should be fulfilled in a wide speed range without considerable dependence on motor parameters. Prevalent flux estimation methods are based on integration of stator voltage which is not feasible in low speed, or performed based on assumption of decoupled equations on d and q axis which is not precise for applications with fast dynamic. Different flux estimation methods are investigated in this thesis with the aim of improving the flux estimation in... 

Common induction motors are controlled with the stator voltage and so all the power passes throw the converter. In the Brushless Doubly-fed Induction Motor (BDFM) a converter with smaller size and lower cost can be used. Also its brushless operation and cage rotor are advantages in comparison with doubly-fed induction motors with rotor excitation. Direct Torque Control is a method to control induction motors. Its advantages include fast responses to flux and torque commands, not requiring to know machine parameters except winding resistors, and easy implementation. In this thesis application of this method to control the BDFM is studied. At the first, electromagnetic mechanism and coupling... 

In this thesis, a decentralized controller for trajectory tracking of robot manipulators is developed. Proposed control scheme use uncalibrated joint torque sensors. Recently, it has been shown that the use of joint torque sensing results in a simplified manipulator model and reduce the need of dynamic model of links for controlling. In this thesis, we use the special lower triangular structure of this simplified model for decentralized control of manipulator. For the first time a smooth decentralized law is designed which makes both position and velocity tracking errors of robot manipulators globally converge to zero. Against most of previous work in decentralized control of manipulators,... 

Human walking is widely recognized as one of the most adaptable and robust forms of locomotion in nature, with intricate neural and biomechanical systems interacting to support this complex behavior. It is proposed that these systems are organized in a hierarchical structure, with the lower level comprising a complex distributed system consisting of muscles and the spinal cord, and the higher level being the brain cortex. The higher level is responsible for training and monitoring the output of the lower level, and intervening when the lower system fails to stabilize the system. To control the lower level, one popular model that has emerged is the central pattern generator (CPG). It is... 

Dynamic modeling and process control, especially the equipment of bioreactors and fermenters, have always faced many challenges due to the complexity and high uncertainty of the kinetics of environmental reactions. Among these, semi-continuous fermentation for bioethanol production is one of the important technologies in biochemical industries. The problem of modeling as well as controlling the use of the main discontinuous and semi-continuous methods of ethanol production is the lack of uniform state conditions and the possibility of aerobic and non-aerobic multiplication conditions in two ways. The main goal of this research is to obtain a new method in modeling bioethanol fermentation and... 

In this thesis, dynamics of a turbojet’s fuel control unit is studied for the nature and the range of its inputs and outputs. Then, inputs and outputs involved in the system identification process are determined. Tools needed for the application of the input and the signal data sampling are recognized, and henceforth, with the appropriate input applied and the frequency-domain system identification process carried out, desired linear transformation functions representing dynamics of the fuel control unit are found. Using these transformation functions, the fuel control unit is simulated to be converted to an electronic control unit  

To coordinate between different echelons in supply chains, it is necessary to analyze the multi-echelon inventory systems. Access to advanced technologies in Information Technology make some changes in the inventory management in these systems. Theses technologies that were gradually got inexpensive are attractive for researchers of the multi-echelon inventory systems. Using theses technologies, the information that leads to costs reduction in a supply chain is accessible economically. In this thesis, first efficient solutions for Base Stock and Reorder point, Quantity of order policies will be derived. Then, a serial two-level supply chain comprised of one retailer and one supplier will be... 

The application of Stochastic Differential Equations in branches like nonlinear control,robatic systems, financial mathematics and etc. has grown impressively nowadays. In this thesis, we are going to introduce this equations and study their stability. First, we will present methods to check the stability of nonlinear systems dx(t) = f(x(t); t)dt using Lyapunov’s theorem.Then we will study stability of autonomous systems using it’s results. In the case of instability, we will study the possibility of stabilizing the stochastic equations dx(t) = Ax(t)dt + Σn i=1 Bix(t)dWi(t) by using Brownian motions and these methods. In the end, we will study the stabilizablity conditions of instable... 

The present study focus is on finding a new solution to control laminar separation bubble phenomenon by combustion actuators in micro scale, which is investigated in flows with low Reynolds number surface effect and free flows. The main parameters in this problem are classified in three groups of formation location of laminar separation bubble, its length, and transition from laminar to turbulent around airfoil SD8020 in attack angle of 5 and 8 degree. Following that, the new combustion actuators in micro scale method the comparison it with cold (and hot) air jet injection is introduced to control boundary layer flow with separation bubble point of view. Some mechanisms are identified in... 

The PID controller has been used for a long history in control engineering and is acceptable for many real applications due to its simplicity in architecture. Hence, in many real industrial applications, the PID controller is still widely used even though lots of new control techniques have been proposed. In recent years, by developing fractional calculus in control applications, using fractional order PID controller —which is simply called — was proposed by Podlubny. Up to now, several methods of tuning fractional order PID controller has been established for time invariant systems, but dynamics of real systems are mostly time varying. Because of this fact, using adaptive control and... 

Analysis and design of power systems are challenging due to ever increasing dimension of the system and also the nonlinearities involved in the system. The conventional approach is to use linear analysis tools and then investigate the nonlinear impacts by the means of computer simulations. This requires great deal of trial and error and it is not always a timely approach. In this project, we initiate a comprehensive nonlinear analysis for a single-machine infinite-bus system by studying a Hopf bifurcation in its dynamics. We use results of our nonlinear analysis to study how a capacitive compensation such as TCSC works. Subsequently, we design a nonlinear controller for a PSS to have...