Sharif Digital Repository

Several attempts have been made to design suitable controllers for DC-DC converters. However, these designs suffer from model inaccuracy or their inability to desirably function in both continuous and discontinuous current modes. This paper presents a novel switching scheme based on hybrid modeling to control a buck converter using mixed logical dynamical (MLD) methodologies. The proposed method is capable of globally controlling the converter in both continuous and discontinuous current modes of operation by considering all constraints in the physical plant such as maximum inductor current and capacitor voltage limits. Different loads and input voltage disturbances are simulated in MATLAB... 

In the aspect of further development of investigations in the area of spacecraft modeling and analysis of the control scheme, a new hybrid finite-time robust three-axis cascade attitude control approach is proposed via pulse modulation synthesis. The full quaternion based control approach proposed here is organized in association with both the inner and the outer closed loops. It is shown that the inner closed loop, which consists of the sliding mode finite-time control approach, the pulse width pulse frequency modulator, the control allocation and finally the dynamics of the spacecraft is realized to track the three-axis referenced commands of the angular velocities. The pulse width pulse... 

In this paper an extended approach to the nonlinear DMC algorithm is proposed, which can handle constrained and MIMO systems under some defined conditions. This extension also admits higher control, M, and prediction, P, horizons that are required to increase the performance of the controller in most practical applications. Simulation results of the proposed method in the control of a stirred tank reactor with 2 inputs and 2 outputs nonlinear model are presented to illustrate effectiveness of the method and its justification. © 2003 IEEE  

Effect of random signals with various powers, as current loads, on positioning and disturbance rejection problems on micro-step PID closed loop control system is addressed in this paper. Experimental results due to implementing different white noise power, speed, and a 0.3 N.m disturbance load torque show that, Random noise source changes current profile and affects the accuracy of positioning in tracking and disturbance rejection problems. Performance of the PID proposed controller under the implementation of random noise on phases of the HSM has been proved to be accurate enough even under disturbance torque acting on the system. Copyright © 2005 by ASME  

Implementation of local quantum gate on specific qubits in an array of qubits by carrying a Hamiltonian around a closed loop is discussed. A family of isospectral Hamiltonians with the same spectrum of the projection operator on the main array is constructed by choice of a suitable curve. For every single qubit gate acting on the k-th qubit, a local operator Xk acts nontrivially on the ancilla and the qubit. Imbedding appropriate operators for a suitable set of qubit gates comprises of a universal set of quantum gates. In tensor product of the array one can enact holonomically any set of gates on any subset of qubits  

Resolver is an electromagnetic position sensor typically used in the closed-loop control of permanent magnet synchronous motors (PMSMs). In terms of structure and principle of operation, resolvers are very similar to electrical machines. In this regard, different numerical and analytical models have been developed for the performance prediction of a resolver, with a compromise between computational burden and accuracy. Therefore, a fast and accurate hybrid model of the resolver is presented in this article, which can be used for resolvers with different structures. Additionally, this model can easily be implemented in software such as MATLAB/SIMULINK. The performance of different variable... 

This paper presents a new analytical method to design fractional-order proportional- integral-derivative (PID) controllers. The control parameters are calculated so that the closedloop system approximates a desired transfer function with transient response requirements. This function is determined based on the characteristic ratio assignment method. The control parameters are calculated by matching the first three moments of the closed-loop transfer function with the corresponding values of the desired system. Furthermore, to ensure closed-loop stability the proposed method is improved by using the shifted moments around the crossover frequency. Illustrative examples are given to show the... 

The current methods of predictive controllers are utilized for those processes in which the rate of output variations is not high. For such processes, therefore, stability can be achieved by implementing the constrained predictive controller or applying infinite prediction horizon. When the rate of the output growth is high (e.g. for unstable nonminimum phase process) the stabilization seems to be problematic. In order to avoid this, it is suggested to change the method in the way that: first, the prediction error growth should be decreased at the early stage of the prediction horizon, and second, the rate of the error variation should be penalized. The growth of the error is decreased... 

In this paper, on the basis of a robust algorithm for the analysis of the 6 DOF motion of an underwater vehicle in calm water, after presenting the dynamics model and simulating motion, the model is put in the closed loop control to perform a controlled mission. The mission is defined as to navigate the submarine toward a desired point in the vertical plane. In performing the mission, the least time and of course the least position error with respect to the target point is aimed. The designed controller based on fuzzy logic and thus adapted to the human patterns for navigation, with a simple structure, performs the mission accurately. The intelligent structure of the fuzzy controller,... 

Diabetes, as a widespread chronic disease, is caused by the increase of blood glucose concentration (BGC) due to pancreatic insulin production failure and/or insulin resistance in the body. The artificial pancreas (AP) known as a closed-loop insulin delivery control system consists of a glucose sensor for BGC measurement, a control algorithm for calculation of exogenous insulin delivery rate (IDR), and an insulin infusion pump. The AP provides a closed-loop glucose-insulin regulatory system for type-1 diabetes mellitus (T1DM) patients in order to effectively reduce the high BGC level. In this paper, we aim to design a controller in order to regulate the BGC of T1DM patients at its basal... 

Diabetes, as a widespread chronic disease, is caused by the increase of blood glucose concentration (BGC) due to pancreatic insulin production failure and/or insulin resistance in the body. The artificial pancreas (AP) known as a closed-loop insulin delivery control system consists of a glucose sensor for BGC measurement, a control algorithm for calculation of exogenous insulin delivery rate (IDR), and an insulin infusion pump. The AP provides a closed-loop glucose-insulin regulatory system for type-1 diabetes mellitus (T1DM) patients in order to effectively reduce the high BGC level. In this paper, we aim to design a controller in order to regulate the BGC of T1DM patients at its basal... 

In this paper, a modified frequency control model is proposed, where the demand response (DR) control loop is added to the traditional load frequency control (LFC) model to improve the frequency regulation of the power system. One of the main obstacles for using DR in the frequency regulation is communication delay which exists in transferring data from control center to appliances. To overcome this issue, an adaptive delay compensator (ADC) is used in order to compensate the communication delay in the control loop. In this regard, a weighted combination of several vertex compensators, whose weights are updated according to the measured delay, is employed. Generating the phase lead is the... 

DC-link voltage and output current control loops are two cascaded loops in the control structure of grid-connected inverters. A high DC-link voltage loop bandwidth (DCL-BW) provides more disturbance rejection capability for the control loop and is preferred from control system perspective. However, for stability issues, this BW is limited and must be sufficiently less than that of the current control loop. Among the different control schemes, instantaneous active reactive control (IARC) method provides the highest possible DCL-BW (i.e., 0.02 × switching frequency). Having this degree of freedom in the controller design, a proper methodology should be defined for selection of DCL-BW. In this... 

In this paper, a theoretical investigation of nonlinear vibrations of a 2 degrees of freedom system when subjected to saturation is studied. The method has been especially applied to a system that consists of a DC motor with a nonlinear controller and a harmonic forcing voltage. Approximate solutions are sought using the method of multiple scales. It is shown that the closed-loop system exhibits different response regimes. The nature and stability of these regimes are studied and the stability boundaries are obtained. The effects of the initial conditions on the response of the system have also been investigated. Furthermore, the second-order solution is presented and the corresponding... 

It would be promising if one can simulate the closed-loop behavior of a smart system in an available FEM software such as "ANSYS". The ANSYS/Multiphysics software has the ability of coupling different physical domains and also modeling smart materials such as piezoelectric and piezoresistives, i.e. it has the capability of modeling smart structures. The dynamic modeling of the controlled structures is then realized by the ANSYS programming tool. This aspect highly facilitates the overall system behavior analysis and at the same time various control methods can be tested without noticing the time consuming structural analysis involved. In this research work, it is tried the mentioned idea to... 

A new robust AQM strategy for dynamically varying TCP/AQM networks is proposed and its performance is investigated through computer simulations in MATLAB and ns-2 environments. The developed AQM is designed based on coefficient diagram method (CDM), which is a new indirect pole placement method that considers the speed, stability and robustness of the closed loop system in terms of time domain specifications. Simulation results indicate that the new method (CDM-AQM) performs very well for network variations both in topology and traffic. Besides, a new adaptive controller based on CDM as an AQM method is introduced. In the developed adaptive AQM (ACDM), the output feedback pole placement is... 

This paper presents a supervisory multi-agent control policy over an acoustic communication network subject to imperfections (packet dropout and transmission delay) for localisation of an underwater flow source (e.g., source of chemical pollution, fresh water, etc.) with an unknown location at the bottom of the ocean. A two-loop control policy combined with a coding strategy for reliable communication is presented to perform the above task. A simulator is developed and used to evaluate the trade-offs between quality of communication, transmission delay and control for a fleet of autonomous underwater vehicles supervised over a noisy acoustic communication network by an autonomous surface... 

In this paper a neural network decentralized control for trajectory tracking of robot manipulators is developed. The proposed decentralized control allows the overall closed-loop system to be stabilized while making the tracking error to be uniformly ultimately bounded (UUB), without having any prior knowledge of the robot manipulator dynamics. The interconnections in the dynamic equations of each subsystem are considered with unknown nonlinear bounds. The RBF neural networks (RBFNNs) are proposed to model the unknown nonlinear dynamics of the robots and the interconnection terms. Using Lyapunov method, the stability of the overall system is investigated, © 2005 IEEE  

A parallel manipulator is a closed loop mechanism in which a moving platform is connected to the base by at least two serial kinematic chains. The main problem engaged in these mechanisms, is their restricted working space as a result of singularities. In order to tackle these problems, many methods have been introduced by scholars. However, most of the mentioned methods are too much time consuming and need a great amount of computations. They also in most cases do not provide a good insight to the existence of singularity for the designer. In this paper a novel approach is introduced and utilized to identify singularities in parallel manipulators. By applying the new method, one could get a... 

This article describes the development of an 18 kV, 30 kW power supply for a pulsed current load with the maximum current of 20 A and a di/dt equal to 100 A/μs. The achieved output ripple is less than 0.01%. In such a high level of precision, the most important issues are considerable difference between the instantaneous and average output powers, as well as insufficient reaction speed of the converter to the fast load change. Very low level of the voltage feedback and its sensitivity to the noise. The first issue necessitates a notable overdesign of the converter switches if the output voltage precision is dedicated to the converter. The second issue raises the problems relevant to...