Sharif Digital Repository

Various control charts have been proposed to monitor generalized linear pro les in Phase II. However, the robustness of the proposed methods in detecting di erent types and especially di erent directions of changes is not well-studied in the literature. In real-world applications, di erent kinds of change such as drift and multiple changes are likely to occur, which can be isotonic (increasing) or antitonic (decreasing). This paper studies the robustness of the Rao Score Test (RST) method, T2, and Multivariate Exponential Weighted Moving Average (MEWMA) in di erent types, drift and multiple, and directions of changes. The RST method also bene ts from a change-point detection approach whose... 

A practical design method is presented which used the fuzzy logic advantages in adaptation of sliding mode control. The combined Fuzzy Adaptive Sliding Control (FASC) is designed in such a way to enhance satisfactory sliding performance and robustness with good level of chattering alleviation. The design approach is valid for a class of nonlinear uncertain MIMO systems. This control algorithm does not require the system model. A supervisory term is appended to the controller to assure the stability of fuzzy sliding mode control through Lyapunov theory. The design approach has been applied to a 2DOF twin propeler system with large uncertainty. Simulation results verified effectiveness of... 

The widespread presence of contingent generation, when coupled with the resulting volatility of the chronological net-load (i.e., the difference between stochastic generation and uncertain load) in today's modern electricity markets, engender the significant operational risks of an uncertain sufficiency of flexible energy capacity. In this article, we address several operational flexibility concerns that originate from the increase in generation variability captured within a security-constrained unit commitment (SCUC) formulation in smart grids. To quantitatively assess the power grid operational flexibility capacity, we first introduce two reference operation strategies based on a two-stage... 

This paper studies the robust stability of the fractional-order (FO) LTI systems with polytopic uncertainty. Generally, the characteristic polynomial of the system dynamic matrix is not an affine function of the uncertain parameters. Consequently, the robust stability of the uncertain system cannot be evaluated by well-known approaches including LMIs or exposed edges theorem. Here, an over-parameterization technique is developed to convert the main characteristic polynomial into a set of local over-parameterized characteristic polynomials (LOPCPs). It is proved that the robust stability of LOPCPs implies the robust stability of the uncertain system. Then, an algorithm is proposed to explore... 

To achieve high rate of data transfer, tape mechanisms must be able to transport the tape with a constant velocity for scanning. During this process, it is desired to make the rise time minimized without timing and data transfer errors. In this paper, three servo systems including the take-up and supply reel servos for tape tension control and capstan servo for speed control are considered. So, tape transport mechanisms can be described with a nonlinear multi-input multi-output system (MIMO). After state-space representation of the problem, feedback control is designed for tracking objective. It should be mentioned that an increase in the speed of time response of system corresponds to an... 

This article proposes a blind discrete wavelet transform-discrete cosine transform (DWT-DCT) composite watermarking scheme that is robust against print and scan distortions. First, two-dimensional DWT is applied to the original image to obtain the mid-frequency subbands. Then, a one-dimensional DCT is applied to the selected mid-frequency subbands to extract the final coefficients for embedding the watermark. To specify watermarking parameters, we utilize a Genetic Algorithm to achieve a predefined image quality after watermark insertion. Suitable locations for watermarking are determined by analyzing the effect of a modeling algorithm. This model simulates noise and nonlinear attacks in... 

This paper presents a robust decentralized proportional-integral (PI) control design as a solution of the load frequency control (LFC) in a multi-area power system. In the proposed methodology, the system robustness margin and transient performance are optimized simultaneously to achieve the optimum PI controller parameters. The Kharitonov's theorem is used to determine the robustness margin, i.e., the maximal uncertainty bounds under which the stable performance of the power system is guaranteed. The integral time square error (ITSE) is applied to quantify the transient performance of the LFC system. In order to tune the PI gains, the control objective function is optimized using the... 

The practicality of robust model predictive control of systems with model uncertainties depends on the time consumed for solving a defined optimization problem. This paper presents a method for the computational complexity reduction in a robust model predictive control. First a scaled state vector is defined such that the objective function contours in the defined optimization problem become vertical or horizontal ellipses or circles, and then the control input is determined at each sampling time as a state feedback that minimizes the infinite horizon objective function by solving some linear matrix inequalities. The simulation results show that the number of iterations to solve the problem... 

Long-span bridges usually experience different input excitations at their ground supports that emanate from differences in wave arrival times, and soil conditions, as well as loss of coherency in arriving waves. These spatial variations can drastically influence the dynamic response; hence, this phenomenon must be considered in any vibration-based identification method. There are numerous Multi-Input Multi-Output (MIMO) identification techniques that may be applied to data recorded at long-span bridges that experience spatial variations in their input motions. However, inertial soil-structure interaction effects severely reduce the accuracy of these techniques because the actual Foundation... 

Offline procedures for estimating parameters of robot dynamics are practically based on the parameterized inverse dynamic model. In this paper, we present a novel approach to parameter estimation of robot dynamics which removes the necessity of parameterization (i.e. finding the minimum number of parameters from which the dynamics can be calculated through a linear model with respect to these parameters). This offline approach is based on a simple and powerful swarm intelligence tool: the particle swarm optimization (PSO). In this paper, we discuss and validate the method through simulated experiments. In "Part Two" we analyze our method in terms of robustness and compare it to robust... 

In this paper, a novel decentralized adaptive control scheme for multiagent formation control is proposed based on an integration of artificial potential functions with robust control techniques. Fully actuated mobile agents with partially unknown models are considered, where an adaptive fuzzy logic system is used to approximate the unknown system dynamics. The robust performance criterion is used to attenuate the adaptive fuzzy approximation error and external disturbances to a prescribed level. The advantages of the proposed controller can be listed as robustness to input nonlinearity, external disturbances, and model uncertainties, and applicability on a large diversity of autonomous... 

A novel intelligent semi-active control system for an eleven degrees of freedom passenger car's suspension system using magnetorheological (MR) damper with neuro-fuzzy (NF) control strategy to enhance desired suspension performance is proposed. In comparison with earlier studies, an improvement in problem modeling is made. The proposed method consists of two parts: a fuzzy control strategy to establish an efficient controller to improve ride comfort and road handling (RCH) and an inverse mapping model to estimate the force needed for a semi-active damper. The fuzzy logic rules are extracted based on Sugeno inference engine. The inverse mapping model is based on an artificial neural network... 

Recently, protecting the copyright of digital media has become an imperative issue due to the growing illegal reproduction and modification of digital media. A large number of digital watermarking algorithms have been proposed to protect the integrity and copyright of images. Traditional watermarking schemes protect image copyright by embedding a watermark in the spatial or frequency domain of an image. However, these methods degrade the quality of the original image in some extend. In recent years, a new approach called zero-watermarking algorithms is introduced. In these methods, the watermark does not require to be embedded into the protected image but is used to generate a verification... 

Along with the improvement of image watermarking techniques, the necessity for effectively and comprehensively evaluating various algorithms becomes imperative. In this paper, we first propose a new categorization that fits for most of the existing watermarking algorithms that work in the wavelet domain. Then an adaptive watermarking attack for evaluating the robustness of watermarking schemes that are based on the proposed categorization is presented. This attack determines the flat regions, edges, and textures of the watermarked image and based on known features of each region the proposed attack tries to destroy the watermark information. This is done by separately manipulating the... 

In this paper, by introducing a new general state-space form for uncertain linear time-invariant fractional-order systems subjected to interval and polytopic uncertainties, two problems including robust stability analysis and robust stabilization of the presented systems are investigated. Subsequently, two sufficient conditions in terms of several linear matrix inequalities for the problems mentioned are concluded as two separate theorems. It is assumed that the fractional order α is a known constant belonging to 0 < α < 1. Simulation results of two different numerical examples demonstrate that the provided sufficient conditions are applicable and effective for tackling robust stability and... 

Integrated guidance and control of an elastic flight vehicle based on constrained robust model predictive control is proposed. The design is based on a partial state feedback control law that minimizes a cost function within the framework of linear matrix inequalities. It is shown that the solution of the defined optimization problem stabilizes the nonlinear plant. Nonlinear kinematics and dynamics are taken into account, and internal stability of the closed-loop nonlinear system is guaranteed. The performance and effectiveness of the proposed integrated guidance and control against non-maneuvering and weaving targets are evaluated using computer simulations  

In this paper, a semi-blind multiplicative watermarking approach for audio and speech signals has been presented. At the receiver end, the optimal maximum likelihood (ML) detector aided by the archived information for Gaussian and Laplacian signals in noisy environment is designed and implemented. The performance of the proposed scheme is analytically calculated and verified by simulation. Then, we adapt the proposed scheme to speech and audio signals. To improve robustness, the algorithm is applied to low frequency components of the host signal. Besides, the power of the watermark is controlled elegantly to have inaudibility using perceptual evaluation of audio quality (PEAQ) and perceptual... 

Economic design of multivariate exponentially weighted moving average (MEWMA) control charts for monitoring the process mean vector involves determining economically the optimum values of the three control parameters: the sample size, the sampling interval between successive samples, and the control limits or the critical region of the chart. In the economic-statistical design, constraints (including the requirements of type I error probability and power) are added such that the statistical property of the chart is satisfied. In this paper, using the multivariate Taguchi loss approach, the Lorenzen-Vance (Technometrics 28:3-10, 1) cost function of implementing the control chart is extended... 

A linear time-invariant (LTI) robust servomechanism controller for islanded (autonomous) operation of a distributed generation (DG) unit and its local load is proposed. The DG unit utilizes a voltage-sourced converter (VSC) as the interface medium. The controller design is obtained by introducing a new optimal controller design procedure, in conjunction with a proposed non-conservative robustness constraint. The proposed controller utilizes 1) an internal oscillator for frequency control and 2) a robust servomechanism controller (RSC) to regulate the island voltage. Despite uncertainty of the load parameters, the proposed controller guarantees robust stability and pre-specified performance... 

A hot gas generator is a compact heat exchanger that produces high temperature or enthalpy gases. This paper presents two methods for controlling the system. The first one is an adaptive sliding mode controller that is a Lyapunov based method and proposed to confront the dynamic modeling deficiencies and system uncertainties. The second one is a linear adaptive controller that gives a new attractive ability to the system which can track a complicated requested path. Each of the presented controllers has some capabilities that may be preferred to other. In this paper, these methods are extensively compared by several transient inputs. On the other hand, since heat exchangers are typically...