Sharif Digital Repository

In this research, using orthonormal filters, an adaptive-robust controller is designed for a class of SISO dynamic systems for which the input and output datas are available. First, Laguerre filters are combined with orthonormal Chebyshev functions to increase the capability of Laguerre filters in identification of systems with unknown dynamics. Then, the resulted Lagueree-Chebyshev structure is used for closed loop identification of the system and controller is designed. Moreover, RBF neural networks are used to approximate some nonlinear terms appearing in the controller design process.
Finally, in order to minimize the control effort, a new approach is proposed that leads to a set... 

Fractional Order Transfer Functions (FOTF) in comparison to Integer Order Transfer Functions, have higher degree of freedom and as a result they can behave more dynamically. Many methods for approximation of these transfer functions have been developed in recent years allowing to implement and simulate their time-domain and frequency-domain characteristics.
Fractional order orthonormal Laguerre filters are a generalization of conventional orthonormal Laguerre filters in fractional order transfer functions domain. Orthonormal Laguerre filters have applications in signal processing and system identification. In this thesis, we investigate the application of fractional order laguerre... 

Nowadays, modern life needs energy resources. In the last few centuries, countries have focused on the use of fossil fuels. However, excessive use of fossil fuels, such as oil and coal, has resulted in enormous environmental hazards. Global warming and air pollution are the most visible manifestations of these hazards. In recent years, energy researchers have been looking for alternative sources. The result of this approach is to pay attention to clean and renewable resources such as wind energy.Wind turbines are used to generate electrical energy out of wind. Among the different types, floating offshore wind turbines have been mostly considered because of various benefits. However, they... 

Wind energy is one of the fastest-growing renewable energy sources around the world. Nowadays, the use of offshore wind turbines has increased due to the high and uniform wind at sea, as well as resolving environmental issues such as making noise and sound pollution. Advances in wind energy technology has been effective in wind turbine control systems. Because the offshore wind turbines are affected by the turbulent wind and wave profiles, the control system should be designed to increase the output power quality, as well as alleviating the mechanical loads on different parts of the turbine. In this research, multiple model predictive control method is used to control offshore wind turbines,... 

Employing wheeled mobile robots is growing in industry, transportation, space and defense industry and many other social fields as well. These robots are used to execute distinct forms of operations and tasks such as exploring the surface of the earth and other planets, serving in public places, backing natural disasters and warehousing, and so forth. In some cases, the assigned mission may not be capable of being performed as intended by a single robot. In this case, several robots will work together to execute a particular mission. Several research topics that are under investigation currently include the interacting procedure of robots as a multi-agent system in order to perform the... 

Concerns about fossil fuels and the consequent effects of burning such fuels on the environment have drawn attention of different countries around the world to the development of renewable energy systems, and it has encouraged researchers to focus on expanding the methods of using different sources of renewable energy. One of the most important renewable energies is wind energy, which is generated by wind turbines. A cluster of wind turbines forms a wind farm. Wind turbines can be equipped with a supervisory control system that sends the data measured by the sensors to the operator. Design of supervisory control algorithm for a wind farm requires a model of the wind farm system. The task of... 

Technology systems are vulnerable to various defects. Acuator failures reduce the performance of control systems and even they can damage the entire system. Incorrect reading from the sensors is the cause of many inefficiencies, because errors can reduce the quality and efficiency of a product line. In addition, failure of a single system's component can cause a system failure. Electromechanical energy conversion devices are composed of hundreds different components and subunits that are subject to varying adverse environmental conditions, and that is why the sensors, actuators, and components are likely to malfunction. Unexpected defects and unplanned repairs result in high operating costs... 

One of the main drivers for the substantial growth in wind energy utilization in the world is the growing demand for renewable energy sources to reduce greenhouse gas emissions. At greater distances from the coastline, more and steadier potential energy resources are available. This has led the world offshore wind energy industry to grow at a faster rate than onshore in the past two decades. In deep waters, the wind turbine is mounted on a floating platform, whose movements increase the complexity of the turbine control system and enhance the mechanical loads on the various components of the turbine. Reducing these mechanical stresses is equivalent to increasing the lifetime of the turbine... 

Automatic control of depth of anesthesia is an important problem in biomedical engineering. The main challenging problem in anesthesia automation is inter-patients differences which is referred to as uncertainty and is crucial in robust controller design. One of the most appropriate tools in designing robust controllers is H_∞ concept. Furthermore, H_2 concept is used to reject the measurement noise which is unavoidable in practical cases. In this project we use mixed H_2/H_∞ concept to design robust controller for depth of anesthesia. Multi-model controller is another approach to design robust controller for depth of anesthesia, which reject measurement noise and also cover the... 

In this thesis the problem of optimal robust fault detection has been studied. Optimal Fault Detection Filter (FDF) design, by using a Linear Matrix Inequality (LMI) structure for both linear systems with polytopic uncertainties and nonlinear Lipschitz systems has been considered. In this regard, a novel LMI is introduced which is capable of calculating the maximum lower bound of H− index with great accuracy.Then, based on the parameter-dependent Lyapunov function and the property of having convexity in combination of certain state space equations, the result is extended to polytopic uncertain systems. Afterward the design of an optimal observer-based residual generator, in the sense of... 

In this project, an online controller design method based on parameter optimization is presented. The structure of controller is chosen to be the Internal Model Control (IMC). The cost function and constraints which include both time domain and frequency domain functionals are calculated directly from measurements of system’s output in order to reduce the effect of uncertainty in model estimation and controller design. The controller design problem is formulated as a convex optimization problem with ellipsoid algorithm used for its solution. The model of the system and a worst case upper bound on remaining uncertainty in model due to measurement noise, along with unmodeled dynamics of the... 

During the last decades there have been enormous advances in robot control of dynamic walking and running. The desire to study legged locomotion has been motivated by 1) the desire to replace humans in hazardous occupations, 2) the desire to assist disabled people to walk and 3) the desire to investigate the complicated motions of the mankind. The control of dynamic walking and running is complicated by (i) limb coordination, (ii) hybrid nature of running due to presence of impact and takeoff, (iii) underactuation and overactuation, (iv) inability to apply the Zero Moment Point (ZMP) criterion, (v) lack of algorithms to achieve feasible period-one orbits, and (vi) conservation of angular... 

Reliability analysis in engineering systems is one of important parts in design stage. Stress-Strength method is a method for reliability analysis in engineering systems. To obtain reliability, stress and strength distribution functions should be known, but these functions depend on design parameters and mostly these parameters are unknown. Usually obtaining exact stress and strength distributions is difficult and there is some uncertainty in distribution functions and their parameters. Also, weakness and uncertainty in data makes it difficult to calculate exact stress and strength distributions. In the case, when data is weak, results in point estimation methods (for example Maximum... 

PID controllers are very famous and widely used in industry due to their simplicity, effectiveness,robustness and readily tunable parameters. They have been known since 1890 and various methods for its design have been introduced until now. Among them, we can name Ziegler-ichols and CHR that are widely used. Fractional order PID (FIPID) controllers are a more generel case of classic PID controllers and have a better capability to control dynamic systems beacause they have more free parameters. The present project demonestrates application of geometric programming (GP) to design PI, PID and FOPID controllers. GP is a kind of optimization problem in which the objective and constraint functions... 

This research investigates the competitive behavior of producers in an oligopolistic market structure and presents new approaches to contrive appropriate bidding strategies using game theory. As a case of oligopolistic competition, we have considered a simplified model of electricity markets, and turned our focus to related economic models of competition. In particular, the supply function model has been adopted because of its realistic simulation of the bidding structure in electricity markets, for which, a new method is proposed to provides closed-form expressions in computing Nash strategies. This method is not only capable of computing all Nash equilibriums of the model, but also the... 

Low back pain is a widespread disorder in industrialized countries. Based on epidemiological reports, 80% of the population faces this activity limitation at least once in their lifetime which places tremendous human and economic costs to individuals and societies. Handling heavy loads, with fast trunk motions, repetitive movements, and awkward postures are some of the risk factors related to low back injuries. Hence, better understanding of the neuro-musculo-skeletal system performance would help us to recognize various abnormalities in spine behavior and assist us in a way to design the workplace to reduce the risk of injuries. For this purpose, we can use biomechanicals model to...