Adaptive decoupling control for binary distillation column into a 3D virtual environment

The oil refinery plants have a particularly high energy consumption in the distillation process. Several authors state that these are the systems with the highest energy consumption in the petrochemical industry. Currently, work is being done on the implementation of adaptive controllers in order to improve the efficiency of the distillation process and the quality of the product. In this work the control of a binary distillation column developed within a 3D virtual laboratory is presented. Adaptive control by reference model (MRCA) is used for the manipulation of bottom and distillate concentrations. Initially, the mathematical description of the process is obtained, together with the computer-aided design, to subsequently implement the control technique. As a result, the behavior of the controlled system in simulation is shown and compared with the response of the embedded system within the virtual environment. The main contribution of this work is the interaction that a user can have with this type of processes and the possibility of implementing modern control strategies within this type of environments as a low-cost tool to support education and training activities

Uniform ultimate bounded robust model reference adaptive PID control scheme for visual servoing

\u3cp\u3eThis paper proposes a uniform ultimate bounded (UUB) controller framework using model reference adaptive control for visual servoing of the ball on plate system. To address the major challenges in designing a control scheme for visual servoing applications including inter-axis coupling, exogenous disturbances, and plant perturbations due to modelling errors, a robust model reference adaptive PID control scheme using e \u3csub\u3e1\u3c/sub\u3e modification method is put forward. The key advantage of this methodology is its ability to yield asymptotic stability of the closed loop system without prior information on the plant perturbations. Moreover, exploiting the Erzberger's perfect model following condition, the algorithm obtains the pseudo inverse of the system to make the system track different test trajectories. The stability and convergence of the proposed scheme are proved using Schwarz's inequality condition and Frobenius norms. To evaluate the tracking performance, two test cases namely reference following during exogenous disturbance and tracking under plant perturbations are validated. Simulation results accentuate that the proposed scheme yields satisfactory tracking response even during plant perturbation and exogenous disturbances.\u3c/p\u3

Uniform ultimate bounded robust model reference adaptive PID control scheme for visual servoing

This paper proposes a uniform ultimate bounded (UUB) controller framework using model reference adaptive control for visual servoing of the ball on plate system. To address the major challenges in designing a control scheme for visual servoing applications including inter-axis coupling, exogenous disturbances, and plant perturbations due to modelling errors, a robust model reference adaptive PID control scheme using e 1 modification method is put forward. The key advantage of this methodology is its ability to yield asymptotic stability of the closed loop system without prior information on the plant perturbations. Moreover, exploiting the Erzberger's perfect model following condition, the algorithm obtains the pseudo inverse of the system to make the system track different test trajectories. The stability and convergence of the proposed scheme are proved using Schwarz's inequality condition and Frobenius norms. To evaluate the tracking performance, two test cases namely reference following during exogenous disturbance and tracking under plant perturbations are validated. Simulation results accentuate that the proposed scheme yields satisfactory tracking response even during plant perturbation and exogenous disturbances