Tracking Control of A Balancing Robot – A Model-Based Approach

This paper presents a control concept for a single-axle mobile robot moving on the horizontal plane. A mathematical model of the nonholonomic mechanical system is derived using Hamel's equations of motion. Subsequently, a concept for a tracking controller is described in detail. This controller keeps the mobile robot on a given reference trajectory while maintaining it in an upright position. The control objective is reached by a cascade control structure. By an appropriate input transformation, we are able to utilize an input-output linearization of a subsystem. For the remaining dynamics a linear set-point control law is presented. Finally, the performance of the implemented control law is illustrated by simulation results

Identification of dynamic models for the short-term temperature prediction in a single room

This contribution illustrates an approach for the generation of a linear dynamic discrete time model for the short term prediction of the room temperature in a single conference room. The model is extracted from recorded measurement data by means of system identification. After a brief description of the considered room and the modeling approach the model is validated by statistical analysis and by its prediction performance

Identification of room temperature models using k-step PEM for Hammerstein systems

The contribution focuses on the identification of short term room temperature prediction models using k-step ahead prediction error minimization (PEM). In the first part of the paper we describe the general identification problem and summarize the k-step PEM-algorithm for discrete time Hammerstein systems. In the second part the k-step ahead approach is applied to measured data of a conference room and compared to the standard 1-step PEM approach. The results indicate, that k-step ahead approach can indeed lead to better prediction performance in this particular practical application