Modelling, identification and simulation of the inverted pendulum PS600

This paper deals with modelling, identification and simulation of the inverted pendulum PS600. This system is unstableand nonlinear with one input – voltage of a DC motor which can change position of the cart and two outputs – cart position and angleof the pendulum rod. First, a mathematical model of the inverted pendulum is derived, followed by identification of its unknownparameters. Then, the created mathematical model is implemented into the MATLAB/Simulink environment and its properties areexperimentally compared with the real system

Web application for LTI systems analysis

The number of web-applications which employ external computing tools to perform complex calculations on-line is rising. This contribution presents one such application – web-interface for analysis of linear timeinvariant (LTI) systems. It is based on the interconnection of the MATLAB system with the latest web technologies and developer tools. It enables to analyze a single input – single output (SISO) system in a user-defined form and a userfriendly way on-line without the necessity to install the MATLAB environment or similar computing tools. The paper explains motivation for development of this site and gives also detailed description of the whole process including the Web – MATLAB interconnection. The results are presented using selected screen-shots of the site on a simple example of a LTI system analysis. © Springer International Publishing Switzerland 2015

Learning a controller for a coupled drives apparatus using VRFT strategy

The paper utilizes the Virtual Reference Feedback Tuning methodology for the iterative way of controller design and fine-tuning. It uses a series of experiments with no restriction on data generation to design an optimal controller of desired structure without the intermediate plant identification step. The approach is shown to be successful for the design and fine-tuning of a controller for a coupled drives system by means of adjusting a desired settling-time of a controlled variable

Design of controllers for time delay systems: Integrating and unstable systems

The paper deals with design of controllers for integrating and unstable time delay systems. The proposed method is based on the Padé first order time delay approximation. The control system with two feedback controllers is considered. For controller design, the polynomial approach is used. Resulting continuous-time controllers obtained via polynomial equations and the LQ control technique ensure asymptotic tracking of step references as well as step disturbances attenuation. Simulation results are presented to illustrate the proposed method.P(ED2.1.00/03.0111), Z(MSM7088352101

Control of unstable systems using a 7 DoF robotic manipulator

Robotic manipulators are widely used in industrial applications, and their rigidity and flexibility are very important factors during their deployment. However, their usage is not limited to repetitive point-to-point tasks and can be used for more real-time control of various processes. This paper uses a 7-degrees-of-freedom manipulator to control an unstable system (Ball and Plate) as a proof of concept. The Ball and Plate system is widely used for testing algorithms designed for unstable systems, and many recent works have dealt with robotic manipulators as a control motion system. Robots are not usually used to control unstable systems, but bipedal robots are an exception. This paper aims to design a controller capable of stabilizing an unstable system with solid robustness while keeping actuator action values as low as possible because these robots will be indented to work for a prolonged time. An algorithm for an LQ polynomial controller is described and designed, and the whole setup is tested for ball stabilization in the center. The results show that the designed controller stabilizes the ball even with large external and internal disturbances while keeping the controller effort as low as possible

Adaptive control of a continuous stirred tank reactor by two feedback controllers

The paper deals with adaptive control of a continuous stirred tank reactor (CSTR). A nonlinear model of the process is approximated by a continuous-time external linear model. The parameters of the CT external linear model of the process are estimated using a corresponding delta model. The control system with two feedback controllers is considered. The controller design is based on the polynomial approach. The resulting proper controllers ensure stability of the control system as well as asymptotic tracking of step references and step load disturbance attenuation. The adaptive control is tested on the nonlinear model of the CSTR with a consecutive exothermic reaction

Optimization of closed-loop poles for limited control action and robustness

The presented paper exploits optimization and simulation tools of the MATLAB environment to design a robust control system in case of limitations on the controller’s manipulated variable. The design is based on the polynomial approach resulting in the pole-placement problem to be solved. This is addressed numerically by means of the standard MATLAB functions for nonlinear constrained optimization to meet both robustness of the designed loop and constraints on the control input. For this purpose, convenient performance criteria are suggested together with a procedure for the optimization. Presented results of constrained robust control for the AMIRA servo-system show potential of the suggested methodology. © Springer International Publishing Switzerland 2016

Robust constrained control: Optimization of 1 vs. 2 closed-loop poles

This paper presents optimization-based technique to design robust control system in case of control input limitations. The methodology uses the algebraic approach resulting in polynomial equations and a pole-placement problem to be solved. Closed-loop poles are optimized numerically with the help of the MATLAB computing system and its toolboxes for simulation and optimization. Suitable performance criteria and a procedure are suggested for this purpose. The case of 1 and 2 parameters optimization is illustrated on a nonlinear servo-system control design using both simulation and real-time experiments. Presented results prove the proposed methodology. © Springer International Publishing AG 2017.excellence projects strategy of Tomas Bata University in Zli

Teaching process modelling and simulation at tomas bata university in zlin using matlab and simulink

This paper summarizes author's experiences of teaching a course on process modelling and simulation at Faculty of Applied Informatics, Tomas Bata University in Zlin, Czech Republic. It briefly presents contents of the course in both lectures and tutorials together with adopted methodology and used software tools. Requirements for the students to pass the course are also given as well as some statistics concerning their results. At the end of the contribution one of the final students' projects is also briefly presented. © ECMS Zita Zoltay Paprika, Péter Horák, Kata Váradi,Péter Tamás Zwierczyk, Ágnes Vidovics-Dancs, János Péter Rádics (Editors)