Design of parameter-scheduled state-feedback controllers using shifting specifications

In this paper,the problem of designing aparameter-scheduled state-feedback controller is investigated. The paper presents an extension of the classical regional pole placement, H2 control and H1 control problems, so as to satisfy new specifications, that will be referred to as shifting pole placement control, shifting H2 control and shifting H1 control, respectively. By introducing some parameters, or using the existing ones, the controller can be designed in such away that different values of the separameters imply different regions where the closed-loop poles are situated, or different performances in the H2 or H1 sense. The proposed approach is derived within the so-called Lyapunov Shaping Paradigm, where a single quadratic Lyapunov function is used for ensuring stability and desired performances in spite of arbitrary parameter time variation. The problem is analyzed in the continuous-time LPV case, oventhough the developed theory could be applied to LTI systems in cases when it is desired to vary the control system performances online. Results obtained in simulation demonstrate the effectiveness and the relevant features of the proposed approach.Peer ReviewedPostprint (published version

Robust fault tolerant control framework using uncertain Takagi-Sugeno fuzzy models

This chapter is concerned with the introduction of a fault tolerant control (FTC) framework using uncertain Takagi-Sugeno (FS) fuzzy models. Depending on how much information is available about the fault, the framework gives rise to passive FTC, active FTC without controller reconfiguration and active FTC with controller reconfiguration. The design is performed using a Linear Matrix Inequality (LMI)-based synthesis that directly takes into account the TS description of the system and its uncertainties. An example based on a mobile robot is used to show the application of this methodologyPeer ReviewedPreprin

INTELLECTUAL CAPITAL AS A GENERATOR OF INNOVATION IN COMPANIES: A SYSTEMATIC REVIEW

Purpose: In this study, a meticulous summary of all the main investigations in response to the link between intellectual capital and innovation is achieved. Methodology: A meta-analysis technique was implemented to establish the data in context and to determine the proposed research utility, this approach enables systematic review sources of information correlated with two variables predicted research associate intellectual capital and innovation. Main findings: The results of the systematic review reveal that intellectual capital is a generator of innovation in corporations. Implications: This paper will provide support to investigators who are intended to work in this area. Novelty: This article sheds some light and gives future researchers answer to questions like what are the signifiers in which works are involved with? What theories are established in this area and data selection mechanisms chosen by scientists in the field

Robustness analysis of sensor placement for leak detection and location under uncertain operating conditions

Trabajo presentado a la 16th Water Distribution System Analysis Conference ( WDSA2014): Urban Water Hydroinformatics and Strategic Planning, celebrada en Bari (Italia) del 14 al 17 de julio.-- Under a Creative Commons license.Some pressure sensor placement methods for leak detection and location in water distribution networks are based on the pressure sensitivity matrix analysis. This matrix depends on the network demands, which are nondeterministic, and the leak magnitudes, which are unknown. In this paper, the robustness of a sensor placement methodology against the fault sensitivity matrix uncertainty is studied. The robustness study is illustrated by means of a small academic network as well as a district metered area in the Barcelona water distribution network. Results reveal that this uncertainty should be taken into account in the sensor placement methodology.This work has been funded by the Spanish Ministry of Economy and Competitiveness through the CICYT project SHERECS (ref. DPI2011-26243), and by the European Commission through contract EFFINET (ref. FP7-ICT2011-8-318556).Peer Reviewe

Health-aware control of an octorotor UAV system based on actuator reliability

A major goal in modern flight control systems is the need of improving the reliability. This work presents a reliable control approach of an octorotor UAV that allows distributing the control effort among the actuators using health actuator information. The octorotor is an over-actuated system where the redundancy of the actuators allows the redistribution of the control effort among the existing actuators according to a given control strategy. The priority is given to each actuator according to the capabilities and reliability of this actuatorPeer ReviewedPostprint (author's final draft

Decentralized fault-tolerant control of inland navigation networks: a challenge

Inland waterways are large-scale networks used principally for navigation. Even if the transport planning is an important issue, the water resource management is a crucial point. Indeed, navigation is not possible when there is too little or too much water inside the waterways. Hence, the water resource management of waterways has to be particularly efficient in a context of climate change and increase of water demand. This management has to be done by considering different time and space scales and still requires the development of new methodologies and tools in the topics of the Control and Informatics communities. This work addresses the problem of waterways management in terms of modeling, control, diagnosis and fault-tolerant control by focusing in the inland waterways of the north of France. A review of proposed tools and the ongoing research topics are provided in this paper.Peer ReviewedPostprint (published version

Automated generation and comparison of Takagi-Sugeno and polytopic quasi-LPV models

In the last decades, gain-scheduling control techniques have consolidated as an efficient answer to analysis and synthesis problems for non-linear systems. Among the approaches proposed in the literature, the linear parameter varying (LPV) and Takagi-Sugeno (TS) paradigms have proved to be successful in dealing with the different trials that the analyzer, or the designer, of a gain-scheduled control system has to face. Despite the strong similarities between the two paradigms, research on LPV and TS systems has been performed in an independent way and some results that could be useful for both paradigms were obtained only for one of them. However, in recent works, some clues that there is a very close connection between LPV and TS worlds have been presented. The present paper openly addresses the presence of strong analogies between LPV and TS models, in an attempt to establish a bridge between these two worlds, so far considered different. In particular, this paper addresses the modeling problem, presenting two methods for the automated generation of LPV and TS systems, and introducing some measures in order to compare the obtained models. A mathematical example is used to illustrate the proposed methods.This work has been funded by the Spanish Ministry of Science and Technology through the projects CICYT SHERECS (Ref. DPI2011-26243) and CICYT ECOCIS (Ref. DPI2013-48243-C2-1-R), by the European Commission through contract i-Sense FP7-ICT-2009-6-270428, by UPC through the grant FPI-UPC E-01104, by AGAUR through the contracts FI-DGR 2013 (Ref. 2013FIB00218) and FI-DGR 2014 (Ref. 2014FI_B1 00172), and by the DGR of Generalitat de Catalunya (SAC group Ref. 2014/SGR/374). The work was also supported by the National Science Centre in Poland under the grant 2013/11/B/ST7/01110.Peer Reviewe

A fault-hiding approach for the switching quasi-LPV fault-tolerant control of a four-wheeled omnidirectional mobile robot

This paper proposes a reference model approach for the trajectory tracking of a four-wheeled omnidirectional mobile robot. In particular, the error model is brought to a quasi-linear-parameter-varying (LPV) form suitable for designing an error-feedback controller. It is shown that, if polytopic techniques are used to reduce the number of constraints from infinite to finite, a solution within the standard LPV framework could not exist due to a singularity that appears in the possible values of the input matrix. Adding a switching component to the controller allows solving this problem. Moreover, a switching LPV virtual actuator is added to the control loop in order to obtain fault tolerance within the fault-hiding paradigm, keeping the stability and some desired performances under the effect of actuator faults without the need of retuning the nominal controller. The effectiveness of the proposed approach is shown and proved through simulation and experimental results.This work has been funded by the Spanish MINECO through the project CYCYT SHERECS (ref. DPI2011-26243), by the European Commission through contract i-Sense (ref. FP7-ICT-2009-6-270428), by AGAUR through the contracts FI-DGR 2013 (ref. 2013FIB00218) and FI-DGR 2014 (ref. 2014FI B1 00172) and by the DGR of Generalitat de Catalunya (SAC group Ref. 2014/SGR/374).Peer Reviewe

The laws of planning in the environment in Morocco

Dans cet article, nous dressons un aperçu historique sur les lois en vigueur depuis le protectorat. Par la suite, nous étudions de manière détaillée les lois 12- 90 relative à l’urbanisme et 25-90 relative aux lotissements et aux groupements d’habitation considérées comme des références juridiques pour la planification et la gestion urbaine. Nous nous penchons également sur les circulaires de dérogation et leurs impacts sur l’environnement.En este artículo, se traza una perspectiva histórica de las leyes urbanísticas vigentes en el antiguo protectorado francés. Se estudian en detalle las leyes 12-90 sobre urbanismo y la 25-90 sobrevivienda, consideradas actualmente referencia legal para la planificación y la gestión urbana. También se tienen en cuenta las normas derogadas y el impacto de éstas sobre el medio ambiente.The article examines the historical perspective of existing planning laws in the former french protectorate. The paper analyzes in detail the law 12-90 on planning laws and 25-90 on housing, currently considered legal reference for planning and urban management. It also takes into account the repealed rules and their impact on the environment

Dilated LMI characterization for the robust finite time control of discrete-time uncertain linear systems

This paper provides new dilated linear matrix inequalities (LMIs) characterizations for the finite time boundedness (FTB) and the finite time stability (FTS) analysis of discrete-time uncertain linear systems. The dilated LMIs are later used to design a robust controller for the finite time control of discrete-time uncertain linear systems. The relevant feature of the proposed approach is the decoupling between the Lyapunov and the system matrices, that allows considering a parameter-dependent Lyapunov function. In this way, the conservativeness with respect to previous results is decreased. Numerical examples are used to illustrate the results.Peer ReviewedPostprint (author's final draft