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This project develops a cat laser toy that shines a laser for the cat to chase, while ensuring that the laser is not shone on a human or in user defined regions where the cat does not belong. A night vision camera with infrared lights is used to allow for detection in both day and night lighting conditions, and cats and humans are detected using a custom YOLO machine learning model. Aiming of the camera and laser is accomplished with a pan-tilt robot controlled by a Raspberry Pi. The Raspberry Pi selected for the project is slower at processing the images than desired, but fast enough to allow for a functional toy. The code for this project can be found at https://gitlab.com/dean.sieck/gimpy_squirter

PID controllers are still popular in a wide range of engineering practices due to their simplicity and robustness. Traditional design of a PID controller needs manual setting of its parameters in advance. This paper proposes a new method for online tuning of PID controllers based on hybridized neural membrane computing. A neural network is employed to adaptively determine the proper values of the PID parameters in terms of evolving situations/stages in the control process. Further the learning of the neural network is performed based on a membrane algorithm, which is used to locate the weights of the network to optimize the control performance. The effectiveness of the proposed method has been demonstrated by the preliminary results from simulation tests.

This paper describes a methodology to obtain a neuro-fuzzy model of a hydro-generator unit (HGU) and its PID controller from the identification of its linear time-invariant (LTI) model. The study performs a cause-effect record, which allows a continuous time identification of the LTI type, then obtaining a classic PID controller capable of complying with a performance specification given by a pole of a second order system, which enables the training of the proposed neuro-fuzzy model. Applying the cost function of the root mean square error and the root of the percentage relative mean square error, the system parameters were adjusted using the decreasing gradient method. By means of linear models, the initialization of the singletons of the neuro-fuzzy models was done in two stages using the decreasing gradient and a cost function. The first stage was carried out without dynamics and the second stage with the dynamics of the simulated system. A case study of the Hydro-Agoyán HGU was selected and the results showed that the development of the LTI model allowed the development of the neuro-fuzzy model able to represent the behavior of the power plant and its response under variations of the power setpoint of 5, 10, 15 and 20%., Peer Reviewed, Postprint (published version)

2022 International Conference on Smart Information Systems and Technologies, SIST 2022 -- 28 April 2022 through 30 April 2022 -- 184566, Stability analysis and control of the inverted pendulum on cart system is an important problem that has been investigated by many researchers in recent years. In this study, nonlinear modeling of the inverted pendulum on cart system is derived and free body diagram is explained. Then, the nonlinear model of the system is created in MATLAB program. In order to keep the pendulum on cart in balance, different types of controllers were designed, and stability analysis was performed by drawing root-locus curves for different controllers. The optimum controller design was obtained to keep the pendulum in balance. The impulse response of the system has been simulated and it has been proven that the designed optimum controller keeps the pendulum in balance. © 2022 IEEE.

This article deals with the calculation of all robustly relatively stabilizing (or robustly stabilizing as a special case) Proportional–Integral–Derivative (PID) controllers for Linear Time-Invariant (LTI) systems with unstructured uncertainty. The presented method is based on plotting the envelope that corresponds to the trios of P–I–D parameters marginally complying with given robust stability or robust relative stability condition formulated by means of the H∞ norm. Thus, this approach enables obtaining the region of robustly stabilizing or robustly relatively stabilizing controllers in a P–I–D space. The applicability of the technique is demonstrated in the illustrative examples, in which the regions of robustly stabilizing and robustly relatively stabilizing PID controllers are obtained for a controlled plant model with unstructured multiplicative uncertainty and unstructured additive uncertainty. Moreover, the method is also verified on the real laboratory model of a hot-air tunnel, for which two representative controllers from the robust relative stability region are selected and implemented. © 2022 ISA

This paper presents the results obtained from the design of a speed and heading control system for the platform component of an unmanned surface vehicle (USV) technology demonstrator, using PID controllers. A description of the vehicle technology demonstrator used for the implementation of the system is presented, as well as the tests performed to obtain the dynamic models of the platform component of the USV technology demonstrator, the calculations of the controllers and the navigation tests that validate the performance of these controllers. All the above as a result of the joint research process between the Naval Cadet School "Almirante Padilla" and COTECMAR, with the support of the Naval NCO School "ARC BARRANQUILLA" and financed by the Colombian Navy through Minciencias., Este artículo presenta los resultados obtenidos a partir del diseño de un sistema de control de velocidad y rumbo para el componente de plataforma de un demostrador de tecnología de un vehículo de superficie no tripulado (USV), utilizando controladores PID. Se presenta, en primera instancia, una descripción del demostrador de tecnología del vehículo utilizado para la implementación del sistema, además se presentan las pruebas realizadas para obtener los modelos dinámicos del componente de plataforma del demostrador de tecnología de un USV, los cálculos de los controladores y las pruebas de navegación que validan el funcionamiento de dichos controladores. Todo lo anterior como resultado del proceso de investigación conjunta entre la Escuela Naval de Cadetes “Almirante Padilla” y COTECMAR, con el apoyo de la Escuela Naval de Suboficiales “ARC BARR ANQUILLA” y financiado por la Armada Nacional de Colombia a través de Minciencias.

In this master's project, the design for the additive manufacturing of a joystick has been created to later be able to materialize it through multi-material 3D printing so as to obtain a sustainable and simple model to print. The printing technique that has been used is called Fused Deposition Modelling (FDM). The model contains integrated sensors to allow linear and circular displacement. Two different materials have been combined, one conductive for the manufacture of the sensors and another structural for the manufacture of the rest of components. In the sensory part, resistive sensors have been designed to identify linear motion so that when the joystick is moved in one direction, the sensors perceive a traction or compression tension to give an electronic response. For circular motion, capacitive sensors have been designed so that one electrode is integrated into the lever and the other electrode into the joystick body. Theoretically, when a torque is applied to the lever, these electrodes form a capacitor that varies according the applied torque. In the initial phase of the project, bibliographical research has been carried out and the necessary printing parameters have been identified. After this, the design phase has been carried out, where different models have been created analysing all the components and their functionalities in order to obtain an effective and simple model. Some initial tests have been done with PLA to analyse the finish and quality before proceeding to the final printing. Three different geometry and component designs have been created. Design 3 has been the definitive one to be printed. The materials to be used for the printing were structural TPU and conductive TPU. Once printed, the sensory part has been configured. It has focused on circular motion using capacitive sensors since resistive sensors were developed in previous projects, so the linear motion was not included in the project scope. Four possible methods have been identifie

El present treball planteja l’estudi i anàlisi previ per a poder desenvolupar una aplicació per al monitoratge dels controladors de posició dels eixos que disposen la gran majoria dels sistemes de paletitzat de l’empresa d’ensacat i paletitzat “Técnicas Mecánicas Ilerdenses”. L’objectiu principal d’aquest estudi és marcar les línies mestres per a poder desenvolupar l’aplicació en un futur i que aquesta permeti extreure dades rellevants durant el funcionament dels controladors per tal de maximitzar el rendiment dels sistemes de paletitzat, a més, de poder dotar als programadors de l’empresa d’una eina d’utilitat a l’hora de poder configurar aquests dispositius electrònics. En aquest treball s’exposa el hardware necessari per dur a terme aquesta aplicació, quins paràmetres es voldran monitorar, com configurar els diferents elements que formen el sistema de paletitzat i una possible interfície gràfica on poder visualitzar tota la informació descrita en el treball.

2022 International Conference on Smart Information Systems and Technologies, SIST 2022 -- 28 April 2022 through 30 April 2022 -- 184566, Stability analysis and control of the inverted pendulum on cart system is an important problem that has been investigated by many researchers in recent years. In this study, nonlinear modeling of the inverted pendulum on cart system is derived and free body diagram is explained. Then, the nonlinear model of the system is created in MATLAB program. In order to keep the pendulum on cart in balance, different types of controllers were designed, and stability analysis was performed by drawing root-locus curves for different controllers. The optimum controller design was obtained to keep the pendulum in balance. The impulse response of the system has been simulated and it has been proven that the designed optimum controller keeps the pendulum in balance. © 2022 IEEE.

Reliable water resources management requires decision support tools to successfully forecast hydraulic data (stage and flow hydrographs). Even though data-driven methods are nowadays trendy to apply, they still fail to provide reliable forecasts during extreme periods due to a lack of training data. Therefore, model-driven forecasting is still needed. However, the model-driven forecasting approach is affected by numerous uncertainties in initial and boundary conditions. To improve the real-time model's operation, it can be regularly updated using measured data in the data assimilation (DA) procedure. Widely used DA techniques are computationally expensive, which reduce their real-time applications. Previous research shows that tailor-made, time-efficient DA methods based on the control theory could be used instead. This paper presents further insights into the control theory-based DA for 1D hydraulic models. This method uses Proportional–Integrative–Derivative (PID) controllers to assimilate computed water levels and observed data. This paper describes the two-stage PID controllers’ tuning procedure. Multi-objective optimization by Nondominated Sorting Genetic Algorithm II (NSGA-II) was used to determine optimal parameters for PID controllers. The proposed tuning procedure is tested on a hydraulic model used as a decision support tool for the transboundary Iron Gate 1 hydropower system on the Danube River, showing that the average discrepancy between modeled and observed water levels can be less than 0.05 m for more than 97% of assimilation window.

This article deals with the calculation of all robustly relatively stabilizing (or robustly stabilizing as a special case) Proportional-Integral-Derivative (PID) controllers for Linear Time-Invariant (LTI) systems with unstructured uncertainty. The presented method is based on plotting the envelope that corresponds to the trios of P-I-D parameters marginally complying with given robust stability or robust relative stability condition formulated by means of the H infinity norm. Thus, this approach enables obtaining the region of robustly stabilizing or robustly relatively stabilizing controllers in a P-I-D space. The applicability of the technique is demonstrated in the illustrative examples, in which the regions of robustly stabilizing and robustly relatively stabilizing PID controllers are obtained for a controlled plant model with unstructured multiplicative uncertainty and unstructured additive uncertainty. Moreover, the method is also verified on the real laboratory model of a hot-air tunnel, for which two representative controllers from the robust relative stability region are selected and implemented.

Aquest treball de fi de grau ha consistit en l’estudi dels algorismes de control Proporcional i Proporcional-Integral els qual s’han dissenyat per assolir certes especificacions sense la interacció humana. Les especificacions han consistit en mantenir el cotxe de slot circulant per el circuit a una velocitat constant de 100 cm/s utilitzant la visió Artificial i un algorisme de control en llaç tancat. El treball ha estat la continuació del TFG de l’alumna Roger Viaplana anomenat “Disseny i implementació d’un sistema de monitoratge i comandament d’un circuit slot” realitzat al 2017 on es dissenyava una aplicació amb la finalitat de controlar el cotxe de slot en llaç obert utilitzant l’eina Matlab. Per tal de millorar aquest treball es va dissenyar un programa mes robust utilitzant el llenguatge de programació Python per utilitzar la visió artificial i poder fer l’algorisme de control en llaç tancat. El treball s’ha dut a terme en l’edifici TR11, a l’aula 1.06 del primer pis, on es disposava d’una taula preparada amb el circuit de slot. També s’ha disposat de tot el material que va utilitzar en Roger, des de la càmera per realitzar la visió artificial com l’Arduino per poder enviar les senyals al circuit. Per tal de dissenyar l’algorisme de control s’ha dissenyat un programa per mesurar la velocitat del cotxe en tots el trams del circuit i després es va provar amb diferents valors de KP i KI fins trobar uns valors que complissin amb les especificacions establertes

L’objectiu d’aquest projecte és la realització d’un laboratori de control de temperatura per a aplicacions docents. El projecte consisteix en el disseny d’una placa de circuit imprès (PCB) que, conjuntament amb un Arduino MEGA 2560 Rev3, conformin una planta de temperatura la qual permeti a l’usuari controlar la temperatura de cada transistor BJT. Per tal d’aconseguir controlar la temperatura d’aquests, es dissenyaran diferents algoritmes de control amb l’ajuda de programes numèrics com són Matlab i Arduino. La planta de temperatura està formada per la PCB, l’Arduino MEGA 2560 Rev3, dos transistors BJT, dos sensors TMP36, un LED, una pantalla OLED, un teclat de 4 files per 4 columnes i un ventilador. En la memòria del projecte s’expliquen la utilitat d’aquests components. Finalment, es realitzaran simulacions i anàlisis de la PCB i, comparacions entre diferents controladors., El proyecto consiste en la realización de un laboratorio de control de temperatura para aplicaciones docentes. El proyecto consiste en el diseño de una placa de circuito imprimido (PCB) que, conjuntamente con uno Arduino UNO Rev3, conformen una planta de temperatura la cual permita al usuario controlar la temperatura de cada transistor BJT., The aim of this project is to create a temperature control lab for teaching applications. The project consists of the design of a printed circuit board (PCB) that, together with an Arduino MEGA 2560 Rev3, conform a temperature plant that allows the user to control the temperature of each BJT transistor. In order to control the temperature of these, different control algorithms will be designed with the help of numerical programs such as Matlab and Arduino. The temperature plant is composed of the PCB, the Arduino MEGA 2560 Rev3, two BJT transistors, two TMP36 sensors, one LED, an OLED display, a 4x4 keypad and a fan. In the project, the utility of this components is explained. Eventually, simulations and analysis of the PCB will be performed and comparisons between different controllers will be made.

The master thesis exposed on the present document illustrates the development of a Permanent Magnet Synchronous Motor (PMSM) model for Hardware-in-the-Loop (HiL) applications. The real-time simulations employed in HiL have proved to be an effective tool for Model-Based Designing (MBD) methodologies. The information relative to the functioning of PMSM, Variablefrequency drives and controllers for this kind of motors, as well as the required equations for the development of the model, are detailed in the first chapter of this report. Later, the software installation and the setup of hardware devices has been carried out as well. Afterwards, the most important concepts, related to real-time simulations, in computing science and numerical methods have been studied to manage the complexity of this kind of models. The modelling of the PMSM, inverter, controller, PWM generator and resolver is performed in conjunction with deep research on each field. Besides, an operating methodology, including MATLAB code scripts, has been developed for an efficiency improvement on testing execution for MBD implementations. Finally, the designing and execution of electronic connections between hardware devices have been made, and many tests performed for validating all the models created. Additionally, a comparison between tests with a real PMSM and the motor simulated with the model developed constitute the ultimate validation

With the “New Space” era we are now seeing a prominent rise in the development of Reusable Launch Vehicles with vertical landing capabilities. This project aims to design and construct a scaled model of such a vehicle but using a cold gas thruster as a means of propulsion. In order to do so, multiple disciplines of engineering are required to develop critical systems such as retro-propulsion, thrust vector control and aerobraking. From structural simulations and CFD analysis to stabilization algorithms and FDM manufacturing, all the methods employed to carry out this complex task presented their complications and challenges, all of which had to be recorded, analysed and overcome. The propellant chosen for the task of propulsion was compressed air, due to its compatibility and availability. Design requirements were established from the beginning but as the project evolved it was clear several of these could not be realized due to limitations of the components available. Most noticeably, the maximum thrust value was found to be restricted by the propulsion system, which makes it impossible to achieve sufficient deceleration for a controlled landing. Having said that, the project successfully lays down the foundations for future iterations and outlines the next steps required in order to solve the main issues related to thrust. If these issues were to be resolved, there is confidence in coming closer to the project’s aim of using compressed air as a means of propulsion

Desde hace años, en el Departamento de Ingeniería de Sistemas, Automática e Información Industrial de la UPC en Vilanova y la Geltrú, se ha buscado que los alumnos aprendan a aplicar la teoría impartida en sus asignaturas. Por esta razón se ha propuesto este proyecto. El principal objetivo de este proyecto es la implementación de un controlador PID para, posteriormente, realizar una comparación de los diferentes sensores utilizados. Otro objetivo importante es el desarrollo del modelo, para obtener la función de transferencia que relaciona la respuesta del sistema con la señal de entrada. También se busca implementar una práctica de este sistema para los alumnos de las asignaturas de control de sistemas. Este sistema consta de un ventilador de 4 hilos que ejerce de actuador, siendo controlado por PWM. Como sistema de sensado, se utilizan 3 sensores distintos de distancia; un sensor ultrasonidos, un sensor infrarrojo y un sensor láser infrarrojo. El control del sistema se hace mediante una placa de Arduino Uno, en la cual se implementará un controlador PID. La planta del sistema está compuesta por un tubo de metacrilato y una bola de porexpan, la cual es el objeto levitado. Para determinar la consigna, se utiliza un sensor de ultrasonidos y un potenciómetro. Como sistema de visualizado, se utiliza una pantalla LCD y unos diodos LED que indican si la consigna ha sido alcanzada o no. Como resultado, se ha podido implementar correctamente un control PID. En cuanto a la comparación de los 3 sensores, se ha obtenido que, el sensor ultrasonidos y el láser infrarrojos tienen un control parecido. En cambio, el sensor infrarrojo, ha sido un fracaso, ya que le era imposible seguir la bola dentro del tubo. Se ha obtenido que el sensor de ultrasonidos es el más adecuado. Para la linealización del sistema, se hizo una hipótesis basada en que la altura y la velocidad del aire eran independientes. Mediante ésta, se obtiene que la función de transferencia tiene un integrador. Entonc, The UPC’s Department of Systems Engineering, Automation and Industrial Information in Vilanova y la Geltrú, always wanted to all their students learn to apply the theory taught in their subjects. For this reason, this project has been proposed. The main objective of this project is the implementation of a PID controller to, afterwards, make a comparison of the different sensors used. Another important objective is the development of the model, to obtain the transfer function that relates the response of the system to the input signal. It also seeks to implement a practice of this levitator to students of systems control subjects. This system consists of a 4-wire fan that acts as an actuator, being controlled by PWM. As a sensor system, 3 different distance sensors are used; an ultrasonic sensor, a laser infrared sensor and an infrared sensor. The control is an Arduino Uno board, in which a PID controller will be implemented. The plant of the system is composed of a methacrylate tube and a porexpan ball, which is the levitated object. To determine the reference, an ultrasonic sensor and a potentiometer are used. As a display system, an LCD screen and LEDs are used to indicate whether the reference has been reached or not. As a result, a PID control have been successfully implemented. In one hand, the comparison of the 3 sensors, has obtained that the ultrasound sensor and the infrared laser have a similar control. On the other hand, the infrared sensor has been a failure, because was not possible for it to follow the ball inside the tube. Moreover, the ultrasound sensor is the most suitable. For the linearization of the system, a hypothesis was made based on the fact, that the height and the air speed were independent. By means of this, it is obtained that the transfer function has an integrator. Then, in closed loop and facing a unit input, the system must act with zero error in steady state. As this does not happened, the air speed is not independent of the height.

We present ongoing work in evaluating the performance of PID-controllers under DoS attacks. The experiments are conducted in a recently developed virtual testbed, which is openly available. An important observation is that also benign physical processes may exhibit potentially dangerous oscillations under DoS attacks unless care is taken in the control implementation. An event-based PID-controller with adaptive gain shows promising performance under DoS attack., QC 20200328.QC 20210408.

En aquest projecte de fi de grau s’estudiarà el disseny d’un prototip per a una plataforma estabilitzadora per a la compensació de tremolors dels braços. Aquest prototip va dirigit a persones que pateixen de tremolors, a les extremitats superiors en concret, entre d’altres produïts per la Malaltia del Parkinson, el Tremolor Essencial, i les discapacitats físiques que afecten al pacient. Aquest estudi consta de l’anàlisi del problema, el disseny lògic d’una solució en el que inclou l’explicació dels components a utilitzar, el disseny teòric del prototip i el sistema electrònic d’aquest. Un altre punt del projecte és el disseny d’una solució física per al prototip, en el qual s’inclouen les diferents peces i els plànols a implementar. Per finalitzar el projecte s’ha estudiat la viabilitat econòmica per a dur a terme el prototip i s’han proposat les possibles línies de futur

Typically, disassembly forces are unknown due to high forces or high temperatures during product operation, where assembly connections solidify. For the regulation of disassembly forces a controller is developed. The controller is formed for two steps: The first step is a PID controller that produces a force, which overcomes a solidifying force slightly. The second step is a vibration controller with a FM modulation to regulate the frequency of impacts. Vibrations are useful for decreasing the force amplitude for caring the joined components. Finally, the control is validated with disturbances in a simulation. © 2019 The Author(s).

Directora: Gemma Fargas, This thesis is written as part of the “Smart Load” project, which has as aim the research of new methods to reinforce the reliability in high-automatized electric vehicles. The results of the work are developed on the basis of a demonstrator vehicle that was used in “e2 -Lenk” project, where the steering system could be manual or remote actuated. Motors worked as steering assistance and had to provide a specific torque. Now they work as steering actuators and have to provide a specific angle. Therefore, the design of a new controller is one of the necessary adjustments to allow the autonomous driving of the car in the next steps of the project. First of all the adaptation and extension of the vehicle´s virtual model on SIMULINK was necessary. A low order model of the steering system, including friction, inertias and play is developed and some structures are redesigned. A PID controller is designed and implemented in order to achieve a desired steering wheel angle through the action of three available actuators: two redundant actuators at the steering column and the distribution of front wheel torques. The controller is tuned to work properly with the whole range of speeds and torque allocations. The performance of the model and the controller are evaluated in IPG CARMAKER software through the simulation of the vehicle along different standardized maneuvers to analyze the steering response and the overall stability of the car. Although some perturbations are observed in the torque distribution, an overall stability of the whole vehicle in the different tests is achieved.

Proportional–Integral–Derivative (PID) controllers with integral action are conventionally used as feedback controllers. They are used to obtain zero steady‐state error when the reference input or the disturbance are steps and where zero‐type systems (i.e. with no poles at the origin) are controlled. The controller meets its objective when the controlled system is non linear, but usually introduces undesirable changes in the dynamics that must be compensated by readjusting the proportional gain. In this paper, we compare PID with two alternative techniques based on the use of a feed‐forward system and a multiple feedback system, respectively. A detailed comparison of the transient response obtained with these methods is presented and validated with some simulation examples.

Este proyecto propone el diseño y la creación de un prototipo de una plataforma estabilizadora, como es el caso dels "segways". La plataforma deberá incluir la base que aguante el peso de una persona, los actuadores, sensores y controladora para estabilizar la plataforma. La controladora estará basada en un Arduino y el trabajo final de grado consistirá en la selección de los sensores, actuadores, en el diseño mecánico de la base de la plataforma, la integración de todos los elementos seleccionados, así como en la programación del Arduino para que la plataforma sea estabilizada y funcione correctamente., The aim of this project is to design and manufacture a two-wheeled platform that is able to keep balance using a PID controller programmed in a microcontroller. The first step of the project is to design and build a functional prototype of a twowheeled balancing platform, then its mathematical model is found and a suitable controller is designed for it. The required software is programmed into the platform and some performance tests are carried.

Práce se zabývá tvorbou matematicko-fyzikálních modelů, způsoby regulace topných soustav a metodami samočinného nastavování PID regulátoru. V práci je řešeno vytvoření matematicko-fyzikálního modelu topné soustavy, návrh strategie řízení a následné simulační ověření strategie. Dále je součástí práce realizace algoritmu pro řízení topné soustavy v programu Merbon IDE a vytvoření funkčního bloku PID regulátoru s možností samočinného nastavení., A paperwork is oriented to a creating mathematical-physical models, type of regulation heating systems and analysis of the self-adjustment methods PID controllers. In the thesis is solved mathematical-physical model of heating system, proposal of strategy control and verification with using simulation. Next part of work is oriented to an algorithm control heating system in program Merbon IDE and creation of function block PID regulator with autotuning., Fakulta elektrotechniky a informatiky, Cílem práce bylo vytvořit matematicko-fyzikální model topné soustavy - kotle a spotřebičů. Diplomant se pokusil navrhnout vlastní metodu pro samočinné nastavování PID regulátoru pro topné systémy a aplikovat ji v prostředí Merbon. Na základě použití modelu řízené soustavy a znalosti poruchových veličin by mělo docházet v přestavení parametrů PID regulátoru, tak aby byla zajištěna kvalita regulace i pro měnící se podmínky. Z tohoto pohledu bylo téma zajímavé i pro následné praktické použití. Všechny body zadání byly splněny a práce splňuje požadavky kladené na tento typ závěrečných prací., Dokončená práce s úspěšnou obhajobou

Wheel loaders are under the influence of low frequency vibrations that may be harmful for the health of the operator, and for the productivity of the machine. The strong vibrations can significantly impact the operation of the machine since they are not equipped with wheel suspension systems and due to their work environment in rough terrains with uneven surfaces. The risk of spilling or dropping the load is also increased and they can introduce higher mechanical stress that can wear out parts faster. The focus of this thesis work is to develop an approach for damping these vibrations dynamically by improving the functionality of the electrohydraulic system in Volvo's prototype wheel loader LX1. The dynamic damping system controls the cylinder of the lift framework to make it behave as a damper. The system utilizes the lift cylinder pressure and piston position as feedback to adjust the oil flow in the cylinder using the proposed control system. Results indicate that the proposed technique is capable of attenuation that is comparable with the existing boom suspension system based on accumulators through simulations and experimental tests.

Wheel loaders are under the influence of low frequency vibrations that may be harmful for the health of the operator, and for the productivity of the machine. The strong vibrations can significantly impact the operation of the machine since they are not equipped with wheel suspension systems and due to their work environment in rough terrains with uneven surfaces. The risk of spilling or dropping the load is also increased and they can introduce higher mechanical stress that can wear out parts faster. The focus of this thesis work is to develop an approach for damping these vibrations dynamically by improving the functionality of the electrohydraulic system in Volvo's prototype wheel loader LX1. The dynamic damping system controls the cylinder of the lift framework to make it behave as a damper. The system utilizes the lift cylinder pressure and piston position as feedback to adjust the oil flow in the cylinder using the proposed control system. Results indicate that the proposed technique is capable of attenuation that is comparable with the existing boom suspension system based on accumulators through simulations and experimental tests.

It is recognized that disturbance rejection is much more important than set-point tracking for many process control applications, leading set-point tracking to a secondary level of interest. In this paper a proposal for robust tuning of PI/PID controllers designed under the direct synthesis for load disturbance (DS-d) approach is presented. As with the IMC-like approaches, the resulting DS-d tunings are expressed in terms of a unique parameter that determines the desired speed of response of the regulatory behavior. Even at first sight it may seem quite simple, there is no known guide on how to select such parameter in order to achieve some desired robustness. As it will be shown, for some process dynamics, this selection is not as simple as it may seem. Tuning expressions for the most common types of process models are provided such that the closed loop time constant is the fastest one that allows to reach the desired robustness. Simulation examples show the application of the suggested tuning., Peer Reviewed, Postprint (published version)

Práce je věnována porovnání klasických a moderních metod nastavování PID regulátorů. V úvodní kapitole jsou vysvětleny základní pojmy nutné pro problematiku regulace Byly vybrány metody publikované v posledních letech a následně porovnány s klasickými metodami publikovanými ve 20. století. Toto porovnání je provedeno na různorodých soustavách., The thesis is dedicated to the comparison of classic and recent methods of PID controller tuning. In the first part, basic concepts needed for regulation problematics are explained. Methods published in the last couple of years were chosen and then compared to classic methods published in the 20th century. The comparison is made on various systems., Fakulta elektrotechniky a informatiky, Cílem práce bylo zhodnotit vývoj v možnostech nastavování PID regulátoru. Na zvolených demonstračních soustavách byla provedena řada návrhů řízení pomocí PID regulátoru, přičemž pro návrh soustav byla použita jednak skupina klasických metod a následně skupina moderních metod. Cíle práce byly splněny. Práce má potenciál být zajímavým přínosem pro orientaci v moderních metodách nastavení PID regulátorů. Autor práce tento potenciál z části naplnil, zdokumentoval a otestoval několik nových metod a porovnal je s klasickými. Chybí však hlubší diskuse na výběrem jak testovacích soustav, tak i aplikovaných metod.

Es tracta d’estudiar diverses lleis de control que permetin controlar un sistema inherentment inestable com és un pèndol invertit. Diversos sistemes reals es comporten com un pèndol invertit, tals com l’enlairament d’un coet, mòbils com segways patinets elèctrics, o robots mòbils antropomòrfics,... que malgrat que són inestables cal que els sistemes de control realimentat els estabilitzin per poder realitzar la seva funció de forma eficient. L’objectiu d’aquesta proposta de treball final de grau es estudiar, dissenyar i comparar diverses estratègies de control que estabilitzi una plataforma que pugui funcionar com un pèndol invertit, tant a nivell de simulació com a nivell experimental fent servir la maqueta pont-grua disponible en el laboratori de control avançat del departament ESAII de l’ESEIAAT, Stabilization of unstable systems is a very important area in the automatic control discipline and it is needed in a wide range of applications, some examples being missile guidance or stabilization of a biped robot. The main objective of this study is to research the single inverted pendulum in order to develop a controller for it. Two different alternatives are considered in this study in order to stabilize the pendulum in its upright position while keeping the cart oscillating around a desired position. The first one is a full-state feedback controller which can have its characteristics modified changing the placement of the dominant poles. The second controller is a cascaded PID controller. This controller can be tuned with different parameters to modify its response. The controller is stable in computer simulation, although it has a worse response that the full-state feedback controller and it is not stable in the laboratory system. The results of the full-state feedback controller turned out to be very stable, precise and controllable.

Although PID control has been widely used in practical engineering, its ability to reject external disturbance and to handle severe nonlinearities should be further enhanced. In this paper, we present a simple robust unknown dynamics estimation, which can be easily incorporated into PID control to achieve satisfactory control performance for a rotomagnet plant subject to period disturbance. The use of this estimator together with PID control leads to a feedforward like composite control framework. Unlike other estimators, only low-pass filter operations on the input and output and simple algebraic operations are needed to construct our estimator, while exponential convergence can be guaranteed. Numerical simulations are given to show the validity of the proposed estimator and composite PID control., Postprint (published version)

Although PID con trol has b een widely used in practical engineering, its abilit y to reject external disturbance and to handle severe nonlinearities should b e further enhanced. In this pap er, we presen t a simple robust unknown dynamics estimation, which can be easily incorp orated into PID control to achiev e satisfactory control performance for a rotomagnet plant sub ject to p eriod disturbance. The use of this estimator together with PID control leads to a feedforw ard like composite control framework. Unlike other estimators, only lo w-pass ¿lter op erations on the input and output and simple algebraic op erations are needed to construct our estimator, while exp onen tial conv ergence can be guaranteed. Numerical sim ulations are given to show the validit y of the proposed estimator and comp osite PID control, Peer Reviewed, Postprint (author's final draft)

Frequency domain is one of the most popular and powerful framework to design control system. Usually this procedure is done using the open-loop transfer function. In this work, it is explored the possibility to perform the controller design by closed-loop shaping. It is analyzed how graphical representation and interactivity can be used in this framework to help automatic control students during the learning process., Peer Reviewed, Postprint (published version)

This thesis aims to propose a new control system of dual input dual output DC-DC converter by proposing the advanced fuzzy PID control system. The fuzzy PID controller is a type of intelligent control system being practically applying fuzzy logic theory. Compared with conventional control system, a properly designed fuzzy PID control system is more accurate, sensitive to input, robust to noise, large bandwidth, faster speed and constant oscillation. Therefore, the analysis of improved control system for dual input dual output DC-DC converter, comparison with conventional PID controller, and evaluation are the main focus of this thesis. The improved control system for dual input dual output DC-DC converter is based on the PID control method and fuzzy logic theory. By the combination of conventional PID controller and fuzzy control theory, the advanced controller with human intelligence is produced. Fuzzy PID control method uses the present error E and EC , combined with the dynamic characteristics of controlled object and practical experience. According to the requirements and target functions, three parameters of PID controller are tuned online by fuzzy rules inference. Simulation using MATLAB and SIMULINK and implementation with STM32f407 are presented. The optimization of improved control system for dual input dual output DC-DC converter is also studied.

[EN] In this article, the software and hardware control architecture for a novel high-temperature three-phase electric air heating furnace is presented. It consists of a multiple-input singleoutput (MISO) nonlinear plant designed to heat air at flow rates in a range between 10 and 60 Nm3 /h, from ambient temperature up to 1000 C. A divide-and-conquer (D&C) approach is applied. It consists in discretizing the air flow rates and working temperatures in intervals where the system behaviour is considered as single-input single-output (SISO) linear plant. Process identification techniques have been used to obtain empiric models for different operation ranges of the electric furnace. The controller parameters have been calculated using the Ziegler–Nichols tuning method. The resulting output air temperature control is composed of a set of 12 PI and PID controllers. The switch among controllers as a function of air flow rates and temperatures is carried out using programming logic and gain scheduling technique, respectively. The resulting multiple controller has been tested under real conditions and the results are presented and discussed.

It has built and characterised a laser and It has learned what each of the components does. It has been able to run the laser in single-mode and stabilised it around a desired setpoint thanks to a PID controller that It has programmed. It has established a communication between the PID controller programmed in LabVIEW and Arduino Due, the DAC that It has chosen after comparing it with another candidate. It has learned some basics of how the LightCrafter 4500 DMD works. The projected light is the composition of the lights of three LED’s, each of which has a certain on-time. The mirrors chose to be in on- or off-stages depending to the amount of intensity that we want for each colour.

It has built and characterised a laser and It has learned what each of the components does. It has been able to run the laser in single-mode and stabilised it around a desired setpoint thanks to a PID controller that It has programmed. It has established a communication between the PID controller programmed in LabVIEW and Arduino Due, the DAC that It has chosen after comparing it with another candidate. It has learned some basics of how the LightCrafter 4500 DMD works. The projected light is the composition of the lights of three LED’s, each of which has a certain on-time. The mirrors chose to be in on- or off-stages depending to the amount of intensity that we want for each colour.

Radio telescope is an astronomical instrument used to study radio astronomy activities including observing the celestial activities such as sun, galaxies, pulsars, stars, monitor the submillimeter wavelength and many more. Radio waves received are very weak and of low intensity. Due to this, the signals are easily distracted by interference. To resolve this, antenna dish has been increased in size which gives a larger collecting areas and increased its operating frequency. However, another difficulty arises and create challenges in controlling and positioning the radio telescope. On top of that, the antenna is also exposed to disturbances namely wind disturbance that makes the control process even worse. In view of that, with the aim to have an accurate position output, it is essential to employ a precise and robust controller. This research utilised a PID controller for position control of the radio telescope. However, PID faces big challenges in determining its parameters values. It suffers unsatisfactory performance such as time consuming, tedious work, lack of precision and robustness. Thus, an optimal approach is proposed to obtain the parameters by using slope variation method. Radio telescope was modelled based on real telescope with 18-m diameter. A Ziegler Nichols (ZN) and ZN+ were executed during control process. These methods were chosen since they are one of the widely use method for tuning PID. Then the slope variation approach implemented to the radio telescope model. The control methods were run in speed loop followed by position loop. Performance of the proposed approach was compared with ZN and ZN+ methods. The results showed that the slope variation approach provide promising results in terms of precision and percentage of overshoot with 0.001° position accuracy and zero overshoot. On the other hand, ZN+ method obtained only 0.034° of position accuracy and 5% overshoot. Realising radio telescope continually exposed to wind gust disturbance, the win

It has built and characterised a laser and It has learned what each of the components does. It has been able to run the laser in single-mode and stabilised it around a desired setpoint thanks to a PID controller that It has programmed. It has established a communication between the PID controller programmed in LabVIEW and Arduino Due, the DAC that It has chosen after comparing it with another candidate. It has learned some basics of how the LightCrafter 4500 DMD works. The projected light is the composition of the lights of three LED’s, each of which has a certain on-time. The mirrors chose to be in on- or off-stages depending to the amount of intensity that we want for each colour.

Radio telescope is an astronomical instrument used to study radio astronomy activities including observing the celestial activities such as sun, galaxies, pulsars, stars, monitor the submillimeter wavelength and many more. Radio waves received are very weak and of low intensity. Due to this, the signals are easily distracted by interference. To resolve this, antenna dish has been increased in size which gives a larger collecting areas and increased its operating frequency. However, another difficulty arises and create challenges in controlling and positioning the radio telescope. On top of that, the antenna is also exposed to disturbances namely wind disturbance that makes the control process even worse. In view of that, with the aim to have an accurate position output, it is essential to employ a precise and robust controller. This research utilised a PID controller for position control of the radio telescope. However, PID faces big challenges in determining its parameters values. It suffers unsatisfactory performance such as time consuming, tedious work, lack of precision and robustness. Thus, an optimal approach is proposed to obtain the parameters by using slope variation method. Radio telescope was modelled based on real telescope with 18-m diameter. A Ziegler Nichols (ZN) and ZN+ were executed during control process. These methods were chosen since they are one of the widely use method for tuning PID. Then the slope variation approach implemented to the radio telescope model. The control methods were run in speed loop followed by position loop. Performance of the proposed approach was compared with ZN and ZN+ methods. The results showed that the slope variation approach provide promising results in terms of precision and percentage of overshoot with 0.001° position accuracy and zero overshoot. On the other hand, ZN+ method obtained only 0.034° of position accuracy and 5% overshoot. Realising radio telescope continually exposed to wind gust disturbance, the win

Rad je posvećen robusnom upravljanju sistemima čiji je linearni regulator i/ili dinamika necelog reda, kao i upravljačkim problemima gde regulator necelog reda u sebi poseduje i linearnu i nelinearnu dinamiku, a koji upravlja procesima čija dinamika može i linearna i nelinearna., The thesys is dedicated to robust control systems problems with linear controllers and/or process dynamics of noninteger order, as well as control issues with combination of linear and nonlinear controllers of noninteger order that control either linear or nonlinear systems.

The main objective of this thesis was to design a model of a quadcopter in Simulink based on the forces and moments acting on the device and obtaining the resultant movements of the quadrotor. As well, it was also planned to implement controllers for both the altitude and the yaw angle of the quadcopter. This way, if desired altitude and yaw angle values are given to the system, the controllers will calculate the proper angular speed of the rotors to obtain and maintain such desired values.

The main objective of this thesis was to design a model of a quadcopter in Simulink based on the forces and moments acting on the device and obtaining the resultant movements of the quadrotor. As well, it was also planned to implement controllers for both the altitude and the yaw angle of the quadcopter. This way, if desired altitude and yaw angle values are given to the system, the controllers will calculate the proper angular speed of the rotors to obtain and maintain such desired values.

The main objective of this thesis was to design a model of a quadcopter in Simulink based on the forces and moments acting on the device and obtaining the resultant movements of the quadrotor. As well, it was also planned to implement controllers for both the altitude and the yaw angle of the quadcopter. This way, if desired altitude and yaw angle values are given to the system, the controllers will calculate the proper angular speed of the rotors to obtain and maintain such desired values.

The work proposes and analizes complex network-based controllers for HVDC transmission lines. Two different control approaches are studied: Distributed PID strategies, which take into account just local information of the state of each single node, and Global PID algorithms, in which the control action for each node depends on the state of the whole network. Both control techniques are tested and numerically validated on a model of the North Sea Transnational Grid, which is a project of connecting already existing off-shore power plants in northern Europe countries with each other and with mainland distribution stations. The thesis is structured in seven chapters: the first chapter is an introducion about HVDC transmission lines, the second contains the main theoretical aspects of complex networks, the third and fourth chapter are more technical and they are about the study case. The above indicated control strategies are compared and discussed along with the simulation results in chapters five and six. Finally conclusions and suggestions for further research works are drawn in chapter seven., Incoming

Aquest projecte sorgeix de la idea d’implantar en un vehicle aeri no tripulat un sistema de seguiment per a un objecte en moviment mitjançant la visió, és a dir, sense que ningú piloti el vehicle amb un control remot. El projecte en qüestió consisteix en l’estudi d’un sistema que sigui capaç de determinar la posició del Drone mitjançant la visió, és a dir, a partir de les imatges adquirides per la càmera frontal del Drone, així com també, el disseny d’un controlador capaç de controlar la trajectòria d’aquest. La primera part del projecte està enfocada en l’estudi del software, el ROS, utilitzat per a la comunicació entre l’ordinador i el Drone. Tanmateix, també s’ha estudiat un sistema visual de navegació present en el software esmentat, el qual és l’origen de les modificacions pertinents per a la consecució de l’objectiu. A més de l’estudi del software utilitzat, també s’ha realitzat un estudi del hardware que s’ha fet servir per dur a terme el seguiment de l’objecte, concretament, del vehicle aeri no tripulat Ar.Drone 2.0 de Parrot. La segona part està basada en la realització de les pertinents modificacions del sistema de navegació existent aconseguint, així, focalitzar l’anàlisi de la posició en l’objecte que es vol seguir. S’ha efectuat, també, una cerca de la planta del Drone per poder dissenyar un sistema de control capaç de realitzar la trajectòria necessària a l’hora de seguir l’objecte. Aquest sistema ha estat simulat abans d’implantar-lo en el programa realitzat. Aquest programa gestionarà l’adquisició de les dades del sistema visual de navegació i portarà a cap les pertinents accions de control per situar el Drone en la posició desitjada respecte a l’objecte en moviment. Finalment, s’han efectuat diversos experiments que han permès extreure diferents conclusions respecte al sistema de seguiment dissenyat, This project arose from the idea to implement in an unmanned aerial vehicle a monitoring system for a moving subject by means of vision, that is to say, with nobody piloting the vehicle with a remote control. The project consists of conceiving a system capable of determining the Drone position through the vision, which means through the images acquired by the frontal camera of the Drone, as well as the design of a controller able to monitor its path. The first part of the project is focused on the study of the software, the ROS, which is used to communicate the computer and the Drone. However, it has also been studied a visual navigation system integrated in the software, which is the origin of the corresponding modifications so as to achieve the objective. In addition to the study of the used software, it also took place a research about the used hardware, which carries out the monitoring of the subject, concretely the UAV Ar. Drone 2.0. from Parrot. The second part is based in the application of the corresponding modifications of the existing navigation system in order to focus the analysis of the position on the monitored subject. A research of the Drone’s plan took place to design a monitoring system capable of making the necessary path to follow the subject. This system has been simulated before its implantation in the created program, which will manage the data acquisition from the visual navigation system and will carry out the corresponding monitoring actions to place the Drone in the desired position regarding the moving subject. Finally, multiple tests have been done that allowed to draw different conclusions concerning the designed monitoring system