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Godoy, Rodrigo Juliani Corrêa de. "Plantwide control: a review and proposal of an augmented hierarchical plantwide control design technique." Universidade de São Paulo, 2017. http://www.teses.usp.br/teses/disponiveis/3/3139/tde-07112017-140120/.
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The problem of designing control systems for entire plants is studied. A review of previous works, available techniques and current research challenges is presented, followed by the description of some theoretical tools to improve plantwide control, including the proposal of an augmented lexicographic multi-objective optimization procedure. With these, an augmented hierarchical plantwide control design technique and an optimal multi-objective technique for integrated control structure selection and controller tuning are proposed. The main contributions of these proposed techniques are the inclusion of system identification and optimal control tuning as part of the plantwide design procedure for improved results, support to multi-objective control specifications and support to any type of plant and controllers. Finally, the proposed techniques are applied to industrial benchmarks to demonstrate and validate its applicability.O problema de projetar sistemas de controle para plantas inteiras é estudado. Uma revisão de trabalhos anteriores, técnicas disponíveis e atuais desafios de pesquisa é apresentada, seguida da descrição de algumas ferramentas teóricas para melhorar o controle plantwide, incluindo a proposta de um procedimento de otimização multi-objetivo lexicográfico aumentado. Com tais elementos, são propostas uma nova técnica hierárquica aumentada de projeto de sistemas de controle plantwide e uma técnica multi-objetivo para seleção de estrutura de controlador integrada à sintonia ótima do controlador. As principais contribuições das técnicas propostas são a inclusão de identificação de sistemas e sintonia ótima de controladores como parte do procedimento de projeto de controle plantwide para melhores resultados, suporte a especificações multi-objetivo e suporte a quaisquer tipos de plantas e controladores. Finalmente, as técnicas propostas são aplicadas a benchmarks industriais para demonstrar e validar sua aplicabilidade.
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Maslovskaya, Sofya. "Inverse Optimal Control : theoretical study." Thesis, Université Paris-Saclay (ComUE), 2018. http://www.theses.fr/2018SACLY013/document.
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Cette thèse s'insère dans un projet plus vaste, dont le but est de s'attaquer aux fondements mathématiques du problème inverse en contrôle optimal afin de dégager une méthodologie générale utilisable en neurophysiologie. Les deux questions essentielles sont : (a) l'unicité d'un coût pour une synthèse optimale donnée (injectivité); (b) la reconstruction du coût à partir de la synthèse. Pour des classes de coût générales, le problème apparaît très difficile même avec une dynamique triviale. On a donc attaqué l'injectivité pour des classes de problèmes spéciales : avec un coût quadratique, la dynamique étant soit non-holonome, soit affine en le contrôle. Les résultats obtenus ont permis de traiter la reconstruction pour le problème linéaire-quadratiqueThis PhD thesis is part of a larger project, whose aim is to address the mathematical foundations of the inverse problem in optimal control in order to reach a general methodology usable in neurophysiology. The two key questions are : (a) the uniqueness of a cost for a given optimal synthesis (injectivity) ; (b) the reconstruction of the cost from the synthesis. For general classes of costs, the problem seems very difficult even with a trivial dynamics. Therefore, the injectivity question was treated for special classes of problems, namely, the problems with quadratic cost and a dynamics, which is either non-holonomic (sub-Riemannian geometry) or control-affine. Based on the obtained results, we propose a reconstruction algorithm for the linear-quadratic problem
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Maslovskaya, Sofya. "Inverse Optimal Control : theoretical study." Electronic Thesis or Diss., Université Paris-Saclay (ComUE), 2018. http://www.theses.fr/2018SACLY013.
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Cette thèse s'insère dans un projet plus vaste, dont le but est de s'attaquer aux fondements mathématiques du problème inverse en contrôle optimal afin de dégager une méthodologie générale utilisable en neurophysiologie. Les deux questions essentielles sont : (a) l'unicité d'un coût pour une synthèse optimale donnée (injectivité); (b) la reconstruction du coût à partir de la synthèse. Pour des classes de coût générales, le problème apparaît très difficile même avec une dynamique triviale. On a donc attaqué l'injectivité pour des classes de problèmes spéciales : avec un coût quadratique, la dynamique étant soit non-holonome, soit affine en le contrôle. Les résultats obtenus ont permis de traiter la reconstruction pour le problème linéaire-quadratiqueThis PhD thesis is part of a larger project, whose aim is to address the mathematical foundations of the inverse problem in optimal control in order to reach a general methodology usable in neurophysiology. The two key questions are : (a) the uniqueness of a cost for a given optimal synthesis (injectivity) ; (b) the reconstruction of the cost from the synthesis. For general classes of costs, the problem seems very difficult even with a trivial dynamics. Therefore, the injectivity question was treated for special classes of problems, namely, the problems with quadratic cost and a dynamics, which is either non-holonomic (sub-Riemannian geometry) or control-affine. Based on the obtained results, we propose a reconstruction algorithm for the linear-quadratic problem
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Liu, Xiaolei. "Sample Size Calculations in Matched Case-Control Studies and Unmatched Case-Control Studies with Controls Contaminated." University of Cincinnati / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1221754897.
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Al-Battal, Nader. "Flow control for loads control." Thesis, University of Bath, 2019. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.767607.
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During gust encounters and turbulence aircraft are subject to extreme loads that dictate the structural requirements. Amelioration of these loads would allow reduced structural weight and therefore greater efficiency. Flow control is used for controlling the extreme loads at the fluid-structure interface. Two versions of the jet flap, normal and upstream blowing from the upper surface are studied under steady state conditions to illustrate the effectiveness of these devices at mitigating lift loads. The upstream blowing jet flap is further investigated through periodic and transient activation to demonstrate the feasibility for controlling transient gust encounters. These measurements include force, pressure and Particle Image Velocimetry measurements at a Reynolds number of 660,000 for a NACA 0012 airfoil.
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Favaro, Juliana. "Controle preditivo aplicado à planta piloto de neutralização de pH." Universidade de São Paulo, 2012. http://www.teses.usp.br/teses/disponiveis/3/3139/tde-16072013-170810/.
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Uma das técnicas de controle avançado que vem ganhando destaque no cenário econômico e ecológico, focando maior sustentabilidade e a otimização dos processos, é o controle preditivo, o qual já vem sendo aplicado em indústrias químicas e petroquímicas. Esta dissertação trata do desenvolvimento de um controle preditivo aplicado a uma planta piloto de neutralização de pH, presente no Laboratório de Controle de Processos Industriais da Escola Politécnica da Universidade de São Paulo. O desenvolvimento do projeto pode ser dividido em quatro etapas: implementação das malhas de controle regulatório, identificação dos sistemas, construção do controlador preditivo, aplicações e análises experimentais. Na primeira etapa foi necessário estudar o sistema em questão e implementar algumas malhas internas usando controladores PID. Na segunda etapa foi realizada a identificação do modelo da planta, ressaltando que pontos de operação e ajuste de parâmetros internos são determinantes para a modelagem. Já na terceira etapa desenvolveu-se um controlador preditivo, através de softwares auxiliares como o MATLAB e o IIT 800xA da ABB, que foram utilizados para o desenvolvimento e implementação do algoritmo de controle. Por fim, na última etapa, foi feita a análise e comparação dos resultados, quando se submete à planta a um controlador PID, quando aplicado um controlador preditivo em cascata com controladores PID e quando se utiliza apenas o controlador preditivo com ação direta nos atuadores.The predictive control is an advanced control technique which has gained evidence in the economic and ecological context because the search for sustainability and process optimization. This control has already been applied by the chemical and petrochemical industries. The purpose of this project is to develop a predictive controller which will be applied in a pH neutralization plant located in the Industrial Processes Control Laboratory at Polytechnic School of the University of São Paulo. The development of this project can be divided into four stages: implementation of regulatory control loops, identification of the system, construction of the predictive controller, applications and experimental analysis. The first step is necessary in order to study the plant and to implement some internal loops using PID controllers. In the second step, the identification process of the plant model will be done. It is important to note that operating points and internal parameter settings are very important for modeling. In the third stage, using the model obtained from the identification process, a predictive controller is built from auxiliary software such as MATLAB and IIT 800xA (by ABB), which will be used for the development and implementation of the control algorithm. Finally, the last step consists in collecting and analyzing the results of the pH neutralization plant. At this stage the responses of each controller will be compared: PID controller, MPC controller in cascade mode with PID and MPC controller acting directly on actuators.
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Zanella, Júnior Aldo. "Experimentações práticas e simuladas de controle preditivo generalizado - GPC." Universidade do Estado de Santa Catarina, 2015. http://tede.udesc.br/handle/handle/2084.
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This work introduces the report of performed studies in order to evaluate the applicability of generalized predictive control (GPC) to several plants. The main goal is to analyze the GPC performance in processes with different features, analyzing the influence of its tuning parameters. The study is justified by the fact that GPC presents itself as a generalized solution for several classes of processes, which are becoming increasingly complex and demanding for traditional controllers to handle. For the purpose to prove this proposal of GPC, it was performed several tests with plants of different orders and response characteristics, real and simulated, varying controller tuning parameters and measuring some quality indices. It was evaluated the influence of tuning parameters and it was made a report of conclusions that was reached. Through obtained results, it is shown that GPC satisfies the proposal and presents favorable results.
Esta dissertação traz o relato do estudo realizado a fim de avaliar a aplicabilidade do controlador preditivo generalizado (GPC) em plantas diversas. O objetivo principal é analisar o desempenho do GPC em processos com diferentes características, analisando a influência dos seus parâmetros de sintonia. O estudo se justifica pelo fato de que o GPC apresenta-se como uma solução generalizada para diversos tipos de processos, os quais estão se tornando cada vez mais complexos e com maiores exigências para o controlador. A fim de comprovar essa proposta do GPC, realizou-se inúmeros ensaios com plantas com respostas e ordem diferentes, reais e simuladas, variando-se os parâmetros de sintonia do controlador e medindo-se alguns parâmetros de qualidade. Avaliou-se a influência dos parâmetros de sintonia e fez-se um relato das conclusões a que se chegou. Através dos resultados obtidos, mostra-se que o GPC corresponde ao que se propõe para as plantas testadas e apresenta resultados favoráveis.
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Mirandola, André Luís de Aguiar. "Desenvolvimento de controladores de forças generalizadas em manipuladores industriais." Universidade de São Paulo, 2006. http://www.teses.usp.br/teses/disponiveis/18/18135/tde-29012016-122518/.
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Esta dissertação estuda a otimização da capacidade de interação de manipuladores robôs com o meio externo através do controle das forças e torques envolvidas no contato. Os modelos adotados para as análises levam em consideração a interação entre a extremidade do manipulador e uma superfície. Neste trabalho, são investigadas diferentes metodologias para controle de forças, assim como as vantagens e desvantagens de cada método estudado para comparar e desenvolver um controle adequado das forças de contato. Devido às divergências encontradas na literatura, foram implementadas experimentalmente duas abordagens distintas conhecidas por controle cinestático e controle híbrido. Também, como parte do ambiente experimental, foi desenvolvido um protótipo de um micro manipulador com um grau de liberdade instalado na extremidade do robô. O micro manipulador simplifica a implementação de controle de força ativo, pois trabalha de forma independente do acionamento \"fechado\" dos robôs industriais abordados no trabalho. Assim é possível manter uma força arbitraria desejada no contato com a superfície. O controlador de força se sobrepõe ao controlador de posições convencional do manipulador para produzir o comportamento desejado na interação com o meio externo.The optimization of a conventional industrial robot manipulator capacity to interact with the surrounding environment is analyzed in this work. The models adopted for the analysis take into account the contact between the robot and an external surface. Different force control approaches are analyzed regarding their implementation advantages and disadvantages. Due to the well known contradictions in the literature experiments were carried out using the kinestatic control and the hybrid control. A micro manipulator with one degree of freedom was developed and installed at the end effector in association with the tool tester. With this system it is possible change the contact force on the surface. The simultaneous coordinate work of the robot position control and the micro manipulator system force control are use to produce a desired behavior in the interaction with the external surface.
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Cadwell, John Andres Jr. "Control of Longitudinal Pitch Rate as Aircraft Center of Gravity Changes." DigitalCommons@CalPoly, 2010. https://digitalcommons.calpoly.edu/theses/426.
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In order for an aircraft to remain in stable flight, the center of gravity (CG) of an aircraft must be located in front of the center of lift (CL). As the center of gravity moves rearward, pitch stability decreases and the sensitivity to control input increases. This increase in sensitivity is known as pitch gain variance. Minimizing the pitch gain variance results in an aircraft with consistent handling characteristics across a broad range of center of gravity locations.
This thesis focuses on the development and testing of an open loop computer simulation model and a closed loop control system to minimize pitch axis gain variation as center of gravity changes. DATCOM and MatLab are used to generate the open loop aircraft flight model; then a closed loop PD (proportional-derivate) controller is designed based on Ziegler-Nichols closed loop tuning methods. Computer simulation results show that the open loop control system exhibited unacceptable pitch gain variance, and that the closed loop control system not only minimizes gain variance, but also stabilizes the aircraft in all test cases. The controller is also implemented in a Scorpio Miss 2 radio controlled aircraft using an onboard microprocessor. Flight testing shows that performance is satisfactory.
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Renfrew, David T. "TRAFFIC SIGNAL CONTROL WITH ANT COLONY OPTIMIZATION." DigitalCommons@CalPoly, 2009. https://digitalcommons.calpoly.edu/theses/190.
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Traffic signal control is an effective way to improve the efficiency of traffic networks and reduce users’ delays. Ant Colony Optimization (ACO) is a metaheuristic based on the behavior of ant colonies searching for food. ACO has successfully been used to solve many NP-hard combinatorial optimization problems and its stochastic and decentralized nature fits well with traffic flow networks. This thesis investigates the application of ACO to minimize user delay at traffic intersections. Computer simulation results show that this new approach outperforms conventional fully actuated control under the condition of high traffic demand.
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Peng, Youbin. "On adaptive control :Pole-zero placement control and generalized predictive control." Doctoral thesis, Universite Libre de Bruxelles, 1991. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/213050.
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Porfirio, Carlos Roberto. "Implantação de um controlador multimodelos em uma coluna depropanizadora industrial." Universidade de São Paulo, 2001. http://www.teses.usp.br/teses/disponiveis/3/3137/tde-14122001-123029/.
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As colunas depropanizadoras existentes nas refinarias de petróleo têm como função a separação entre as correntes de propano e butano. O objetivo de controle nestas colunas é a especificação de um teor máximo de iso-butano e mais pesados (C4 +) na corrente de propano e do teor máximo de propano e mais leves (C3 -) na corrente de butano. Controladores multivariáveis tradicionais, que normalmente são implementados nas colunas depropanizadoras, apresentam grande dificuldade para manter os produtos dentro de suas especificações, isto se deve ao fato de que este processo apresenta um comportamento bastante não-linear ao longo de toda sua região de operação. Neste trabalho temos como objetivo estudar as dificuldades encontradas no projeto de controle para esse tipo de sistema e implantar na planta industrial um controlador multivariável utilizando múltiplos modelos para controle da coluna. Para realizarmos este estudo utilizamos o simulador de processos HYSYSÔ para verificarmos o comportamento estático e dinâmico do processo. Os modelos utilizados para representar o processo são aqueles obtidos durante o estudo do comportamento dinâmico. Para implantação do controlador na unidade industrial é utilizado o SICON (Sistema de Controle da Petrobras) sendo algumas de suas rotinas modificadas para permitir a inclusão dos múltiplos modelos. Durante o estudo são comparadas as performances dos controladores QDMC e MMPC (Multi-Model Predictive Control) resolvido através de um algoritmo para NLP (Non Linear Programming). O controlador multimodelos (MMPC) é apresentado na forma de variáveis de estado podendo controlar sistemas de grande porte, inclusive sistemas com dinâmicas lentas e rápidas. Esta formulação permite prever as variáveis controladas em instantes de tempo esparsos e diferentes para cada controlada. O MMPC é capaz de tratar problemas de controle não-linear usando modelos lineares, introduzindo o conceito de robustez com a utilização do conjunto de modelos. O MMPC exige um menor esforço de sintonia que o QDMC sendo adequado para uma região mais ampla de operação.Depropanizer columns are used in oil refineries for the separation of the propane stream from the butane stream. The control objective of these columns is the specification of a maximum content of iso-butane and heavier components (C4+) in the propane product and the maximum content of propane and lighter components (C3-) in the butane roduct. Multivariable controllers usually mplemented in depropanizer columns frequently resent great difficulty to maintain the products inside their specification ranges. This deficiency is due to the fact that the process presents a quite non-linear behavior along its operating window. The objective of the present work is to study the difficulties found in the design of the control system for the aforesaid process, and to implement in an industrial plant a multivariable controller using multiple models for the control of the separation column. To accomplish this study we used the HYSYSÔ process simulator to verify the static and dynamic behavior of the process. The models used to represent the real process in the controller are those obtained during the study of the dynamic behavior. The controller implementation in the industrial unit was done with SICON (Control System of Petrobras), which had some of its routines modified to allow the inclusion of multiple models. Along the work, performances of QDMC and MMPC(Multi-Model Predictive Control) controllers were compared. MMPC was solved through an algorithm for NLP (Non Linear Programming). The Multi-Model (MMPC) controller was implemented using a state space formulation which allows for the implementation of very large systems and besides, systems with simultaneous slow and fast dynamics. This formulation allows to foresee the controlled variables at sparse sample instants, that can be distinct for each controlled variable. MMPC is able to handle non-linear control problems using linear models by introducing the robustness concept with the use of a set of models. MMPC demands a smaller tuning effort than QDMC, and can be adapted to a wide range of operating conditions.
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Barão, Renato Casali. "Algoritmos de controle ótimo quadrático com restrições." Universidade de São Paulo, 1997. http://www.teses.usp.br/teses/disponiveis/3/3139/tde-22032004-194309/.
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O objetivo do trabalho é apresentar dois algoritmos para a solução de problemas de controle ótimo quadrático robusto com restrições, dentro de um contexto de controladores preditivos (MPC do inglês Model Predictive Control). Inicialmente apresentamos uma breve introdução aos algoritmos MPC, com ênfase na abordagem do controlador linear quadrático. Em seguida são apresentados os dois algoritmos de interesse, que utilizam técnicas de otimização LMI. Dessa forma as restrições e as incertezas podem ser colocadas em formas computacionalmente tratáveis. Por fim são realizadas simulações e comparações entre esses algoritmos, bem como com técnicas de MPC encontradas na literatura atual.The goal of the work is to present two algorithms for the solution of robust quadratic optimal control problems with restrictions, within a model predictive control (MPC) setup. Initially we present a brief introduction of the MPC algorithms, emphasizing the linear quadratic controller approach. Next the two algorithms of interest, using LMI optimization techniques, are presented. By using this technique the restrictions and uncertainties can be written in a computational way. Finally some simulations and comparisons between these algorithms, as well as with MPC techniques found in the current literature, are performed.
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SILJEDAHL, JENNIE. "Control Me as I Control You." Thesis, Högskolan i Borås, Institutionen Textilhögskolan, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:hb:diva-20123.
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It started with an illustration and a painting. Similarities between themthat made me think of beauty and ugliness. I´ve questioned the subjectfrom a subjective point of view. Through materials, colours and constructionmethods I´ve reached an expression that is a balance between theugly and the beautiful, the crazy and the controlled. The characters arefigures part of another world.Program: Modedesignutbildningen
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Neves, Gabriel Pereira das. "Modeling, construction and control of a self-balancing unicycle." Universidade de São Paulo, 2017. http://www.teses.usp.br/teses/disponiveis/3/3139/tde-07112017-082249/.
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In this work, a unicycle system with reaction wheel is presented, considering the construction, the modeling, the design and test of the controllers. Firstly, a mechanical model considering a tridimensional computer aided design (3D CAD) is built in order to assist the construction and, after that, the modeling using the Lagrange method. In this work, linear controllers are designed and, therefore, the linearization of the system is done by the Jacobian, that is, assuming small variations around the equilibrium point. In this situation, there is no coupling between the pitch and the roll angles, thus resembling two inverted pendulums. The prototype is constructed by attaching the electronic components, the battery, the wheels and the motors to a body, to make it fully autonomous. The positioning of the parts has to balanced in order to maintain the position of the center of mass along the vertical and horizontal axis of symmetry. Then, a linear control project is done to stabilize the plant using two techniques that are validated considering simulations of the nonlinear coupled system. Then, the techniques were tested in the built prototype. The first one consists of the optimal LQR control that, although it worked, presented some problems due to parametric uncertainties. Therefore, the H2 control is used via LMI in such a way that the project becomes similar to the LQR, but in this way it is possible to insert parametric uncertainties and find a controller with some degree of robustness to them.Neste trabalho, é apresentado um sistema de um monociclo com roda de reação, mostrando desde a construção, passando pela modelagem até o projeto e teste dos controladores. Primeiramente, é feito o projeto mecânico por meio de um desenho assistido por computador tridimensional (3D CAD), para auxiliar a construção e, em seguida, a modelagem por meio do método de Lagrange. Naturalmente, o sistema é não linear e os ângulos de arfagem e rolamento são acoplados. Neste trabalho, controladores lineares são projetados e, portanto, a linearização do sistema é feita pelo Jacobiano, ou seja, assumindo pequenas variações em torno do ponto de equilíbrio. Nesta situação, o modelo desacopla os ângulos de arfagem e rolamento. O protótipo é construído fixando os componentes eletrônicos, a bateria, as rodas e os motores a um corpo, de forma a ser totalmente autônomo. O posicionamento das peças precisa ser equilibrado, de forma a manter a posição do centro de massa ao longo dos eixos de simetria vertical e horizontal. Em seguida, é feito um projeto de controle linear para estabilização da planta usando duas técnicas que são validadas via simulações do sistema não linear acoplado. Depois, as técnicas são testadas no protótipo construído. A primeira consiste do controle ótimo LQR que, apesar de ter funcionado, apresentou alguns problemas devidos a incertezas paramétricas. Logo, é usado o controle H2 via LMI, de tal forma que o projeto equivalha ao LQR, mas desta forma é possível inserir incertezas paramétricas e achar um controlador com algum grau de robustez a elas.
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Yoshida, Luciana [UNESP]. "Atividade patogênica dos fungos Metarhizium anisopliae, Beauveria bassiana e Paecilomyces fumosoroseus para Chrysomya puloria (Wiedemann, 1830) (Diptera: Calliphoridae)." Universidade Estadual Paulista (UNESP), 2007. http://hdl.handle.net/11449/94933.
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O presente estudo investigou, em condições de laboratório, a atividade patogênica de diferentes isolados dos fungos Metarhizium anisopliae, Beauveria bassiana e Paecilomyces fumosoroseus, aplicados nas concentrações de 1 x1 06 e 1 x1 08 conídios/mL nos estágios de ovo, larva L2, pupa e adulto de Chrysomya puloria. Grupos de 30 ovos, 20 larvas L2 e 20 pupas foram banhados com as suspensões de conídios e no ensaio com adultos, grupos de 30 moscas, foram pulverizados com as mesmas suspensões. Em todos os ensaios, utilizaram-se quatro repetições por tratamento. Os três fungos e seus respectivos isolados apresentaram baixa atividade patogênica para a fase de ovo. Os isolados de B. bassiana e M. anisopliae, aplicados na concentração de 108 conídios/mL, promoveram 100% de mortalidade de larvas de C. puloria. O tratamento de pupas com o isolado JAB 07 de B. bassiana, na concentração de 108 conídios/mL, reduziu significativamente a emergência de adultos. O efeito dose¬resposta foi melhor evidenciado no ensaio com adultos, pois os isolados de M. anisopliae e B. bassiana dimimuiram a sobrevivência somente quando aplicados na concentração de 108 conídios/mL. Todos os fungos se mostraram patogênicos para C. putoria, havendo diferença entre os isolados quanto a ação patogênica. Os isolados de B. bassiana e M. anisopliae foram mais eficientes, atuando principalmente nas fases de larva e adulto. P. fumosoroseus evidenciou menor atividade patogênica, apenas reduzindo a sobrevivência de adultos emergidos a partir de pupas inoculadas. A eficiência do controle foi influenciada pela concentração de conidios, obtendo-se os melhores resultados com as suspensões mais concentradas.
The present study investigated, in laboratory conditions, the pathogenic activity of different isolates of the fungi Metarhizium anisopliae, Beauveria bassiana and Paecilomyces fumosoroseus, applied in the concentrations of 1 x1 06 and 1 x1 08 conidia/ml in the stages of egg, L2 larvae, pupa and adult of Chrysomya putoria. Groups of 30 eggs, 20 L2 larvae e 20 pupae were bathed with the conidia suspensions and in the assay with adult, graups of 30 f1ies were pulverized with the same suspensions. In ali the assays there were used four repiicates per treatment. The three fungus and their respective isolates presented low pathogenic activity for the egg stage. The isolates B. bassiana and M. anisopliae, applied in the concentration of 108 conidia/ml, promoted a 100% of C. puloria larvae morta!ity. The pupae treatment with the isolate JAB 07 of B. bassiana, in the concentration of 108 conidia/ml, decreased significantly adult emergence. The dose-response effect was better evidenced in the assay with adults, because the isolates of M. anisopliae and B. bassiana only reduced the survival when applied in the concentration of 108 conidia/ml. All fungus demonstrated to be pathogenic to C. puloria, although there is a difference between the isolates in their pathogenic activity. The isolates of B. bassiana and M. anisopliae were more efficient, mainly acting in the larva and adult stages. P. fumosoroseus evidenced lower pathogenic activity, decreasing the survival of emerged adult only through inoculated pupae. The control efficiency was influenced by the conidia concentration, obtaining the best results with the most concentrated suspension.
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Nais, Juliana [UNESP]. "Infestação de Spodoptera frugiperda e Helicoverpa zea (Lepidoptera: Noctuidae) em híbridos comerciais de milho (Zea mays L.)." Universidade Estadual Paulista (UNESP), 2012. http://hdl.handle.net/11449/102279.
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O milho é uma das plantas domesticadas pelo homem mais antigas do mundo e sua produção se torna ameaçada diante do ataque de pragas. Dentre elas destacam-se a lagarta-do-cartucho Spodoptera frugiperda e a lagarta-da-espiga Helicoverpa zea. A S. frugiperda ataca preferencialmente o cartucho das plantas consumindo grande parte da área foliar antes de as folhas se desenvolverem. A H. zea é referida prejudicando a cultura atacando os estilo-estigmas e alimentando-se dos grãos leitosos. Para promover o manejo dessas pragas com a mínima utilização de agrotóxicos, a tecnologia das plantas geneticamente modificadas tem sido objeto de estudos. Neste trabalho, os objetivos foram avaliar a infestação de lagartas e injúrias de S. frugiperda e determinar o comportamento de oviposição, intensidade de infestação, danos nos estilo-estigmas e espigas provocados por H. zea em condições de campo, em híbridos convencionais e transgênicos. Os híbridos foram semeados na safrinha de 2010 e na safra de 2010/2011, em delineamento de blocos ao acaso, com sete tratamentos (híbridos) e quatro repetições. Diferentes níveis de infestação ocorreram durante os experimentos nos híbridos Bt e não Bt. O híbrido 2B710HX foi o menos infestado com lagartas de S. frugiperda e o menos danificado, o que se conclui que a expressão da toxina Cry1F foi a mais efetiva na proteção da planta, independente da época de semeadura. Os híbridos que expressam a toxina Cry1Ab e Cry1F foram os mais efetivos no controle da H. zea em Jaboticabal, independente da época de semeadura. Em Pindorama, SP, a toxina Cry1F apresentaram bons resultados contra a infestação de lagartas
The maize is a plant domesticated by humans world’s oldest and your production becomes threatened before the attack of pests. Among the pest that attack maize stand out the fall armyworn Spodoptera frugiperda and the bollworm Helicoverpa zea. S. frugiperda attacks preferably the maize plants consuming much of the leaf area before the leaves develop. H. zea hurting the culture attacking style-stigma and destroying the mand. In order to promote the management of these pests with minimal use of pesticides, the technology of genetically modified plants has been the subject of many studies. In this paper, the objective was to evaluate the infestation and injuries of S. frugiperda and determine the oviposition behavior, intensity of infestation, damage to the style-stigma and in ear caused by H. zea in field conditions in conventional and transgenic maize hybrids. The hybrids were planted in the harvest in the summer of 2010 and in harvest 2010/2011, in a randomized blocks with seven treatments (hybrids) and four replications. Different levels of infestation of larvae occurred throughout the development of conventional and transgenic hybrids. The hybrid 2B710HX was the least infested with larvae of S. frugiperda and the least damaged, which concludes that the Cry1F toxin was the most effective in protecting the plant, regardless of time of sowing. The hybrids expressing the Cry11Ab and Cry1F toxin were most effective in controlling H. zea in Jaboticabal, SP, regardless of sowing time. In Pindorama, SP, toxin Cry1F showed good results against the infestation of caterpillars
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Moreira, Fernando Jose de Oliveira. "Um controlador H 'infinito' alfa de Banda limitada para o controle ativo de vibração estrutural." [s.n.], 1998. http://repositorio.unicamp.br/jspui/handle/REPOSIP/263222.
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Orientador: Jose Roberto de França ArrudaTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica
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Resumo: Neste trabalho é apresentada uma metodologia para controle ativo de vibração. O objetivo é amortecer modos de vibração de uma estrutura na região de média freqüência. A técnica empregada envolve controle por realimentação e se aplica tanto a problemas de controle de estruturas flexíveis como controle ativo de vibração e ruído. O enfoque proposto é o de controle robusto utilizando a teoria 'H IND. INFINITO¿. Desta forma, inserem-se no projeto características de robustez à dinâmica não modelada devido ao truncamento do modelo do sistema estrutural. Também estão presentes no projeto critérios de robustez à variação nos parâmetros da dinâmica do sistema. O resultado é um controlador de baixa ordem de fácil implementação que produz um eficiente amortecimento nos modos a serem controlados, sem alterar a dinâmica dos demais modos da estrutura. Dois exemplos experimentais são apresentados, comprovando a exeqüibilidade do projeto
Abstract: This work presents a new approach for the active control of structural vibration. The main goal is to damp some of the structural modes in the mid-frequency range. The feedback control strategy used in this work can be applied either to the control of flexible structures or to the control of vibration and noise. It consists of an 'H IND. INFINITE¿ controller which is robust to unmodeled residual uncertainty due to model truncation of the structural system. AIso, a parametric robustness requirement, due to parameter variations of the system dynamics, is included in the designo Only the damping of the modes to be controlled is modified, while the other ones are kept unchanged. Two experimental examples are shown to demonstrate that the practical implementation of the proposed controller is feasible
Doutorado
Mecanica dos Sólidos e Projeto Mecanico
Doutor em Engenharia Mecânica
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Teodoro, Ricardo Gouveia. "Controle da posição angular da perna de voluntários hígidos e com lesão medular utilizando estimulação elétrica funcional e técnicas de controle robusto e chaveado." Ilha Solteira, 2018. http://hdl.handle.net/11449/157347.
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Orientador: Aparecido Augusto de CarvalhoResumo: A Estimulação Elétrica Funcional tem sido utilizada para auxiliar no restabelecimento de funções motoras em paraplégicos. Neste trabalho é proposto um procedimento experimental para identificar as incertezas politópicas de um modelo dinâmico do movimento do membro inferior, produzido por estimulação elétrica aplicada no quadríceps. Foram realizadas comparações entre controle em malha aberta e dois controladores em malha fechada. O projeto dos controladores foi baseado em desigualdades matriciais lineares (LMIs). Os resultados experimentais foram obtidos para 5 voluntários hígidos e 4 voluntários paraplégicos. Devido à incerteza dos parâmetros da planta, os resultados experimentais mostraram que o sinal de controle é incerto para um ponto de operação. Pela primeira vez aplicou-se controle chaveado com incerteza e estimulação elétrica para controlar o movimento do membro inferior. O controlador chaveado u_(σ,ξ) (t)apresentou o menor valor da derivada temporal da função de Lyapunov e compensou a incerteza do sinal de controle.
Abstract: Functional Electrical Stimulation has been used to aid and restore motor functions in paraplegics. In this work, we propose an experimental procedure to identify the polytopic uncertainties of a dynamic model of the lower limb movement produced by electrical stimuli applied to the quadriceps. A comparison between open-loop control and two closed-loop controllers was performed. The controller design was based on linear matrix inequalities (LMIs). Experimental results were obtained for 5 healthy volunteers and 4 paraplegic volunteers. Due to plant parameters uncertainties, the experimental results showed that the control signal is uncertain for an operating point. For the first time, a robust switched controller and electrical stimulation were applied to control the movement of the lower limb. The switched controller u_(σ,ξ) (t)presented the smallest time-derivative value of the Lyapunov function and compensated the uncertainty in the control signal.
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Furtado, Guilherme Phillips. "Formulation of impedance control strategy as an optimal control problem." Universidade de São Paulo, 2018. http://www.teses.usp.br/teses/disponiveis/3/3152/tde-05022019-153033/.
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A formulation of impedance control for redundant manipulators is developed as a particular case of an optimal control problem. This formulation allows the planning and design of an impedance controller that benets from the stability and eficiency of an optimal controller. Moreover, to circumvent the high computational costs of computing an optimal controller, a sub-optimal feedback controller based on the state-dependent Ricatti equation (SDRE) approach is developed. This approach is then compared with the quadratic programming (QP) control formulation, commonly used to resolve redundancy of robotic manipulators. Numerical simulations of a redundant planar 4-DOF serial link manipulator show that the SDRE control formulation offers superior performance over the control strategy based QP, in terms of stability, performance and required control effort.Uma formulação do controle de impedância para manipuladores redundantes é desenvolvida como um caso particular de um problema de controle ótimo. Essa formulação permite o planejamento e projeto de um controlador de impedância que se beneficia da estabilidade e eficiência de um controlador ótimo. Para evitar lidar com os elevados custos computacionais de se computar um controlador ótimo, um controlador em malha fechada sub-ótimo, baseado na abordagem das equações de Ricatti dependentes de estado (SDRE), é desenvolvido. Essa abordagem é comparada com a formulação de um controlador baseado em programação quadrática (QP), usualmente utilizado para resolver problemas de redundância em manipuladores robóticos. Simulações numéricas de um manipulador serial plano de quatro graus de liberdade mostram que o controlador baseado em SDRE oferece performance superior em relação a um controlador baseado em programação quadrática, em termos de estabilidade, performance e esforço de controle requerido do atuador.
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Toriumi, Fabio Yukio. "Controle digital de uma planta giroscópio." Universidade de São Paulo, 2016. http://www.teses.usp.br/teses/disponiveis/3/3139/tde-21122016-090720/.
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Esta dissertação apresenta a modelagem matemática de um giroscópio de controle de momento (CMG) e aplica técnicas de controle digital para o controle de atitude dessa planta. CMGs são atuadores importantes para o controle de atitude de corpos no espaço, tais como satélites e veículos espaciais. Desenvolve-se a modelagem da planta por meio da mecânica Lagrangiana e estudam-se técnicas específicas de controle PID (proporcional-integral-derivativo) e LQR (linear-quadratic regulator ) digitais para aplicação em sistemas com a planta nas configurações desacoplada e acopladas de fase mínima e não-mínima. Realizam-se ensaios via simulação, com o modelo não-linear da planta, bem como via experimentos práticos, com o sistema real, para validar os controladores projetados. Com isso, obtêm-se resultados positivos com ambas as técnicas estudadas, com exceção ao caso acoplado de fase não-mínima, para o qual uma das técnicas não foi capaz de controlar a atitude da planta.This dissertation presents the mathematical modeling of a control moment gyroscope (CMG) and applies digital control techniques for its attitude control. CMGs are important actuators for bodies attitude control in the space, such as satellites and space vehicles. The system modeling is developed with the Lagrangian mechanics and a digital proportionalintegral- derivative (PID) and a digital linear-quadratic regulator (LQR) control techniques are studied and applied to a decoupled system and coupled systems with minimum and non-minimum phases. Simulation tests with the non-linear plant model and experimental tests with the real plant are done in order to validate the control techniques. Then, positive results are reached with both studied techniques, excepting in the coupled system with non-minimum phase, in which one technique was not able to control it.
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Hu, Wenshan. "Design of networked control systems and global Web-based control laboratory." Thesis, University of South Wales, 2008. https://pure.southwales.ac.uk/en/studentthesis/design-of-networked-control-systems-and-global-webbased-control-laboratory(0c8a2649-120a-494f-a887-defcaceed570).html.
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This thesis mainly focuses on two Internet based control applications. One is a networked control system (NCS) where the control loop is closed through the network. The other is the Networked Control System Laboratory (NCSLab) which is a global web based remote experimentation platform. The contribution in the first part of the thesis relates to the networked predictive control (NPC) which was first introduced by Liu et al. (2004). In this method, the controller uses the model predictive approach to predict a future control sequence and send it to the plant in a network packet. The plant side receives this packet and then determine the appropriate control signal to apply to the actuator according to the time delay measurement. This method is innovative and works well in theory, but it has two deficiencies in practical applications. The first deficiency is that it needs synchronization between the controller and plant side to measure the individual forward and feedback channel time delays and this is very hard to achieve on the Internet. In this thesis, a round-trip NPC is proposed in which the predictive calculations and signal selections are based on the round-trip delay. The measurement of the round-tip delay is achieved using the plant side clock only, so that the need for synchronization is avoided. The second deficiency is that the mathematical model has to be accurately known. Otherwise the accuracy of the predictive calculation is affected, which may result in a degraded control performance. An event-driven NPC scheme is introduced to solve this problem. In this scheme, the selection of the appropriate control signal is not based on the time delay measurement but on the previous system output. This method can compensate for the effect of model uncertainty, which has been verified by both simulations and real-time experiments. Some experiments carried out on other NPC schemes are also reported on in this thesis. They are the NPC in state-space form and nonlinear NPC. These methods expand the use of NPC methodology. The second part of the thesis describes the design and implementation of the Networked Control System Laboratory. The NCSLab is based in the University of Glamorgan but its test rigs are diversely located in four Institutions from both the UK and China. In order to manage these test rigs from different places, a four layer structure (Central Server/Regional Server/Sub-Server/Test Rig) is adopted. The four layers are integrated into one system via the Internet. In order to deliver the remote experimentation to the users, a web-based user interface is designed. It provides great flexibility to the users such as remote monitoring, remote tuning and remote control algorithms. The implementation of the user interface (UI) heavily adopts the AJAX technology, so the remote experiments can be conducted inside the web browsers without installing special plug-ins. In order to show how the NCSLab works, two examples are given in the thesis.
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Wang, Liren. "An approach to neuro-fuzzy feedback control in statistical process control." Thesis, University of South Wales, 2001. https://pure.southwales.ac.uk/en/studentthesis/an-approach-to-neurofuzzy-feedback-control-in-statistical-process-control(7d9c736f-e85d-4873-a6bb-9bcea107d371).html.
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It is a difficult challenge to develop a feedback control system for Statistical Process Control (SPC) because there is no effective method that can be used to calculate the accurate magnitude of feedback control actions in traditional SPC. Suitable feedback adjustments are generated from the experiences of process engineers. This drawback means that the SPC technique can not be directly applied in an automatic system. This thesis is concerned with Fuzzy Sets and Fuzzy Logic applied to the uncertainty of relationships between the SPC (early stage) alarms and SPC implementation. Based on a number of experiments of the frequency distribution for shifts of abnormal process averages and human subjective decision, a Fuzzy-SPC control system is developed to generate the magnitude of feedback control actions using fuzzy inference. A simulation study which is written in C++ is designed to implement a Fuzzy-SPC controller with satisfactory results. To further reduce the control errors, a NeuroFuzzy network is employed to build NNFuzzy- SPC system in MATLAB. The advantage of the leaning capability of Neural Networks is used to optimise the parameters of the Fuzzy- X and Fuzzy-J? controllers in order to obtain the ideal consequent membership functions to adapt to the randomness of various processes. Simulation results show that the NN-Fuzzy-SPC control system has high control accuracy and stable repeatability. To further improve the practicability of a NN-Fuzzy-SPC system, a combined forecaster with EWMA chart and digital filter is designed to reduce the NN-Fuzzy-SPC control delay. For the EWMA chart, the smoothing constant 0 is investigated by a number of experiments and optimised in the forecast process. The Finite Impulse Response (FIR) lowpass filter is designed to smooth the input data (signal) fluctuations in order to reduce the forecast errors. An improved NN-Fuzzy-SPC control system which shows high control accuracy and short control delay can be applied in both automatic control and online quality control.
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Park, Song Won. "Aplicação de controladores geométricos não-lineares em processos químicos." Universidade de São Paulo, 1995. http://www.teses.usp.br/teses/disponiveis/3/3137/tde-10102017-092846/.
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Para abordagem do controle não-linear geométrico, a síntese do controle e elaborada diretamente a partir da descrição do processo com a dinâmica não-linear em espaço de estados. O presente trabalho trata da aplicação dos principais conceitos e formalismos do controle não-linear geométrico para os processos multivariaveis típicos da engenharia química: o controle não-linear continuo da coluna de destilação e o controle não-linear discreto da unidade de craqueamento catalítico em leito fluidizado. A síntese e o projeto do controlador não-linear são enfocados separadamente. O projeto do controlador tem importância pratica para as aplicações industriais. O presente trabalho apresenta metodologias para a abordagem dos seguintes aspectos da aplicação multivariavel do controle geométrico não-linear: (a) como relaxar a sintonia do controlador interno de desacoplamento não-linear; (b) como definir o controlador externo como controle linear de alocação de pólos com coeficientes de hurwitz; (c) neste controlador externo, como incluir a ação integral com prevenção da saturação; e (d) como definir a dinâmica dossetpoints externos.For the geometric nonlinear control approach, the controller synthesis is elaborated directly from the nonlinear dynamics state space description of the process. This work concerns the application of the main concepts and formalisms of the geometric nonlinear control theory to typical multivariable (MIMO) chemical engineering process as illustrative case studies: the continuous nonlinear control of the distillation column and the discrete nonlinear control of the fluid catalytic cracking unit. The synthesis and the project issues of the nonlinear controller are focused separately. The controller project has the practical importance for the industrial controller applications. This work applies the methodologies to approach the following issues for the MIMO applications of the geometric nonlinear control: (a) to detune the internal nonlinear decoupling controller; (b) to define the external controller as linear pole-placement controllers with Hurwitz coefficients; (c) to include the integral action with anti-reset windup on this external controllers and (d) to define the dynamics of the external setpoints.
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Zhao, Yun-Bo. "Packet-Based Control for Networked Control Systems." Thesis, University of South Wales, 2008. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.490204.
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Networked control systems (NCSs) are such control systems where the control loop is closed via some form of communication networks. These control systems are widely applicable in remote and distributed control applications. The inserted network however presents great challenges to conventional control theory as far as the design and analysis of NCSs are concerned. These challenges are caused primarily by the communication constraints in NCSs, e.g., network-induced delay, data packet dropout, data packet disorder, network access constraint, etc., which significantly degrade the system performance or even destabilize the system. When applying conventional control approaches to NCSs, considerable conservativeness is inevitable due to the failure to exploit network characteristics. Therefore, the co-design approach to NCSs in which control approaches and characteristics of NCSs are both fully considered, is believed to be the best way forward for the design of NCSs. In this thesis, we investigate the packet-based transmission of the network being used in NCSs, and propose a packet-based control (PB-control) approach to NCSs. In this approach, the 'packet' structure of data transmission in NCSs which is distinct from conventional control systems, is taken advantage of where, the control signals are first 'packed' and then sent as a sequence instead of one at a time as done in conventional control systems. \Vith the efficient use of the 'packet' structure, we can then actively compensate for the communication constraints in NCSs including the network-induced delay, data packet dropout and data packet disorder simultaneously. After determining the PB-control structure, we then extend its application to several categories of problems as follows. j • The first application is to two types of special nonlinear systems described by a Hammerstein model and a Wiener model respectively. A 'two-step' approach is adopted in this situation to separate the nonlinear process from the whole system which then enables the PB-control approach to be implemented. • It is observed that the communication constraints in NeSs are stochastic in nature, and thus a stochastic analysis of the PB-control approach is presented -----'''-'--'--~-• .:.o'... '-~.::C''c:....'..:..'..;...';';;;'~~.~'----' ......;.''''- ---'- ..-..;.;.~~ / iii under the Markov jump system framework, by modeling the network-induced delay and data packet dropout as a homogeneous ergodic Markov chain. The sufficient and necessary conditions for stochastic stability and stabilization in this situation are also obtained. • Continuous-time plant and continuous network-induced delay are observed to be more difficult to handle when implementing the PB-control approach. For this challenge, a discretization technique is introduced for the continuous network-induced delay and as a result, a novel model for NCSs is derived which is different to that obtained by conventional analysis from time delay system theory. A stabilized controller is also obtained in this situation by using delay-dependent analysis. • The last application is to deal with the situation where a set of NeSs share the network and thus the network access constraint has to be considered. For this situation, a PB-control and scheduling co-design approach is proposed where, PB-control is still applied to each subsystem while scheduling algorithms are applied to schedule the network resources among the subsystems to guarantee the stability of the whole system. We also point out in the thesis that further research on the PB-control approach is still needed as far as nonlinear, continuous-time systems and stochastic analysis are concerned.
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Ma, Xin. "Adaptive extremum control and wind turbine control /." Online version, 1997. http://bibpurl.oclc.org/web/24097.
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Sabri, Dina O. "Process control using an optomux control board." Virtual Press, 1987. http://liblink.bsu.edu/uhtbin/catkey/484759.
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In this thesis process control concepts were used to develop software that could be adapted to a real world situation. The software was used to control a simple temperature regulating experiment. This experiment was used to demonstrate the use of OPTOMUX analog and digital input/output devices in controlling a process. The goal of this experiment was to use the input/output devices in controlling the temperature of the box within specified tolerances for a designated period of time. To accomplish optimal use of equipment and optimal control, a mathematical model was derived to predict the behavior of the process under control. The pattern observed while the temperature was increasing toward room temperature closely resembled an exponential function. For temperatures above room temperatures the curve then approximated a square root function. The pattern followed when decreasing the temperature-was exponential throughout. The time required to collect all the significant data in the case of increasing the temperature was two hours. In the case of decreasing temperature, one hour. Beyond these time limits the temperature remained essentially constant. The maximum temperature value that could be reached was six degrees above room temperature and the minimum two degrees below room temperature.
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Zhao, Shiyu. "Nonparametric robust control methods for powertrain control." Thesis, University of Liverpool, 2011. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.548802.
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Dextre, Flores José Carlos, and Rivas Raúl Sergio Del Pozo. "¿Control de gestión o gestión de control?" Pontificia Universidad Católica del Perú, 2012. http://repositorio.pucp.edu.pe/index/handle/123456789/114761.
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The attempt to answer the title of this article frames the analysis of the concept of control as a key role of the management, which any entity applies in pursuit of its institutional fulfillment. The control intervention in the development of the activities carried out by organizations to achieve the planned objectives of economic, social or political order constitutes its core business, as it seeks to ensure that those activities—operations and processes—are conducted safely, continuous and reliable. This applies both to those who constitute the organization and those who have expectations of management efficiency and the effectiveness of the expected results. In this paper, on the one hand, we propose to revise the control concept and its application in the exercise of monitoring the management performance; on the other hand, we seek to show how control should be managed to achieve efficient and effective results.La tentativa de respuesta al título del presente artículo enmarca el análisis sobre el concepto puro del control como función fundamental de la administración, que aplica toda entidad en la búsqueda de su realización institucional. La intervención del control en el desenvolvimiento de las actividades que realizan las organizaciones para alcanzar los objetivos previstos de orden económico, social o político constituye su principal actividad, pues busca asegurar que dichas actividades —traducidas en operaciones y procesos— se desarrollen de manera segura, continua y confiable. Ello se aplica tanto para quienes integran la organización como para quienes tienen expectativa de la eficiencia de la gestión y la eficacia de los resultados esperados. En esta presentación, por un lado, se plantea revisar el concepto de control y su aplicación en el ejercicio de vigilar el desempeño de la gestión, Por otro lado, se busca señalar cómo debe gestionarse el control para lograr resultados eficientes y efectivos.
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Myers, William Osborne V. "Daily Control: Immigrant Experiences with Social Control." Kent State University / OhioLINK, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=kent161866874718439.
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Kirchner, William. "Anthropomimetic Control Synthesis: Adaptive Vehicle Traction Control." Diss., Virginia Tech, 2012. http://hdl.handle.net/10919/26620.
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Human expert drivers have the unique ability to build complex perceptive models using correlated sensory inputs and outputs. In the case of longitudinal vehicle traction, this work will show a direct correlation in longitudinal acceleration to throttle input in a controlled laboratory environment. In fact, human experts have the ability to control a vehicle at or near the performance limits, with respect to vehicle traction, without direct knowledge of the vehicle states; speed, slip or tractive force. Traditional algorithms such as PID, full state feedback, and even sliding mode control have been very successful at handling low level tasks where the physics of the dynamic system are known and stationary. The ability to learn and adapt to changing environmental conditions, as well as develop perceptive models based on stimulus-response data, provides expert human drivers with significant advantages. When it comes to bandwidth, accuracy, and repeatability, automatic control systems have clear advantages over humans; however, most high performance control systems lack many of the unique abilities of a human expert. The underlying motivation for this work is that there are advantages to framing the traction control problem in a manner that more closely resembles how a human expert drives a vehicle. The fundamental idea is the belief that humans have a unique ability to adapt to uncertain environments that are both temporal and spatially varying. In this work, a novel approach to traction control is developed using an anthropomimetic control synthesis strategy. The proposed anthropomimetic traction control algorithm operates on the same correlated input signals that a human expert driver would in order to maximize traction. A gradient ascent approach is at the heart of the proposed anthropomimetic control algorithm, and a real-time implementation is described using linear operator techniques, even though the tire-ground interface is highly non-linear. Performance of the proposed anthropomimetic traction control algorithm is demonstrated using both a longitudinal traction case study and a combined mode traction case study, in which longitudinal and lateral accelerations are maximized simultaneously. The approach presented in this research should be considered as a first step in the development of a truly anthropomimetic solution, where an advanced control algorithm has been designed to be responsive to the same limited input signals that a human expert would rely on, with the objective of maximizing traction. This work establishes the foundation for a general framework for an anthropomimetic control algorithm that is capable of learning and adapting to an uncertain, time varying environment. The algorithms developed in this work are well suited for efficient real time control in ground vehicles in a variety of applications from a driver assist technology to fully autonomous applications.Ph. D.
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Khairallah, Ousama Said. "Robotics Control using Active Disturbance Rejection Control." Cleveland State University / OhioLINK, 2009. http://rave.ohiolink.edu/etdc/view?acc_num=csu1262832204.
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Chu, C. C., and T. J. Henneberry. "Chemical Control Studies of Silverleaf Whitefly Control." College of Agriculture, University of Arizona (Tucson, AZ), 1996. http://hdl.handle.net/10150/210866.
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Chemical control studies for silverleaf whitefly, Bemisia argentifolii Bellows and Perring, control on cotton showed that fenpropathrin-acephate, fenpropathrin-endosulfan, and endosulfan-bifenthrin mixtures gave adequate control and increased cotton yields were obtained as compared within untreated cottons. Pyriproxyfen, applied biweekly or alternated with fenpropathrin-acephate, Nicotiana, and a fenpropathrin-mycotrol mixture also gave effective control.
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Lugão, João Ricardo Lhullier [UNESP]. "Controlador de temperatura para célula de medição de propriedades de líquidos por ultrassom." Universidade Estadual Paulista (UNESP), 2016. http://hdl.handle.net/11449/136279.
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Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)
Sistemas de controle de temperatura são necessários em diversos setores da indústria e pesquisa científica. Neste trabalho propõe-se um sistema de controle de temperatura para líquidos, que será utilizado em uma célula de medição de propriedades de líquidos por ultrassom. O sistema de controle tem como requisito atingir uma variação máxima de 0,01 ◦C em regime permanente. Os atuadores térmicos empregados são células de efeito Peltier e utilizam-se circuitos de potência do tipo ponte H para injetar ou retirar calor do objeto de interesse. São utilizados sensores de temperatura do tipo resistivos (RTDs), que são lineares e muito utilizados na indústria como referência para medição de temperatura. É utilizado um controlador proporcional, integral e derivativo (PID) digital, sintonizado a partir de um experimento em que o sistema é realimentado através de um controlador do tipo relé. A partir dos resultados desse experimento utilizam-se métodos diretos, como o de Ziegler-Nichols, para a sintonização dos coeficientes. Em seguida um ajuste fino é feito a partir dos coeficientes gerados por esses métodos. Um controlador PID capaz de atingir as meta de variação máxima de 0,01 ◦C é implementado. Com essa baixa oscilação no regime permanente concluiu-se que é possível realizar medidas de velocidade de fase de ondas de ultrassom propagando-se em água destilada com variação máxima de 0,05 m/s em torno do valor médio.
Temperature control systems are required in several industry and scientific research areas. This work proposes a liquid temperature control system applied to an ultrasonic mea- surement cell for liquids. The control system requires a maximum steady state deviation of 0,01 ◦ C. Thermoelectric coolers (TEC) work as thermal actuators with H bridge power circuits to pump heat to or from the object of interest. Resistive temperature detectors (RTD) are used in this work, which are linear and widely used in the industry as temperature measurement reference. A proportional, integral and derivative (PID) digital controller is tuned using relay feedback identification with direct tuning methods, such as Ziegler-Nichols’. To improve the results a fine tuning is implemented from the parameters estimated by the direct methods. A PID controller capable of achieving the 0,01◦ C maximum variation goal is implemented. With this low steady-state oscilation it is possible to measure phase velocity of ultrassound waves in distilled water with maximum variation of 0,05 m/s around the mean value.
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Groff, Leonardo Broering. "Controle baseado em eventos para sistemas em tempo discreto." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2016. http://hdl.handle.net/10183/143307.
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Este trabalho aborda o problema de controle baseado em eventos para sistemas em tempo discreto, considerando que o sistema possui os dispositivos atuadores e sensores em nós diferentes e separados por uma rede de comunicação. A estratégia baseada em eventos consiste em reduzir a utilização da rede ao transmitir as informações do sensor para o atuador apenas quando um evento é gerado pela violação de um determinado limiar pela função de disparo. Primeiramente, são formuladas condições para a estabilidade de um sistema linear com realimentação estática de estados sob a estratégia proposta, com base na teoria de Lyapunov. Como as condições são postas na forma de desigualdades matriciais lineares (LMIs, do inglês linear matrix inequalities), problemas de otimização convexos podem ser utilizados na determinação dos parâmetros da função de disparo, bem como na resolução do problema de co-design, ou seja, do projeto simultâneo do controlador e da função de disparo, os quais são providos na sequência. A partir deste resultado básico, a metodologia é estendida para o caso em que ocorre a saturação do atuador. A seguir, é apresentada a extensão da metodologia para o caso em que o estado da planta não está disponível para o sensor, sendo então utlizado um observador de estados, considerando-se tanto o caso em que o modelo da planta utilizado no observador corresponde exatamente à dinâmica real da planta quanto o caso em que este modelo apresenta incertezas. Exemplos numéricos são apresentados para ilustrar todas as classes de sistemas consideradas, com os quais constata-se que a estratégia proposta é eficiente na redução da utilização dos recursos da rede de comunicação.This work approaches the problem of event-triggered control for discrete time systems, considering that the system has the actuator and sensor devices in different nodes, separated by a communication network. The event-triggered strategy consists in reducing the utilization of the network by only transmitting the information from the sensor to the actuator when an event is generated by the violation of a determined threshold by the trigger function. Firstly, conditions for the stability of a linear system with a static state feedback under the proposed strategy are formulated based on the Lyapunov theory. Since the conditions are given in the form of linear matrix inequalities (LMIs), convex optimization problems can be used for the determination of the trigger function parameters, as well as the co-design of the feedback gain and the trigger function, which are given next. From this basic result, the methodology is extended to the case where occurs the saturation of the actuator. Following, the extension of the methodlogy to the case in which the plant states are not available for measure is presented, and a state-observer is used, considering both the case that the plant model corresponds exactly to the real plant dynamics and the case where this model has uncertainties. Numeric examples are shown to illustrate all the system classes considered, with which it is found that the proposed strategy is efficient in the reduction of the network resources utilization.
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Gratiere, Ederson. "Proposição e avaliação de estruturas de controle para cristalizadores." [s.n.], 2010. http://repositorio.unicamp.br/jspui/handle/REPOSIP/267010.
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Orientadores: Rubens Maciel Filho, Caliane Bastos Borba CostaDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Química
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Resumo: Este trabalho teve como objetivos principais avaliar o comportamento dinâmico de um cristalizador batelada operado por resfriamento, para o caso de estudo da cristalização de ácido adípico, de grande interesse industrial, e propor estruturas de controle para o mesmo. O trabalho é oportuno, uma vez que este tipo de processo é amplamente utilizado industrialmente, porém com baixo grau de automação, sendo utilizado muitas vezes o controle manual. Inicialmente foram realizadas simulações promovendo variações nas principais variáveis do processo, com a finalidade de analisar a dinâmica do mesmo. Posteriormente, foi desenvolvida uma estrutura de controle preditivo com matriz dinâmica (Dynamic Matrix Controller - DMC) com a finalidade de controlar a temperatura do cristalizador, manipulando a temperatura do fluido refrigerante que passa através de uma jaqueta. Esta estrutura de controle apresentou-se eficiente para o controle do cristalizador. Por fim foi desenvolvido um controlador DMC com o objetivo de controlar a supersaturação do sistema. Este controle exige a leitura em tempo real de duas variáveis do processo, temperatura e concentração do soluto em solução. Com essas duas variáveis é possível estimar a supersaturação do sistema em tempo real e compará-la com o setpoint. Para promover o controle da supersaturação é utilizada como variável manipulada a temperatura do fluido refrigerante. Esta estrutura de controle consegue promover maior repetibilidade para o sistema batelada e garante as mesmas condições de operação para todas as bateladas, gerando produtos mais uniformes, o que é bastante vantajoso.
Abstract: This study aimed to evaluate the dynamic behavior of a batch cooling crystallizer for the case of adipic acid crystallization, and to propose control structures for the system. This work is appropriate, since this type of process is widely used industrially, but with a low degree of automation, being often used the manual control. Initially simulations were carried out changing the process main variables, in order to analyze the dynamics of the process. In a second stage a control structure with predictive dynamic matrix controller (DMC) was developed in order to control the temperature of the crystallizer, manipulating the temperature of the refrigerant fluid passing through a jacket. This control structure was effective for the control of the crystallizer. Finally it a DMC controller with the objective of controlling the supersaturation of the system was developed. This control requires real-time aquisition of two process variables: temperature and concentration of solute in solution. With the two variables, it is possible to estimate the supersaturation of the system in real time and compare it with the setpoint. To promote the control of supersaturation the temperature of the refrigerant fluid is used as the manipulated variable. This control structure can promote greater repeatability for the batch system and provides the same operating conditions for all batches, producing more uniform products.
Mestrado
Desenvolvimento de Processos Químicos
Mestre em Engenharia Química
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Santos, Marcel Merlin dos. "Controle H-infinito em suspensões ativas aplicando técnicas baseadas em desigualdades matriciais lineares." [s.n.], 2010. http://repositorio.unicamp.br/jspui/handle/REPOSIP/265006.
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Orientador: Alberto Luiz SerpaDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica
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Resumo: Nesse estudo foram aplicadas as técnicas de controle H1 em modelos de suspensões ativas veiculares. O interesse de controlar o sistema baseado nessa técnica está também no fato de que sua obtenção pode ser feita através da solução de problemas de otimização, sendo estes baseados no uso de Desigualdades Matriciais Lineares (LMI, do inglês Linear Matrix Inequalities), que proporciona flexibilidade na formulação de problemas de otimização e possui algoritmos eficientes para a solução. Esse estudo foi baseado em três modelos de suspensão diferentes, com dois, quatro e sete graus de liberdade. Uma suspensão deve proporcionar conforto e segurança aos passageiros. Baseado nisso, adotou-se como desempenho o deslocamento simultâneo das rodas relativo ao chão (segurança) e a aceleração vertical do veículo (conforto dos passageiros). Como sinal de medição, utilizou-se a aceleração vertical do veículo. O controlador foi obtido considerando incertezas do modelo (neste estudo consideradas como incertezas paramétricas). Todos os modelos de suspensão veicular com controle simulados apresentaram melhores resultados, reduzindo não só a resposta temporal do sistema como também a resposta em freqüência, melhorando o conforto e a segurança dos passageiros. Conclui-se assim que é possível controlar o sistema mesmo quando sujeito a incertezas de modelagem. Para a solução numérica do problema foi utilizado o software MATLAB 7.4 com dois pacotes livres de otimização: Yalmip e Sedumi
Abstract: In this study the techniques of control H1 were applied in active suspension models. The interest in controling the system using this technique is based on the fact that the solution can be obtained by solving optimization problems, which are based on the use of Linear Matrix Inequalities, providing flexibility during the problem formulation and with efficient algorithms to solve the problem. This study was based on three different suspension models with two, four and seven degrees of freedom. A suspension should provide comfort and security to the passengers. Based on this, the displacement of wheels on the ground (security) and the vertical acceleration of the vehicle (passengers comfort) were adopted as system performance. The vertical acceleration of the vehicle was the measured signal. The active suspension controller was designed considering uncertainties (in this study as parametric uncertainties). All active suspensions controled models simulated improved their results, reducing not only system's time response but also system's frequency response. This means an improvement of the passengers' safety and comfort. It was concluded that controlling the system even when it has uncertainties was possible. To solve the numerical problem the software MATLAB 7.4 was used with two free optimization packages: Yalmip and Sedumi
Mestrado
Mecanica dos Sólidos e Projeto Mecanico
Mestre em Engenharia Mecânica
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Ng, Justin. "Artificial Neural Network-Based Robotic Control." DigitalCommons@CalPoly, 2018. https://digitalcommons.calpoly.edu/theses/1846.
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Artificial neural networks (ANNs) are highly-capable alternatives to traditional problem solving schemes due to their ability to solve non-linear systems with a nonalgorithmic approach. The applications of ANNs range from process control to pattern recognition and, with increasing importance, robotics. This paper demonstrates continuous control of a robot using the deep deterministic policy gradients (DDPG) algorithm, an actor-critic reinforcement learning strategy, originally conceived by Google DeepMind. After training, the robot performs controlled locomotion within an enclosed area. The paper also details the robot design process and explores the challenges of implementation in a real-time system.
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Villota, Cerna Elizabeth Roxana. "Análisis comparativo del control vibracional por técnicas de control óptimo y control robusto." Universidad Nacional de Ingeniería. Programa Cybertesis PERÚ, 2002. http://cybertesis.uni.edu.pe/uni/2002/villota_ce/html/index-frames.html.
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Melville, Robert. "Re-engineering internal audit : strategy and control, control models and control self assessment." Thesis, City, University of London, 2002. http://openaccess.city.ac.uk/19755/.
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This thesis examines the role of internal auditors in three key areas: strategy, control models and control self assessment. Research findings are based on the results of a survey of a specialist group of professionals with an interest in Control Self Assessment. This group comprises both internal auditors and non-internal auditors. Membership is multinational and a full range of industries is represented. The actual and potential contribution that internal auditors can make to strategy is assessed and evaluated, with particular reference to the Balanced Scorecard. Control models were examined to identify use and effectiveness and the potential link with successful implementation of Control Self Assessment. Control Self Assessment was also examined as a specific activity. This part of the research addressed how it was perceived by the respondents and their organisations, and also to examine the importance of facilitation skills and IT support. The results show that internal auditors already play a significant role in strategic issues, and that there is a significant awareness of the potential benefits of the Balanced Scorecard to internal audit practice. Control models are seen as highly important to the effective implementation of Control Self Assessment, which can be seen to have developed into a mature and established audit tool.
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D'Amelio, Jeffrey David. "Development of a Digital Controller for Motor Control Experiments in the EE472 Lab." DigitalCommons@CalPoly, 2014. https://digitalcommons.calpoly.edu/theses/1339.
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A digital motor controller for student lab use is designed, built, and tested. The controller uses an encoder for position measurement, and an H-bridge to drive the electromechanical plant.
A user interface is created to enhance usability of the device. The user interface is able to display key parameters of the control algorithm as well as the state of the system. It is also used to modify the gains and sample rate of the control algorithm.
The design of the system is refined, and 10 units are built for the EE472 Digital Controls Lab. The lab manuals for the first 4 experiments are revised to match and support the new system.
The possible future for the project is described with some suggestions for improving the system.
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Parisi, Aaron Thomas. "An Application of Sliding Mode Control to Model-Based Reinforcement Learning." DigitalCommons@CalPoly, 2019. https://digitalcommons.calpoly.edu/theses/2054.
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The state-of-art model-free reinforcement learning algorithms can generate admissible controls for complicated systems with no prior knowledge of the system dynamics, so long as sufficient (oftentimes millions) of samples are available from the environ- ment. On the other hand, model-based reinforcement learning approaches seek to leverage known optimal or robust control to reinforcement learning tasks by mod- elling the system dynamics and applying well established control algorithms to the system model. Sliding-mode controllers are robust to system disturbance and modelling errors, and have been widely used for high-order nonlinear system control. This thesis studies the application of sliding mode control to model-based reinforcement learning. Computer simulation results demonstrate that sliding-mode control is viable in the setting of reinforcement learning. While the system performance may suffer from problems such as deviations in state estimation, limitations in the capacity of the system model to express the system dynamics, and the need for many samples to converge, this approach still performs comparably to conventional model-free reinforcement learning methods.
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Agbi, Clarence. "Scalable and Robust Designs of Model - Based Control Strategies for Energy - Efficient Buildings." Research Showcase @ CMU, 2014. http://repository.cmu.edu/dissertations/333.
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In the wake of rising energy costs, there is a critical need for sustainable energy management of commercial and residential buildings. Buildings consume approximately 40% of total energy consumed in the US, and current methods to reduce this level of consumption include energy monitoring, smart sensing, and advanced integrated building control. However, the building industry has been slow to replace current PID and rule-based control strategies with more advanced strategies such as model-based building control. This is largely due to the additional cost of accurately modeling the dynamics of the building and the general uncertainty that model-based controllers can be reliably used in real conditions. The first half of this thesis addresses the challenge of constructing accurate grey-box building models for control using model identification. Current identification methods poorly estimate building model parameters because of the complexity of the building model structure, and fail to do so quickly because these methods are not scalable for large buildings. Therefore, we introduce the notion of parameter identifiability to determine those parameters in the building model that may not be accurately estimated and we use this information to strategically improve the identifiability of the building model. Finally, we present a decentralized identification scheme to reduce the computational effort and time needed to identify large buildings.
The second half of this thesis discusses the challenge of using uncertain building models to reliably control building temperature. Under real conditions, building models may not match the dynamics of the building, which directly causes increased building energy consumption and poor thermal comfort. To reduce the impact of model uncertainty on building control, we pose the model-based building control problem as a robust control problem using well-known H1 control methods. Furthermore, we introduce a tuning law to reduce the conservativeness of a robust building control strategy in the presence of high model uncertainty, both in a centralized and decentralized building control framework.
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CINQUERRUI, ALESSANDRO. "Sustainable approaches to control Calonectria diseases in ornamental nursery." Doctoral thesis, Università degli studi di Catania, 2015. http://hdl.handle.net/20.500.11769/490912.
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Le specie appartenenti al genere Calonectria sono importanti patogeni delle piante ornamentali. La lotta chimica per il controllo delle malattie causate da tali patogeni è necessaria, ma allo stato attuale è importante ricercare strategie di controllo alternative alla lotta chimica, che consentano di rispettare le recenti normative europee sull’uso sostenibile dei pesticidi (Dir. 2009/128/EC). Diversi esperimenti sono stati messi in atto per la messa a punto di programmi di lotta integrata (IPM) che consentano un efficace contenimento delle infezioni in vivaio, quali macchie fogliari, marciumi e tacche necrotiche del fusto, marciumi del colletto e delle radici, causate da diverse specie di Calonectria su differenti specie ospiti. Le prove preliminari in vitro hanno dimostrato una variabile attività antagonista di alcune specie di Trichoderma spp., Clonostachys rosea e Penicillium oxalicum nei confronti di diverse specie di Calonectria. I risultati degli esperimenti in vivo dimostrano che boscalid+pyraclostrobin e cyprodinil+fludioxonil, applicati in combinazione con agenti di controllo biologico (BCAs) appartenenti ai generi Bacillus, Trichoderma e Streptomyces siano in grado di assicurare un efficace contenimento delle infezioni causate da Calonectria spp. Tutti i trattamenti integrati e biologici sono risultati efficaci nel contenimento del marciume del fusto di Dodonaea viscosa, del marciume del colletto e delle radici su Polygala myrtyfolia e delle macchie fogliari su Metrosideros spp. e Callistemon spp. Poiché le specie appartenenti al genere Calonectria sono patogeni tellurici in grado di differenziare microsclerozi (che rappresentano l inoculo primario) nel suolo, la riduzione o soppressione di tale inoculo è un obiettivo cruciale per la gestione delle infezioni future. I primi esperimenti di fumigazione hanno dimostrato che l’applicazione di metham-sodium e dazomet a dosi di etichetta e dosi ridotte fornisce ottimi risultati nella riduzione della vitalità dei microsclerozi di Calonectria sia in microcosmo che in pieno campo. Inoltre, in conformità con la Dir. 2009/128/EC, diverse prove sono state condotte applicando questi fumiganti a dosi ancora più ridotte e utilizzando due film plastici (TIF e VIF) per la pacciamatura del suolo fumigato. I dati ottenuti hanno consentito di accertare che metham-sodio e dazomet applicati a dosi ulteriormente ridotte (fino a 5 volte inferiori) sono risultati efficaci nel ridurre la vitalità dei microsclerozi di Calonectria. Inoltre, l’applicazione di TIF ha consentito di ridurre la dose d impiego del fumigante, riducendo contemporaneamente l’emissione di gas inquinanti nell’atmosfera e l’impatto nella rizosfera. Complessivamente il film TIF ha mostrato una maggiore capacità di ritenzione rispetto a VIF.Calonectria species are important plant pathogens in ornamental plant nurseries. The chemical control of Calonectria diseases is necessary, but alternative management strategies would be re-evaluated to comply with the latest European Regulations on the Sustainable Use of Pesticides (Directive 2009/128/EC). Several experiments were carried out to develop integrated pest management (IPM) programs for controlling of leaf spot, stem rot and crown and root rot caused by several Calonectria species on several ornalmental plants. In vitro preliminary assays showed a variable antagonistic activity of some Trichoderma spp., Clonostachys rosea and Penicillium oxalicum. In vivo experiments showed that a good control of Calonectria diseases is achieved by applying boscalid+pyraclostrobin or cyprodinil+fludioxonil in combinations with different BCAs belonging to the genus Bacillus, Trichoderma and Streptomyces. All biological and integrated treatments were able to manage stem rot on Dodonaea viscosa, crown and root rot on Polygala myrtifolia and leaf spot on Metrosideros spp. and Callistemon spp. Since Calonectria species are soil-borne pathogens producing microsclerotia (that represent the primary inoculum) in the soil, the reduction or suppression of this inoculum is an important task of management of this pathogen. The first set of experiments of this PhD thesis on soil fumigation with metham-sodium and dazomet show clearly excellent performances in reducing Calonectria microsclerotia viability both in microcosm and in nursery when applied at label and sub-label rats. Moreover, in accordance with the Directive 2009/128/EC on the Sustainable Use of Pesticides , in these experiment these fumigants were applied at rates lower and lower and in association with gas-tight tarps, such as VIF and TIF. The data showed that in these conditions both fumigants were able to reduce Calonectria microsclerotia, with a consequent reduction of amount of fumigants (up to 5-fold reduced). In addition, the use of TIF barrier offered a better retain capacity of fumigant than VIF, with a lower emission of pollutant molecules to the atmosphere and a lower impact in rhizosphere.
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Guedes, Luís Roberto Schlemm. "Controle robusto de coluna de destilação de alta pureza." Universidade de São Paulo, 2002. http://www.teses.usp.br/teses/disponiveis/3/3137/tde-09052002-111934/.
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Colunas de destilação de alta pureza são sistemas de difícil controle. Apresentam longo tempo de resposta, comportamento altamente não linear e grande interação entre as variáveis. Os controladores preditivos são muito utilizados para o controle de colunas de destilação. Porém, em colunas de alta pureza, a incorporação de um único modelo linear geralmente acarreta em um controle de fraco desempenho. Isto pois, a representação do processo é deficiente, já que não considera variações nos ganhos e nas dinâmicas, típicas de um comportamento não linear. Estas incertezas podem, inclusive, provocar a instabilidade do controle o que resultaria em produtos que não atendam à especificação. Este trabalho tem por objetivo avaliar o desempenho dos controladores de horizonte de predição infinito com um modelo interno e com múltiplos modelos tendo o HYSYS(TM) como simulador de uma coluna de separação benzeno/tolueno e o MATLAB(TM) como ambiente para o controle supervisório. Observa-se que o controlador com apenas um modelo não é capaz de estabilizar o processo para perturbação nos valores de referência das variáveis controladas, ao contrário do controlador com múltiplos modelos.High-purity distillation columns are systems which are typically difficult to control. The main reason for this is a strongly nonlinear and interactive system associated with a very sluggish response. Model Predictive Control is widely used for control of distillation columns. However, for high-purity columns, the use of a single linear model in the controller usually leads to a poor performance of the control system. The reason for this is the poor system representation, since variation in the system gains and time constants are not taken into account in the computation of the control law. Model uncertainties can produce instability in the control system and consequent deterioration of the product quality. The goal of this work is to evaluate the performance of infinite horizon MPC with a single internal model and with multiple models. HYSYS(TM) is used as simulator for the benzene/toluene column, and MATLAB(TM) is used as a platform for supervisory control. It is observed that the controller with a single model is not capable of stabilizing the process for disturbance in the set point of the controlled variables. Opposite to that behavior the controller with multiple models has a good performance.
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Uehara, Daniel. "Detecção e quantificação de atrito em válvulas de controle." Universidade de São Paulo, 2009. http://www.teses.usp.br/teses/disponiveis/3/3139/tde-25052009-174853/.
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Este trabalho dedica-se ao estudo de métodos para detecção e quantificação do atrito em válvulas de controle. Tais válvulas são, em geral, o elemento final em malhas de controle de processos industriais. A presença de atrito nessas válvulas pode elevar a variabilidade da malha de controle, causando perdas de qualidade do produto, aumento nas paradas para manutenção e impactos econômicos significativos. Muitos estudos foram realizados visando diagnosticar e medir o atrito. Neste trabalho, serão implementadas algumas técnicas propostas na literatura para detecção e quantificação de atrito em válvulas de controle. Para avaliar seu desempenho, serão apresentadas comparações dos resultados obtidos em simulação e ensaios em bancada com válvulas reais.This work will study methods for detection and quantification of friction in control valves. These valves are the main final elements of control loops in industrial processes. The presence of friction can increase the variability of the control loop, causing loss of product quality, increase need of maintenance and significant economical impacts. Many studies have been presented in order to diagnose and measure the friction. In this work, some techniques proposed in the literature will be implemented. In order to evaluate its performance, it will be presented some comparisons of the results obtained from simulation and laboratory experiments.
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Ting, Sio Weng. "Advanced control approaches for time-variant system : fuzzy logic control and adaptive inverse control." Thesis, University of Macau, 1997. http://umaclib3.umac.mo/record=b1445630.
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Macfie, Alex. "Semantic role-based access control." Thesis, University of Westminster, 2014. https://westminsterresearch.westminster.ac.uk/item/964y2/semantic-role-based-access-control.
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In this thesis we propose two semantic ontological role-based access control (RBAC) reasoning processes. These processes infer user authorisations according to a set of role permission and denial assignments, together with user role assignments. The first process, SO-RBAC (Semantic Ontological Role-Based Access Control) uses OWL-DL to store the ontology, and SWRL to perform reasoning. It is based mainly on RBAC models previously described using Prolog. This demonstrates the feasibility of writing an RBAC model in OWL and performing reasoning inside it, but is still tied closely to descriptive logic concepts, and does not effectively exploit OWL features such as the class hierarchy. To fully exploit the capabilities of OWL, it was necessary to enhance the SO-RBAC model by programming it in OWL-Full. The resulting OWL-Full model, ESO-RBAC (Enhanced Semantic Ontological Role-Based Access Control), uses Jena for performing reasoning, and allows an object-oriented definition of roles and of data items. The definitions of roles as classes, and users as members of classes representing roles, allows user-role assignments to be defined in a way that is natural to OWL. All information relevant to determining authorisations is stored in the ontology. The resulting RBAC model is more flexible than models based on predicate logic and relational database systems. There are three motivations for this research. First, we found that relational database systems do not implement all of the features of RBAC that we modelled in Prolog. Furthermore, implementations of RBAC in database management systems is always vendor-specific, so the user is dependent on a particular vendor's procedures when granting permissions and denials. Second, Prolog and relational database systems cannot naturally represent hierarchical data, which is the backbone of any semantic representation of RBAC models. An RBAC model should be able to infer user authorisations from a hierarchy of both roles and data types, that is, determine permission or denial from not just the type of role (which may include sub-roles), but also the type of data (which may include sub-types). Third, OWL reasoner-enabled ontologies allow us to describe and manipulate the semantics of RBAC differently, and consequently to address the previous two problems efficiently. The contribution of this thesis is twofold. First, we propose semantic ontological reasoning processes, which are domain and implementation independent, and can be run from any distributed computing environment. This can be developed through integrated development environments such as NetBeans and using OWL APIs. Second, we have pioneered a way of exploiting OWL and its reasoners for the purpose of defining and manipulating the semantics of RBAC. Therefore, we automatically infer OWL concepts according to a specific stage that we define in our proposed reasoning processes. OWL ontologies are not static vocabularies of terms and constraints that define the semantics of RBAC. They are repositories of concepts that allow ad-hoc inference, with the ultimate goal in RBAC of granting permissions and denials.
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Castro, Allan Gregori de. "Controle preditivo Finite Control-Set aplicado à máquina síncrona com ímã permanente no rotor." Universidade de São Paulo, 2017. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-24042017-104320/.
Full textAbstract:
Ondulações de torque devido à comutação de fases é apontada como a principal desvantagem do método de controle 6 pulsos convencional do motor síncrono de ímã permanente no rotor com força contra-eletromotriz trapezoidal. Para reduzir essas ondulações, diferentes estratégias de controle vetorial dessa máquina são apresentadas na literatura. Nesse trabalho é proposto e analisado o controle vetorial dessa máquina utilizando uma malha de controle de corrente baseada no Finite Control-Set Model-based Predictive Control (FCS-MPC). Como resultado, a estrutura de controle vetorial proposta é capaz de reduzir as ondulações de torque de comutação e também aquelas provenientes de imperfeições da força contraeletromotriz trapezoidal. Esse resultado é atingido sem a alteração da estrutura do conversor, adição de circuito ou alteração na tensão de barramento. Em termos de desempenho dinâmico, são demonstradas a rápida dinâmica de torque sem necessidade de sintonia ou projeto de ganhos de controlador e dinâmica desacoplada das variáveis de controle sem necessidade de cálculo de termos de desacoplamento. Esses resultados apontam vantagens sobre recentes propostas na literatura baseada em controladores lineares. Também é implementado uma estratégia de melhoria de desempenho do FCS-MPC baseado na inclusão do conceito de ciclo de trabalho. Essa abordagem permite reduzir significativamente, em baixa velocidade, a banda de ondulação da corrente de estator e torque da máquina, demonstrando uma melhoria em relação ao FCS-MPC sem ciclo de trabalho.Torque ripples due to phase commutation are pointed to the main drawback of 120 degree 6 step control of synchronous motor with trapezoidal back electromotive force (back EMF). To reduce these ondulations, different vector control strategies are presented in the literature. This study proposes and analyzes the application of the Finite Control-Set Model-based Predictive Control in the current loop of vector control strategy of permanent magnet synchronous motor with trapezoidal back EMF. As a result, the control structure reduces the torque ripple comming from phase commutation and back EMF shape imperfections. This result is achieved without changing the converter topology, the DC link voltage or including aditional circuit. Concerning to dynamic response, the proposed control strategy offers fast torque dynamics without gain tunning needed and decoupled dynamic of variable control. Furthermore, it is implemented an improvement approach to FCS-MPC based on duty-cycle concept. This strategy reduces significantly the torque ripple in low speed range, demonstrating an advance over conventional FCS-MPC.
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Souza, Edson José Cardoso de. "Controle anti-oscilatório de tempo mínimo para guindaste usando a programação linear." Universidade de São Paulo, 2009. http://www.teses.usp.br/teses/disponiveis/3/3139/tde-21122009-133032/.
Full textAbstract:
O problema de transferir uma carga ao se movimentar num plano em tempo mínimo e sem oscilação no ponto de descarga, num guindaste portuário tipo pórtico é investigado neste trabalho. Assume-se que a carga esteja inicialmente em repouso na posição vertical no ponto de carga acima do navio e igualmente em repouso no ponto de descarga na moega de alimentação no porto. Assume-se também que o carro do guindaste esteja em repouso em ambos os pontos. Um modelo completo é apresentado para o sistema do guindaste onde as equações dinâmicas não-lineares são linearizadas para ângulos de oscilação pequenos o suficiente e reescritas para a forma adimensional. A solução de tempo mínimo é buscada considerando como variáveis de controle as funções do tempo que descrevem tanto a força aplicada no carro para produzir seu deslocamento horizontal, como a velocidade de içamento da carga. Um método iterativo preditor-corretor usando a Programação Linear (PL) é proposto, baseado no modelo do sistema de tempo discreto onde as variáveis de controle são tomadas constantes por trechos. Na etapa corretora, assume-se que o movimento de içamento é dado e uma solução de tempo mínimo é obtida resolvendo-se uma seqüência de problemas de PL de tempo fixo e máximo deslocamento. Na etapa preditora, um modelo linearizado é empregado para obter-se uma correção ótima do movimento de içamento usando a PL. O problema de controle de tempo mínimo é formulado levando-se em consideração restrições práticas na velocidade do carro do guindaste, velocidade máxima de içamento, assim como na máxima força que pode ser aplicada ao carro. Resultados numéricos são apresentados e mostram a efetividade do método.The problem of minimum-time anti-swing transfer of a load in a ship-to-pier gantry crane is investigated in this work. The load is assumed to be initially at rest at the vertical position at the loading point above the ship and equally at rest at the unloading point above the hopper. The trolley is also assumed to be at rest at both points. A complete model is presented for the crane system where the nonlinear dynamic equations are linearized for sufficiently small swing angles and then rewritten in dimensionless form. The minimum-time solution is sought by considering as control variables both the force applied on the trolley that produces its horizontal motion and the hoisting speed of the load as functions of time. A predictor-corrector iterative method using Linear Programming (LP) is proposed based on a discretetime model of the system where the control variables are taken as stepwise constants. At the corrector step, the hoisting motion is assumed given and a minimum-time solution is obtained by solving a sequence of LP problems representing fixed-time maximum-range problems. At the predictor step, a linearized model is employed to obtain an optimal correction of the hoisting motion using LP. The minimum-time control problem is formulated by taking into account practical constraints on the maximum speeds of both the trolley and the load hoisting, as well as on the maximum force that can be applied to the trolley. Numerical results are presented and show the effectiveness of the method.