Статті в журналах: "Embedded controllers design"

1

Majumdar, Jharna, Sudip C Gupta, and B. Prassanna Prasath. "Linear and Non-Linear Control Design of Skid Steer Mobile Robot on an Embedded." IAES International Journal of Robotics and Automation (IJRA) 7, no. 3 (September 1, 2018): 185. http://dx.doi.org/10.11591/ijra.v7i3.pp185-196.

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A detailed approach for a linear Proportional-Integral-Derivative (PID) controller and a non-linear controller - Linear Quadratic Regulator (LQR) is discussed in this paper. By analyzing several mathematical designs for the Skid Steer Mobile Robot (SSMR), the controllers are implemented in an embedded microcontroller - Mbed LPC1768. To verify the controllers, MATLAB-Simulink is used for the simulation of both the controllers involving motors - Maxon RE40. This paper compares between PID and LQR controller along with the performance comparison between Homogenous and Non-Homogenous LQR controllers.

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2

Mhadhbi, Imène, and Slim Ben Saoud. "Model-based design approach for embedded digital controllers design." International Journal of Automation and Control 5, no. 3 (2011): 267. http://dx.doi.org/10.1504/ijaac.2011.042857.

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3

Quagli, Andrea, Daniele Fontanelli, Luca Greco, Luigi Palopoli, and Antonio Bicchi. "Design of Embedded Controllers Based on Anytime Computing." IEEE Transactions on Industrial Informatics 6, no. 4 (November 2010): 492–502. http://dx.doi.org/10.1109/tii.2010.2055878.

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4

Soto-Hidalgo, J. M., A. Vitiello, J. M. Alonso, G. Acampora, and J. Alcala-Fdez. "Design of Fuzzy Controllers for Embedded Systems With JFML." International Journal of Computational Intelligence Systems 12, no. 1 (2019): 204. http://dx.doi.org/10.2991/ijcis.2019.125905646.

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5

Burns and, Daniel, and Thomas G. Sugar. "Rapid Embedded Programming in the Mathworks Environment." Journal of Computing and Information Science in Engineering 2, no. 3 (September 1, 2002): 237–41. http://dx.doi.org/10.1115/1.1519836.

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New, commercially available, automatic, code-generation tools are used in teaching and lab exercises to progress from controller design, to simulation, and finally to implementation on mechanical hardware. An embedded computing system consists of a dedicated, digital, electronic-processor that controls a system that interacts with the environment. Case studies highlighting a force-feedback joystick and motor servo control with encoder feedback are presented to illustrate laboratory exercises that teach mechanical engineering students hardware-in-the-loop control system design. Using these software tools, design iterations and multiple controllers are quickly simulated and downloaded to the actual hardware.

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6

Roy, Debayan, Licong Zhang, Wanli Chang, Dip Goswami, Birgit Vogel-Heuser, and Samarjit Chakraborty. "Tool Integration for Automated Synthesis of Distributed Embedded Controllers." ACM Transactions on Cyber-Physical Systems 6, no. 1 (January 31, 2022): 1–31. http://dx.doi.org/10.1145/3477499.

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Controller design and their software implementations are usually done in isolated design spaces using respective COTS design tools. However, this separation of concerns can lead to long debugging and integration phases. This is because assumptions made about the implementation platform during the design phase—e.g., related to timing—might not hold in practice, thereby leading to unacceptable control performance. In order to address this, several control/architecture co-design techniques have been proposed in the literature. However, their adoption in practice has been hampered by the lack of design flows using commercial tools. To the best of our knowledge, this is the first article that implements such a co-design method using commercially available design tools in an automotive setting, with the aim of minimally disrupting existing design flows practiced in the industry. The goal of such co-design is to jointly determine controller and platform parameters in order to avoid any design-implementation gap , thereby minimizing implementation time testing and debugging. Our setting involves distributed implementations of control algorithms on automotive electronic control units ( ECUs ) communicating via a FlexRay bus. The co-design and the associated toolchain Co-Flex jointly determines controller and FlexRay parameters (that impact signal delays) in order to optimize specified design metrics. Co-Flex seamlessly integrates the modeling and analysis of control systems in MATLAB/Simulink with platform modeling and configuration in SIMTOOLS/SIMTARGET that is used for configuring FlexRay bus parameters. It automates the generation of multiple Pareto-optimal design options with respect to the quality of control and the resource usage, that an engineer can choose from. In this article, we outline a step-by-step software development process based on Co-Flex tools for distributed control applications. While our exposition is automotive specific, this design flow can easily be extended to other domains.

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7

Gwak, Kwan-Woong, and Glenn Y. Masada. "Regularization Embedded Nonlinear Control Designs for Input-Constrained and Ill-Conditioned Thermal System." Journal of Dynamic Systems, Measurement, and Control 126, no. 3 (September 1, 2004): 574–82. http://dx.doi.org/10.1115/1.1789973.

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New regularization embedded nonlinear control designs are proposed for the temperature control of an input-constrained and ill-conditioned thermal process. A classic nonlinear controller applied to such a process is shown to provide good temperature tracking but generates physically unreasonable actuator solutions, i.e. input-constraint-violation. The reason of input-constraint-violating control solutions—ill-conditionedness—is shown by applying singular value decomposition (SVD) on the linear algebraic equivalence of the nonlinear controllers (LAENC). Based on the analogy of LAENC and regularization method for the linear algebraic equations, Tikhonov, truncated singular value decomposition (TSVD) and modified TSVD (MTSVD) methods are embedded in the design of feedback linearizing controllers (FBL) and sliding mode controllers (SMC). These regularization embedded nonlinear controllers (RENLC) provide good temperature tracking and generate physically reasonable and actuator-constraint-satisfying solutions for the ill-conditioned system, in spite of the modeling errors inherent in applying regularization. The optimal Tikhonov parameter is found using an L-curve. Quantitative comparisons of the residuals and standard deviations of the control inputs are used as criteria to select the optimal truncated singular value decomposition (TSVD) parameter.

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8

Huba, Mikulas, Stefan Chamraz, Pavol Bistak, and Damir Vrancic. "Making the PI and PID Controller Tuning Inspired by Ziegler and Nichols Precise and Reliable." Sensors 21, no. 18 (September 14, 2021): 6157. http://dx.doi.org/10.3390/s21186157.

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This paper deals with the design of a DC motor speed control implemented by an embedded controller. The design is simple and brings some important changes to the traditional Ziegler–Nichols tuning. The design also includes a novel anti-windup implementation of the controller and an integrated noise-reduction filter design. The proposed tuning method considers all important aspects of the control, such as pre-processing of the measured signals and filtering (to attenuate the measurement noise), time delays of the process, modeling and identification of the process, and constraints on the control signal. Three important aspects of designing PI and PID controllers for processes with noisy output on Arduino-type embedded computers are considered. First, it deals with the integrated design of the input filter and the controller parameters, since both are interdependent. Secondly, the method of setting the controllers from step responses by Ziegler and Nichols is modified for the case of digital signal processing (without drawing the tangent), while it recommends the suitability of its modification in terms of the use of both integral and static models. Third, the most suitable anti-windup solution for the given controller structure is proposed. In summary, the paper shows that an appropriate design of the embedded controller can achieve excellent closed-loop performance even in a noisy process environment with limited control signals.

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9

Dharmalingam, S., L. Sivakumar, T. Anandhi, and M. Umapathy. "Improved method to mitigate the effect of coal fuel switching on critical process parameters of a steam generator in a thermal power plant." Proceedings of the Institution of Mechanical Engineers, Part A: Journal of Power and Energy 225, no. 8 (September 23, 2011): 1026–40. http://dx.doi.org/10.1177/0957650911420016.

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The design and performance of steam generators supplied to thermal power plants are greatly influenced by the properties of coal burnt. All coals are not same and the variation of heating value of coal supplied to boiler results in changes in critical process parameters like pressure and temperature of main steam produced. These fluctuations are normally controlled by master pressure controller, provided the variation in heating value is within certain limits. If the heating value of coal being burnt varies substantially, a remedial measure is necessary to control the pressure and temperature fluctuations during coal fuel switching. The composition of the coal burnt currently in a boiler is determined from an online analyser, and an embedded controller computes the current heating value of the coal and suitably modifies the gains of all the controllers to arrest the undue fluctuations in pressure and temperature. A validated mathematical model for a typical 500 MW plant is used to simulate the variations in pressure and temperature of steam with normal and embedded controllers. Significant reduction in pressure and temperature variation has been achieved with an embedded controller. This article discusses the improved method of ensuring optimum boiler performance during coal fuel switchover.

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10

Zhou, Geng Lie, Chi Bing Hu, and Ya Zhou Wang. "The Design of the Network Weighing Monitoring System Based on Embedded Controller." Advanced Materials Research 503-504 (April 2012): 1385–88. http://dx.doi.org/10.4028/www.scientific.net/amr.503-504.1385.

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The functions and the characteristics of RS-485 bus, I-7188 embedded controller, and SK2001 intellectual weighting controller are introduced briefly in this paper. The communication protocol of weighing controller, design of system hardware and software, and implementation of communication function are also analyzed in detail here. The serial communication between I-7188 and multiple weighing controllers has been implemented by using RS-485. As a result, the centralized control of the distributed equipments, the acquisition and automation upload of the metering data have been accomplished. The results of practical application show that this system has the characteristic of high stability and tolerance; it is easy to be managed and expanded as well.

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11

Wang, Yu Kui, Zhen Long Wang, Bo Yan Song, and Fu Qiang Hu. "Practical Design for Energy-Saving EDM Supply System." Key Engineering Materials 447-448 (September 2010): 247–52. http://dx.doi.org/10.4028/www.scientific.net/kem.447-448.247.

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In this paper a kind of architecture for an energy-saving EDM supply composed of three serial stages in the topology and its practical design are discussed. Various special controllers and its assisted circuits are introduced in the each of the three serial stages. The PFC controller UC3854 placed on the front stage provides satisfactory input power factor of the system. The PWM controller UC3875 mounted on the middle stage realize the closed control of the current of the inductance limiting machining current. An embedded controller PIC16F877 on the final stage is chosen to setting such machining variables as peak current, discharge duration and pulse interval. The communication with host PC is also realized by the same embedded controller. The architecture based on model of multi-controller parallel working guarantees capacity of the system real-time process. The prototype of the energy-saving EDM pulse supply using MOSFET power device is developed. A lot of experiments have demonstrated the feasibility and stability of the practical design.

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12

Ganesh, D., S. MD Saleem Naveed, and M. Kalyan Chakravarthi. "Design and Implementation of Robust Controllers for an Intelligent Incubation Pisciculture System." Indonesian Journal of Electrical Engineering and Computer Science 1, no. 1 (January 1, 2016): 101. http://dx.doi.org/10.11591/ijeecs.v1.i1.pp101-108.

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Aquaculture is major occupation for the humans living at coastal areas. The fresh water cultivation of the certain species is prominent in tropical and sub-tropical climates. Here the proposed work shows the relation-ship between the growth of the certain species of marine habitats and the factors affecting their growth with respect to the medium of their living. Advancement of embedded systems in aquaculture leads to new innovations of monitoring and controlling the various parameters. Here the embedded system based application is used, through which the monitoring and controlling of the light is done with the help of LabVIEW based PI controller as well as Fuzzy controller for the effective and healthy growth of the marine habitat. The Designed controllers are energy efficient based controller for controlling the Light Source (LS) via appropriate lighting control levels. The controlling and managing of the system is based on the present light intensity with the help of virtual controller. The proposed work involves the designing and implementation of PI controller and the fuzzy controller for the real time setup to monitor and control the process for optimal and feasible solution.

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13

ENGELL, SEBASTIAN, SVEN LOHMANN, and OLAF STURSBERG. "VERIFICATION OF EMBEDDED SUPERVISORY CONTROLLERS CONSIDERING HYBRID PLANT DYNAMICS." International Journal of Software Engineering and Knowledge Engineering 15, no. 02 (April 2005): 307–12. http://dx.doi.org/10.1142/s021819400500204x.

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This contribution proposes a link between the specification of supervisory controllers by Sequential Function Charts (SFC) and the verification of embedded systems with hybrid dynamics. The SFC are transformed into modular timed automata using a procedure based on graph grammars. The resulting controller model is composed with a hybrid automaton (with possibly nonlinear continuous dynamics) that models the plant behavior. In order to verify safety properties of the composed system algorithmically, a tool implementing the recently proposed approach of counterexample guided model checking is employed. The procedure is illustrated for a processing system example.

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14

Baturone, I., F. J. Moreno-Velo, V. Blanco, and J. Ferruz. "Design of Embedded DSP-Based Fuzzy Controllers for Autonomous Mobile Robots." IEEE Transactions on Industrial Electronics 55, no. 2 (February 2008): 928–36. http://dx.doi.org/10.1109/tie.2007.896547.

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15

Chiodo, Massimiliano, Daniel Engels, Paolo Giusto, Harry Hsieh, Attila Jurecska, Luciano Lavagno, Kei Suzuki, and Alberto Sangiovanni-Vincentelli. "A case study in computer-aided co-design of embedded controllers." Design Automation for Embedded Systems 1, no. 1-2 (January 1996): 51–67. http://dx.doi.org/10.1007/bf00134683.

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16

Slavov, Ts, J. Kralev, and P. Petkov. "Design and Implementation of Cascade LQR Controller for Stabilization of Two-Wheeled Robot." Information Technologies and Control 14, no. 1 (March 1, 2016): 35–47. http://dx.doi.org/10.1515/itc-2016-0020.

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Abstract In this paper the developed two-wheeled robot and cascade LQR controller, Kalman filters, PI and PID controllers are presented. The cascade LQR controller stabilizes the two-wheeled robot in upright position. The PID controller ensures good tracking of wheel position reference and the PI controller steers two-wheeled robot rotation around the vertical axis. A software in MATLAB®/Simulink environment intended for design and generation of control code which is embedded in a Texas Instruments Digital Signal Controller is developed. Simulation and experimental results of system performance are given that confirm the efficiency of the control system developed.

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17

Du, Man Man, and Feng Jin. "Design and Control of a Mini Quad-Rotor UAV Based on Embedded System." Advanced Materials Research 442 (January 2012): 477–81. http://dx.doi.org/10.4028/www.scientific.net/amr.442.477.

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In this paper, one kind of quad-rotor UAV (unmanned aerial vehicle) controller is designed according to analyze its structure and function. The hardware platform is established based on DSP MC56F8037, inertial sensor unit, as well as facilities that make it suitable for the dynamic system. According to the analysis of the working principle of the quad-rotor, the nonlinear dynamic model is established. This is a hierarchical embedded model based control scheme that is built upon the concept of backstepping, the simulation result shows the controllers are valid. This realization makes a great progress in the development process of a more advanced realization of an UAV suitable for practical applications.

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18

Adam, Sorin, Marco Kuhrmann, and Ulrik Pagh Schultz. "Automatic code generation in practice: experiences with embedded robot controllers." ACM SIGPLAN Notices 52, no. 3 (May 12, 2017): 104–8. http://dx.doi.org/10.1145/3093335.2993247.

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19

Delgado, Raimarius, Jaeho Park, and Byoung Choi. "Open Embedded Real-time Controllers for Industrial Distributed Control Systems." Electronics 8, no. 2 (February 17, 2019): 223. http://dx.doi.org/10.3390/electronics8020223.

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This paper presents design details adopting open embedded systems (OES) as real-time controllers in industrial distributed control systems. OES minimize development cost and enhance portability while addressing widely known shortcomings of their proprietary counterparts. These shortcomings include the black box method of distribution which hinders integration to more complex systems. However, OES are highly dependent on the compatibility of each software components and essential benchmarking is required to ensure that the system can satisfy hard real-time constraints. To address these issues and the notion that OES will find broader distributed control applications, we provide detailed procedures in realizing OES based on an open source real-time operating system on various low-cost open embedded platforms. Their performance was evaluated and compared in terms of periodicity and schedulability, task synchronization, and interrupt response time, which are crucial metrics to determine stability and reliability of real-time controllers. Practical implementations, including the modernization of a multi-axis industrial robot controller, are described clearly to serve as a comprehensive reference on the integration of OES in industrial distributed control systems.

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20

Dasgupta, Pallab, Mandayam K. Srivas, and Rajdeep Mukherjee. "Formal Hardware/Software Co-Verification of Embedded Power Controllers." IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems 33, no. 12 (December 2014): 2025–29. http://dx.doi.org/10.1109/tcad.2014.2354297.

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21

DING, ZHONG-QIANG, KECK VOON LING, and KIAH MOK GOH. "THE RAPID DEVELOPMENT OF A CLOSED-LOOP CONTROL SYSTEM." International Journal of Software Engineering and Knowledge Engineering 15, no. 02 (April 2005): 325–31. http://dx.doi.org/10.1142/s0218194005002105.

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In this paper, the methods to rapidly deploy closed-loop control systems are presented. A flexible real-time embedded platform based on reconfigurable computing technologies is established, on which control blocks consisting of optimized control algorithms are set up. By employing control blocks, a set of tools aiming to shorten the development cycle of embedded control systems are developed. Compare to conventional ways, the tools give controller developers much faster ways to construct required controllers with higher flexibility.

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22

Yu, Biao, and Hui Zhu. "Water Level Control Embedded Fuzzy-PID and Pole-Placement Strategy." Key Engineering Materials 464 (January 2011): 43–47. http://dx.doi.org/10.4028/www.scientific.net/kem.464.43.

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Since boiler water level system is a complex dynamic system, it is difficult to obtain satisfactory control performances by using the traditional PID controller whose parameters are constant. Therefore, an intelligent fuzzy-PID controller, which can adjust the three parameters of PID in terms of the level error and the rate of lever error, is proposed. On the other hand, if knowing the relation between the closed-loop poles and the system performance, we can achieve the desired control characteristics with pole-placement approach. So, a new control strategy combined with PID controller, fuzzy logic and pole-placement design through state feedback is further proposed. The simulation results show that this control strategy has much better performances than is obtained with traditional controllers.

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23

He, Youguo, Chuandao Lu, Jie Shen, and Chaochun Yuan. "Design and Analysis of Output Feedback Constraint Control for Antilock Braking System with Time-Varying Slip Ratio." Mathematical Problems in Engineering 2019 (January 3, 2019): 1–11. http://dx.doi.org/10.1155/2019/8193134.

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This paper is concerned with the problem of constraint control for an Antilock Braking System (ABS) with time-varying asymmetric slip ratio constraints. A quarter vehicle braking model with system uncertainties and a Burckhardt’s tire model are considered. The Time-varying Asymmetric Barrier Lyapunov Function (TABLF) is embedded into the controllers for handling the time-varying asymmetric slip ratio constraint problems. Two adaptive nonlinear control methods (TABLF1 and TABLF2) based on TABLF are proposed not only to track the optimal slip ratio but also to guarantee no violation on the slip ratio constraints. Simulation results show that the proposed controllers can guarantee no violation on slip ratio constraints and avoid self-locking. In the meantime, TABLF1 controller can achieve a faster convergence rate, shorter stopping time, and shorter distance, compared to TABLF2 controller with the same control parameters.

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24

Liu, Dong Xiang. "Design and Development of DC Motor Speed Control System Based on ARM." Advanced Materials Research 926-930 (May 2014): 1239–42. http://dx.doi.org/10.4028/www.scientific.net/amr.926-930.1239.

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With the continuous development of embedded technology and its application in the field of industrial control and more and more people's attention, and play an important role. With ARM processors as controllers, including human-computer interaction interface, DC power unit and its driver modules, load and drive modules section. ARM controller by a/d sampling speed to get the error signal, and then after a certain algorithm, by d/a converter to control DC motors, so as to achieve the purpose of controlling the speed. In addition, ARM controllers can also be set through the d/a converter load to facilitate research of DC motor speed control system of static and dynamic characteristics in different load. Research and development of DC servo motor control system based on ARM core of DC servo motor control is a relatively new field, is one of the control of DC servo motor trend.

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25

Fan, Yi-Chih, and Jen-Yuan (James) Chang. "Embedded smart box for legacy machines to approach to I 4.0 in smart manufacturing." MATEC Web of Conferences 185 (2018): 00027. http://dx.doi.org/10.1051/matecconf/201818500027.

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This paper introduces the design of a Linux-based embedded controller which includes machine state detection application for legacy machines and manufacturing line. For Industrie 4.0 (I4.0), it is important to acquire, manipulate, and transmit machine operating states or physical data to form useful information. However, many existing legacy machines lack of controller or sensor(s) to response to their operating status. Some machine controllers cannot be connected to provide internal parameter(s) by means of communication. Gathering machine operating state should be the first priority to approach to I4.0. This paper adopts widely used Raspberry PI as the core platform to build Embedded Smart Box (ESB). It uses external sensors to detect the machine operating status to compute the machine's availability (one of Overall Equipment Efficiency factors) and measures current to calculate the power consumption. In this research, the combination of embedded system and sensors can be a smart box for legacy machines. Such cost-effective design would help users to take the useful data from the machines and construct the base of I4.0 system even without the existence of the controller. This embedded-based design methodology has great potential implications that might fundamentally change the legacy factories into I4.0 smart one.

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26

Liu, Jian Qun, Ji Rong Wu, and Dong Xu. "Design of Embedded Numerical Control Platform for Carton Samplemaker." Advanced Materials Research 139-141 (October 2010): 2234–38. http://dx.doi.org/10.4028/www.scientific.net/amr.139-141.2234.

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As most controllers of the carton samplemaker using Industrial Personal Computer (IPC) architecture, its price is relatively expensive. Aiming at the actual situation of the high cost, low openness and big demand of the carton samplemaker, through the analysis of the control characteristics of it, the embedded Numerical Control (NC) platform based on the Advanced RISC Machines (ARM) and Digital Signal Processor (DSP) hardware architecture for carton samplemaker is designed. The overall framework of the platform and steps of the design are given in this paper. Windows CE embedded real-time operating system is adopted in the software design, and on this basis, the carton samplemaker applications is developed, which is mainly in charge of the motion control of the equipment and tasks management. The platform not only achieves the goals on real-time control, good speed and accuracy, but also has friendly operability. Finally, the introduction of the new dual-core chips gives a revelation on the future development in carton samplemaker.

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27

Son Nguyen, Minh, The Tung Than, Tri Nhut Do, and Hoai Nhan Nguyen. "Design of elderly-assistant mobile servant robot." Indonesian Journal of Electrical Engineering and Computer Science 26, no. 3 (June 1, 2022): 1338. http://dx.doi.org/10.11591/ijeecs.v26.i3.pp1338-1350.

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<span lang="EN-US">Recently, <span>elderly population increasing worldwide has put higher pressure on health-care providers and their families. The advent of elderly care robots will reduce that pressure. In this paper, a design of mobile servant robot with integrated tracking algorithm in order to assist the elderly by companionship is proposed not only to help families take care of their elderly at home but also reduce the pressure on health-care providers. The proposed robot is based on humanoid structure and AI-embedded-GPU controller. The design allows the robot to follow the elderly and accompany them in real-time. In addition, the video streaming algorithm with the pipeline mechanism is integrated on robot controllers so that the owner interacts with the elderly through the internet. The robot controller is embedded into hardware of 128 graphics processing unit cores and 4 ARM Cortex-A9 cores in order to execute convolutional neural network (NCNN) algorithms for elderly recognition and body tracking. The processing speed at 14 fps of video stream in real-time. The proposed robot can move on uneven surfaces with a speed at 0.21 m/s and an accuracy over 90%. However, the video stream processing speed is able to be reduced at 15 fps and latency less than 415 ms when four users appear concurrently.</span></span>

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28

Hendrawan, Yogi Muldani, Kenneth Renny Simba, and Naoki Uchiyama. "Iterative learning contouring controller based on trajectory generation with linearly interpolated contour error estimation and Bézier reposition trajectory for computerized numerical control machine tool feed drive systems." Advances in Mechanical Engineering 11, no. 8 (August 2019): 168781401986810. http://dx.doi.org/10.1177/1687814019868108.

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In industrial applications, highly accurate mechanical components are generally required to produce advanced mechanical and mechatronic systems. In machining mechanical components, contour error represents the product shape quality directly, and therefore it must be considered in controller design. Although most existing contouring controllers are based on feedback control and estimated contour error, it is generally difficult to replace the feedback controller in commercial computerized numerical control machines. This article proposes an embedded iterative learning contouring controller by considering the linearly interpolated contour error compensation and Bézier reposition trajectory, which can be applied in computerized numerical control machines currently in use without any modification of their original feedback controllers. While the linearly interpolated contour error compensation enhances tracking performance by compensating the reference input with an actual value, the Bézier reposition trajectory enables smooth velocity transitions between discrete points in the reference trajectory. For performance analysis, the proposed controller was implemented in a commercial three-axis computerized numerical control machine and several experiments were conducted based on typical three-dimensional sharp-corner and half-circular trajectories. Experimental results showed that the proposed controller could reduce the maximum and mean contour errors by 45.11% and 54.48% on average, compared to embedded iterative learning contouring controller with estimated contour error. By comparing to embedded iterative learning contouring controller with linearly interpolated contour error compensation, the maximum and mean contour errors are reduced to 20.54% and 26.92%, respectively.

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29

Miguel Pérez Pereira et al.,, Miguel Pérez Pereira et al ,. "Methodology for the Design of Filters and Digital Controllers Implemented on Embedded Systems." International Journal of Mechanical and Production Engineering Research and Development 10, no. 5 (2020): 469–80. http://dx.doi.org/10.24247/ijmperdoct202047.

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30

Pusch, Manuel, Daniel Ossmann, and Tamás Luspay. "Structured Control Design for a Highly Flexible Flutter Demonstrator." Aerospace 6, no. 3 (March 5, 2019): 27. http://dx.doi.org/10.3390/aerospace6030027.

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The model-based flight control system design for a highly flexible flutter demonstrator, developed in the European FLEXOP project, is presented. The flight control system includes a baseline controller to operate the aircraft fully autonomously and a flutter suppression controller to stabilize the unstable aeroelastic modes and extend the aircraft’s operational range. The baseline control system features a classical cascade flight control structure with scheduled control loops to augment the lateral and longitudinal axis of the aircraft. The flutter suppression controller uses an advanced blending technique to blend the flutter relevant sensor and actuator signals. These blends decouple the unstable modes and individually control them by scheduled single loop controllers. For the tuning of the free parameters in the defined controller structures, a model-based approach solving multi-objective, non-linear optimization problems is used. The developed control system, including baseline and flutter control algorithms, is verified in an extensive simulation campaign using a high fidelity simulator. The simulator is embedded in MATLAB and a features non-linear model of the aircraft dynamics itself and detailed sensor and actuator descriptions.

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31

She, Chen Hua, and Tsung Hua Yang. "Design of a Cutting Point Control Algorithm for Five-Axis Machining." Applied Mechanics and Materials 249-250 (December 2012): 702–6. http://dx.doi.org/10.4028/www.scientific.net/amm.249-250.702.

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Five-axis machine tool with two additional rotary axes has been widely used in defense, aerospace and the consumer industries, and is an important process of precision manufacturing. Traditional five-axis program depends on the machine tool’s configuration and machining setting. This leads to inconvenience of reprogramming five-axis NC code for the end users. This paper proposes a cutting point control algorithm for five-axis machining. Although the commercial advanced controllers provide this function, they are very expensive and restricted to export. The developed algorithm can be embedded to the PC-based controller so that the specific cutter location data can be transformed and employed easily for different cutting tools. Verification using VERICUT solid cutting simulation software demonstrated the correctness of the generated cutter location data.

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32

Nagel, Everton, Ricardo Melo Czekster, Thais Webber, and César Augusto Missio Marcon. "A Framework Prototype for Multithreaded Implementation Over Micro-Controllers." Journal of Integrated Circuits and Systems 14, no. 1 (April 29, 2019): 1–10. http://dx.doi.org/10.29292/jics.v14i1.39.

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Multithreading is pervasive in embedded system applications development. The applications requirements are becoming more rigorous, demanding the execution of concurrent tasks that must also take into account modularity and flexibility. An important part of the operating systems development concerns the implementation of scheduling algorithms. In an embedded system context, it is essential to consider that the scheduling algorithm heavily influences application behavior. Due to restricted and finite hardware resources, it is important to evaluate the use of flexible algorithms to guarantee efficiency. Currently, projects for embedded operating systems do exist for microcontrollers’ devices that implement scheduling algorithms, however, the developer cannot change or add new scheduling policies without implementing kernel tweaks and modifications. The alternatives are not flexible when choosing the scheduling algorithm according to the application needs. This imposes restrictions to many systems, forcing them to run specific static scheduling algorithms because no other options are available. The objective of this work concerns the design and development of a framework that implements a microkernel with a modular scheduler unit, allowing the execution of tailored algorithms according to the application profile. The idea is to provide a flexible platform to conveniently select the most appropriated algorithm. We have employed low capacity hardware to implement multithreading patterns corresponding to sets of concurrent tasks, demonstrating the strengths of adopting our approach. Our results show that the use of modern techniques that combine modularity, multithreading, and scheduling methods for embedded systems yield best executions when compared to its sequential counterparts.

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Yu, Ling, Ke Jian Li, Qi Zhong Cai, and Wei Zhang. "Design of Parallel Operated Counter based on ARM + FPGA." Applied Mechanics and Materials 241-244 (December 2012): 234–39. http://dx.doi.org/10.4028/www.scientific.net/amm.241-244.234.

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Aiming to solve the problems of long execution count and low frequency of counter which has been largely used in various electronic facilities and PLCs, unlike traditional design that utilize embedded microprocessor software for count operation, this paper proposed a parallel operated counter based on ARM+FPGA. The FPGA counter module consists of count controller, SDRAM dynamic parameter and soft contact state register, the count controller carries out counter operation for timing unit every 1ms, then results from count operation would be saved in counter parameter list of a dual port RAM, when controller commands need to be executed via ARM, the counter will be used as a regular memory unit for W/R operation, thus no executing time would be spared basically, which can well meet the system requirements where large number of controllers are needed. Simultaneously, principles of system composition, count operation control and count operation flow are all introduced followed by which a field test is also carried out for testament of the designed counter system.

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Dusarlapudi, Kalyan, Kuthuri Narasimha Raju, Kolusu Kishore Kumar, Kattupalli Sudhakar, and Charan Sai Tiruvuri. "Design and prototyping of an accelerometer based parallel manipulator for endoscope position control." Indonesian Journal of Electrical Engineering and Computer Science 27, no. 3 (September 1, 2022): 1320. http://dx.doi.org/10.11591/ijeecs.v27.i3.pp1320-1329.

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The advancement of embedded controllers in minimally invasive robotic surgery (MIRS) provides an innovative and safe alternative to traditional open surgery. This paper illustrates the Accelerometer-based Embedded prototype of 4 link novel parallel manipulator design and endoscope end position control scheme. The parallel manipulator proposed is of 4 leg quadra model with 4 servo actuators to drive the end effector to which endoscope camera integrated with micro electro-mechanical system (MEMS) accelerometer. The parallel manipulator is modeled in Coppeliasim computer-aided design (CAD) and embedded control logic is implemented in the ATmega328P microcontroller. The achieved end effector movement is +/-10cm from the ground clearance validated it in CAD tool. The potentiometer-based position control of the endoscope and its image magnification is recorded. The internet of things (IoT) infrastructure extension to the demonstrated protype is proposed. This cost-effective model is compared with the existed models available in the market.

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35

Sarjaš, Andrej, and Dušan Gleich. "Toward Embedded System Resources Relaxation Based on the Event-Triggered Feedback Control Approach." Mathematics 10, no. 4 (February 10, 2022): 550. http://dx.doi.org/10.3390/math10040550.

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The paper describes an event-triggered nonlinear feedback controller design. Event triggering is a real-time controller implementation technique which reduces embedded system utilization and relaxes task scheduling of the real-time system. In contrast to classic time implementation techniques, the event-triggered execution is validated regarding the introduced triggering policy. The triggering rule is a boundary, where the last task value is preserved until the rule is violated. In the given paper, two different event-triggered strategies are designed for the class of dynamic systems with integral behavior. Both methods are based on sliding mode controller design, where the triggering rule of the first design involves only a partial state vector, which is a direct consequence of the triggering rule derivation throughout the Lyapunov stability analysis. In the second approach, the sliding mode controller is designed upon prior stabilized systems with the additional term, which enables derivation of the triggering rule based on the whole state vector. The second approach offers better closed-loop performance and higher relaxation of the system utilization. The selection of triggering boundary is related closely to the derived minimal inter-event time, which impacts the computational burden of the real-time system and closed-loop performance directly. The derived controllers are compared with the classic sample and hold implementation techniques. The real-time results are presented, and system performances are confirmed regarding embedded system task relaxation, lowering the computational intensity and preserving closed-loop dynamics.

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36

Yaniv, Oded. "Robust LTV Feedback Synthesis for Nonlinear MIMO Plants." Journal of Dynamic Systems, Measurement, and Control 121, no. 2 (June 1, 1999): 226–32. http://dx.doi.org/10.1115/1.2802459.

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An n × n nonlinear plant that is known to be a member of a given set is given. The plant is embedded in a feedback structure in order to achieve desired closed-loop performances. The existing QFT technique for that purpose, based on replacing each nonlinear plant by an uncertain linear time invariant plant, is extended to design LTV controllers. In addition, a more efficient fixed-point theorem based on Homotopic invariance is used. The main results are that: (i) a controller with less control effort compared to a linear time invariant controller is achieved; and (ii) the class of plants and desired closed-loop specifications to which the technique can be applied is enlarged. A detailed design example is included.

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37

Do, K. D. "Flocking for Multiple Ellipsoidal Agents with Limited Communication Ranges." ISRN Robotics 2013 (November 26, 2013): 1–13. http://dx.doi.org/10.5402/2013/387465.

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This paper contributes a design of distributed controllers for flocking of mobile agents with an ellipsoidal shape and a limited communication range. A separation condition for ellipsoidal agents is first derived. Smooth step functions are then introduced. These functions and the separation condition between the ellipsoidal agents are embedded in novel pairwise potential functions to design flocking control algorithms. The proposed flocking design results in (1) smooth controllers despite of the agents’ limited communication ranges, (2) no collisions between any agents, (3) asymptotic convergence of each agent’s generalized velocity to a desired velocity, and (4) boundedness of the flock size, defined as the sum of all distances between the agents, by a constant.

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38

Huang, Shiuh Jer, Chiao Kuen Yu, and You Min Huang. "Robotic Impedance Control with Fuzzy Sliding Model Control Strategy." Applied Mechanics and Materials 598 (July 2014): 605–9. http://dx.doi.org/10.4028/www.scientific.net/amm.598.605.

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During robotic assembly and interactive applications, the robot end-effector must follow a motion trajectory and exert an appropriate force profile against the contacted environment to provide a specified dynamic working compliance. It is a difficult control problem. Here, an embedded robotic control structure is constructed and the related hybrid control software programs are developed. The model-free intelligent fuzzy sliding mode controller is introduced to design force and position controllers, respectively for hybrid impedance control purpose. The experimental results are provided to demonstrate the effectiveness of the proposed hybrid impedance control system.

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39

Srun, Channareth, Phok Chrin, Sokchea Am, and Bunthern Kim. "Design of MPPT Algorithms using Simulink Support Package for Arduino Hardware." International Journal of Engineering, Science and Information Technology 2, no. 4 (December 17, 2022): 151–61. http://dx.doi.org/10.52088/ijesty.v2i4.397.

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In this paper, the performance of the DC-DC converter is assisted by MPPT control in a comparison between Perturb & Observe (P&O) and Incremental Conductance (IC) using the Simulink Support Package for Arduino Hardware. In photovoltaic systems, the maximum power point tracking needs to be powered by PV panels. A microcontroller controls the power converter. Before it is designed, the system is first modeled and simulated using MATLAB/Simulink. The control software implements a pulse-width modulation signal generator embedded in the Arduino microcontroller. The many stages of design for these controllers are discussed, along with simulation and experimentation. The system is tested, and the irradiance varies from 500 w/m2 to 1000 w/m2. The results of this simulation and experiment show that the plan with MPPT and a P&O controller has a higher efficiency of PV power production.

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40

Chodnicki, Marcin, Katarzyna Bartnik, Miroslaw Nowakowski, and Grzegorz Kowaleczko. "Design and analysis of a feedback loop to regulate the basic parameters of the unmanned aircraft." Aircraft Engineering and Aerospace Technology 92, no. 3 (October 18, 2018): 318–28. http://dx.doi.org/10.1108/aeat-01-2018-0039.

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Purpose The motivation to perform research on feedback control system for unmanned aerial vehicles, a fact that each quadrocopter is unstable. Design/methodology/approach For this reason, it is necessary to design a control system which is capable of making unmanned aerial vehicle vertical take-off and landing (UAV VTOL) stable and controllable. For this purpose, it was decided to use a feedback control system with cascaded PID controller. The main reason for using it was that PID controllers are simple to implement and do not use much hardware resources. Moreover, cascaded control systems allow to control object response using more parameters than in a standard PID control. STM32 microcontrollers were used to make a real control system. The rapid prototyping using Embedded Coder Toolbox, FreeRTOS and STM32 CubeMX was conducted to design the algorithm of the feedback control system with cascaded PID controller for unmanned aerial vehicle vertical take-off and landings (UAV VTOLs). Findings During research, an algorithm of UAV VTOL control using the feedback control system with cascaded PID controller was designed. Tests were performed for the designed algorithm in the model simulation in Matlab/Simulink and in the real conditions. Originality/value It has been proved that an additional control loop must have a full PID controller. Moreover, a new library is presented for STM32 microcontrollers made using the Embedded Coder Toolbox just for the research. This library enabled to use rapid prototyping while developing the control algorithms.

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41

Muresan, Cristina I., Iulia Bunescu, Isabela Birs, and Robin De De Keyser. "A Novel Toolbox for Automatic Design of Fractional Order PI Controllers Based on Automatic System Identification from Step Response Data." Mathematics 11, no. 5 (February 22, 2023): 1097. http://dx.doi.org/10.3390/math11051097.

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This paper describes a novel automatic control toolbox, designed for non-experienced practitioners. Fractional order (FO) controllers are easily tuned with the main purpose of easy practical implementation. Experimental step data are required for the automatic FO controller tuning. An embedded system identification algorithm uses the step data to obtain a process model as a second order plus dead-time (SOPDT) system. Finally, the FO controller is computed based on the previously estimated SOPDT model in order to fulfil a set of user-imposed frequency domain performance specifications: phase margin, gain crossover frequency and gain margin maximization. Experimental step response data from a strongly nonlinear vertical take-off and landing unit have been used to design an FO controller using the toolbox. The experimental closed loop results validate the proposed toolbox. The end result is a user-friendly automatic fractional order controller tuning with endless possibilities of real-world applicability.

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42

Matindife, Liston, Zenghui Wang, and Yanxia Sun. "Fuzzy Logic System for Intermixed Biogas and Photovoltaics Measurement and Control." Mathematical Problems in Engineering 2018 (2018): 1–18. http://dx.doi.org/10.1155/2018/5412062.

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This study develops a new integrated measurement and control system for intermixed biogas and photovoltaic systems to achieve safe and optimal energy usage. Literature and field studies show that existing control methods on small- to medium-scale systems fall short of comprehensive system optimization and fault diagnosis, hence the need to revisit these control methods. The control strategy developed in this study is intelligent as it is wholly based on fuzzy logic algorithms. Fuzzy logic controllers due to their superior nonlinear problem solving capabilities to classical controllers considerably simplify controller design. The mathematical models that define classical controllers are difficult or impossible to realize in biogas and photovoltaic generation process. A microcontroller centered fuzzy logic measurement and control embedded system is designed and developed on the existing hybrid biogas and photovoltaic installations. The designed system is able to accurately predict digester stability, quantify biogas output, and carry out biogas fault detection and control. Optimized battery charging and photovoltaic fault detection and control are also successfully implemented. The system is able to optimize the operation and performance of biogas and photovoltaic energy generation.

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43

Mitov, Alexander, Tsonyo Slavov, and Jordan Kralev. "Robustness Analysis of an Electrohydraulic Steering Control System Based on the Estimated Uncertainty Model." Information 12, no. 12 (December 9, 2021): 512. http://dx.doi.org/10.3390/info12120512.

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The impossibility of replacing hydraulic drives with other type drives in heavy duty machinery is the main reason for the development of a system for controlling hydraulic power steering. Moreover, the need for remote automatic control of the steering in specific types of mobile machinery leads to significant scientific interest in the design of embedded systems for controlling electro-hydraulic steering units. This article introduces an approach, which has been developed by authors, for robust stability and robust performance analysis of two embedded systems for controlling electro-hydraulic power steering in mobile machinery. It is based on the suggested new more realistic “black box” SIMO model with output multiplicative uncertainty. The uncertainty is obtained by parameters confidence interval and Gauss approximation formula. The embedded control systems used a linear-quadratic Gaussian (LQG) controller and H∞ controller. The synthesis of the controllers was performed on the basis of a nominal part of an uncertainty model. Robust stability and robust performance analyses were performed in the framework of a so-called structured singular value, μ. The obtained theoretical results were experimentally approved by real experiments with both of the developed control systems, which were physically realized as a laboratory test rig.

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44

Wu, Yu En, and Kuo Chan Huang. "Design and Implementation of Dual-Axis Solar Tracking System with GSM Fault Reporting Capability." Advanced Materials Research 724-725 (August 2013): 43–51. http://dx.doi.org/10.4028/www.scientific.net/amr.724-725.43.

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This paper presents a smart dual-axis solar tracking system, its architecture includes sensors, embedded controllers, AC motors, Integrated electric putter design biaxial institutions, and the GSM automatic report of fault notification, to achieve autonomous tracking solar track system and adjust the solar panels to reach the maximum smooth by tracking the solar azimuth angle and elevation angle, and ensure that the solar panels with the sun to maintain the vertical in any time and any place, thus achieving the best power efficiency. This system proposed a dual-axis design, and an embedded controller used as the main system controller to detect voltage difference and determine the solar azimuth angle with four groups of CDS as a sensing element. To lock the sun, the solar panels be perpendicular via the moving of AC motor (EW) and motorized faders (north-south). The control system software using C language can be extremely fast and accurate tracking of the solar angle, and dual-axis operation with recovery mode to save the power loss. Finally, we have the actual analysis and verification of benefit of power generation in this paper, from this experimental results, we can verify the integration of build dual-axis solar tracking system and solar power system have promoted 30% generating power capacity more than fixed solar power system and has low failure rate. It can improve the problem of traditional tracking system reliability and greatly enhance the usefulness of this system.

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45

Vasconcelos, Felipe José de Sousa, and Cláudio Marques de Sá Medeiros. "Performance comparison between PI digital and fuzzy controllers in a level control system." Journal of Mechatronics Engineering 2, no. 3 (November 18, 2019): 10. http://dx.doi.org/10.21439/jme.v2i3.28.

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Liquid level systems are important in many industrial and academic applications, so measurement and control systems need to be as accurate as possible for this process. However, a level system has a nonlinear dynamic which increases the difficulty of modelling and design controller by classical methods. In order to address these issues, this paper discusses the modeling of a nonlinear level plant and the implementation of strategies for PI control and fuzzy control. The control algorithms are embedded in an 8 bits microcontroller, which provides the plant sample data via serial communication. Response specifications are stipulated so that the performance of the controllers is evaluated and compared. The results show a better performance for the fuzzy controller which could avoid larges overshoots with low computation costs and none anti-windup strategies.

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46

Lenkevich, Alexander S. "“Are You in Your Body?!”. The Study of Biopolitical Interface Design." Galactica Media: Journal of Media Studies 3, no. 2 (June 4, 2021): 141–65. http://dx.doi.org/10.46539/gmd.v3i2.160.

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The article considers biopolitical design of interfaces in terms of computer games: the player's body is constructed with the help of a variety of technical instances that support gameplay (for instance, gamepads, haptic controllers, virtual reality devices). Through the interaction with interfaces, the new patterns of sensuality are formed, namely, the new forms of tactile communication with media. The article demonstrates the distinction between the representation of biopolitical processes in games (for instance, in Plague. Inc. and Bio. Inc.) and the process of incorporating biopolitical procedures into technical gaming devices, and through them into our bodies and lifestyle. The setting and narratives of games often tend to rely on biopolitical images. However, the processes that take place in our body during the game are more important than those that are presented on the screen: the new controllers increasingly take into account the physical state of the player in order to regulate the level of difficulty, promising not only entertainment but also care. The article raises the question of what the body feels and does not feel when it is included into the game, since the existing interfaces and controllers allow us to simulate a complex perceptual experience which includes not only audiovisual elements, but also touch, smell and so forth. After all, the (self-) control practices embedded in game controllers allow us to view them as technical dispositives through which we master the bodies of the future. The author of the article proposes the concept of a “touch-image" which captures a new dimension of hi-tech sensibility.

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47

Rouzbeh, Behrad, and Gary M. Bone. "Optimal Force Allocation and Position Control of Hybrid Pneumatic–Electric Linear Actuators." Actuators 9, no. 3 (September 14, 2020): 86. http://dx.doi.org/10.3390/act9030086.

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Hybrid pneumatic–electric actuators (HPEAs) are redundant actuators that combine the large force, low bandwidth characteristics of pneumatic actuators with the large bandwidth, small force characteristics of electric actuators. It has been shown that HPEAs can provide both accurate position control and high inherent safety, due to their low mechanical impedance, making them a suitable choice for driving the joints of assistive, collaborative, and service robots. If these characteristics are mathematically modeled, input allocation techniques can improve the HPEA’s performance by distributing the required input (force or torque) between the redundant actuators in accordance with each actuator’s advantages and limitations. In this paper, after developing a model for a HPEA-driven system, three novel model-predictive control (MPC) approaches are designed that solve the position tracking and input allocation problem using convex optimization. MPC is utilized since the input allocation can be embedded within the motion controller design as a single optimization problem. A fourth approach based on conventional linear controllers is included as a comparison benchmark. The first MPC approach uses a model that includes the dynamics of the payload and pneumatics; and performs the motion control using a single loop. The latter methods simplify the MPC law by separating the position and pressure controllers. Although the linear controller was the most computationally efficient, it was inferior to the MPC-based controllers in position tracking and force allocation performance. The third MPC-based controller design demonstrated the best position tracking with RMSE of 46%, 20%, and 55% smaller than the other three approaches. It also demonstrated sufficient speed for real-time operation.

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48

Wang, Xian Wei, та Fu Cheng Cao. "Implementation Method of μC/GUI Chinese Font Base on Embedded System". Applied Mechanics and Materials 668-669 (жовтень 2014): 840–43. http://dx.doi.org/10.4028/www.scientific.net/amm.668-669.840.

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According to the current application of human-computer interaction interface is more and more complex requirements, implementation method of μC/GUI Chinese font based on the ARM embedded operating system with CortexTM-M4F kernel is designed, to download the font by PC and embedded system USB to expand FLASH memory, the μC/GUI kernel code is modified and the GB2312 Chinese characters codec driver is added, this makes up for technical blank of Chinese display in embedded system with μC/GUI library, to provide an efficient and flexible solution for no character of LCD in embedded system. The method provides a reference implementation for other LCD controllers driver and font library transplantation in μC/GUI. Experiments show that, the design method of extended Chinese font provides reference for interactive LCD driver transplantation and font realization; it has better practicability and universality in environment of μC/GUI system.

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49

Khoud, Khaled Ben, Soufiene Bouallègue, and Mounir Ayadi. "Design and co-simulation of a fuzzy gain-scheduled PID controller based on particle swarm optimization algorithms for a quad tilt wing unmanned aerial vehicle." Transactions of the Institute of Measurement and Control 40, no. 14 (January 8, 2018): 3933–52. http://dx.doi.org/10.1177/0142331217740947.

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This paper deals with the systematic design and hardware co-simulation of a fuzzy gain-scheduled proportional–integral–derivative (GS-PID) controller for a quad tilt wing (QTW) type of unmanned aerial vehicles (UAVs) based on different variants of the particle swarm optimization (PSO) algorithm. The fuzzy PID gains scheduling problem for the stabilization of the roll, pitch and yaw dynamics of the QTW vehicle is formulated as a constrained optimization problem and solved thanks to improved PSO algorithms. PSO algorithms with variable inertia weight (PSO-In), PSO with constriction factor (PSO-Co) and PSO with possibility updating strategies (PSO-gbest) are proposed. Such variants of the PSO algorithm aim further to improve the exploration and exploitation capabilities of such a stochastic algorithm as well as its convergence fastness. The robustness of the designed PSO-based fuzzy GS-PID controllers under actuators faults is shown on the non-linear model of the QTW. All optimized fuzzy GS-PID controllers are then co-simulated within a processor-in-the-loop (PIL) framework based on an embedded NI myRIO-1900 board and a host PC. Such a proposed software (SW) and hardware (HW) computer aided design (CAD) platform is based on the Control Design and Simulation (CDSim) module of the LabVIEW environment as well as a set-up Network Streams-based data communication protocol. Demonstrative simulation results are presented, compared and discussed in order to improve the effectiveness of the proposed PSO-based fuzzy gains scheduled PID controllers for the QTW’s attitude flight stabilization.

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50

Guardeño, Rafael, Agustín Consegliere, and Manuel López. "A Study about Performance and Robustness of Model Predictive Controllers in a WEC System." Energies 11, no. 10 (October 22, 2018): 2857. http://dx.doi.org/10.3390/en11102857.

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This work is located in a growing sector within the field of renewable energies, wave energy converters (WECs). Specifically, it focuses on one of the point absorber waves (PAWs) of the hybrid platform W2POWER. With the aim of maximizing the mechanical power extracted from the waves by these WECs and reducing their mechanical fatigue, the design of five different model predictive controllers (MPCs) with hard and soft constraints has been carried out. As a contribution of this paper, two of the MPCs have been designed with the addition of an embedded integrator. In order to analyze and compare the MPCs with conventional PI type control, an exhaustive study about performance and robustness is realized through the computer simulations carried out, in which uncertainties in the WEC dynamics and JONSWAP spectrum are considered. The results obtained show how the MPCs with embedded integrator improve power production of the WEC system studied in this work.

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