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Control systems engineering
Once again Nise provides readers with an up-to-date resource for analysing and designing real-world feedback control systems. Throughout the sixth edition, emphasis is placed on the practical application of control systems engineering.
Book
Synergetic motor control paradigm for optimizing energy efficiency of multijoint reaching via tacit learning
A human motor system can improve its behavior toward optimal movement. The skeletal system has more degrees of freedom than the task dimensions, which incurs an ill-posed problem. The multijoint system involves complex interaction torques between joints. To produce optimal motion in terms of energy consumption, the so-called cost function based optimization has been commonly used in previous works.Even if it is a fact that an optimal motor pattern is employed phenomenologically, there is no evidence that shows the existence of a physiological process that is similar to such a mathematical optimization in our central nervous system.In this study, we aim to find a more primitive computational mechanism with a modular configuration to realize adaptability and optimality without prior knowledge of system dynamics.We propose a novel motor control paradigm based on tacit learning with task space feedback. The motor command accumulation during repetitive environmental interactions, play a major role in the learning process. It is applied to a vertical cyclic reaching which involves complex interaction torques.We evaluated whether the proposed paradigm can learn how to optimize solutions with a 3-joint, planar biomechanical model. The results demonstrate that the proposed method was valid for acquiring motor synergy and resulted in energy efficient solutions for different load conditions. The case in feedback control is largely affected by the interaction torques. In contrast, the trajectory is corrected over time with tacit learning toward optimal solutions.Energy efficient solutions were obtained by the emergence of motor synergy. During learning, the contribution from feedforward controller is augmented and the one from the feedback controller is significantly minimized down to 12% for no load at hand, 16% for a 0.5 kg load condition.The proposed paradigm could provide an optimization process in redundant system with dynamic-model-free and cost-function-free approach.
Journal Article
Fault-Tolerant Tracking Observer-Based Controller Design for DFIG-BasedWind Turbine Affected by Stator Inter-Turn Short Circuit
This paper introduces a novel strategy for the diagnosis and fault-tolerant control (FTC) of inter-turn short-circuit (ITSC) faults in the stator windings of Doubly Fed Induction Generator (DFIG)-based wind turbines. ITSC faults are among the most common electrical issues in rotating machines: early detection is therefore essential to reduce maintenance costs and prevent severe damage to the wind turbine system. To address this, a Fault Detection and Diagnosis (FDD) approach is proposed to identify and assess the severity of ITSC faults in the stator windings. A state-space model of the DFIG under ITSC fault conditions is first developed in the (d,q) reference frame. Based on this model, an Unknown Input Observer (UIO) structured using Takagi–Sugeno (T-S) fuzzy models is designed to estimate the fault level. To mitigate the impact of the fault and ensure continued operation under degraded conditions, a T-S fuzzy fault-tolerant controller is synthesized. This controller enables natural decoupling and optimal power extraction across a wide range of rotor speed variations. Since the effectiveness of the FTC relies on accurate fault information, a Proportional-Integral Observer (PIO) is employed to estimate the ITSC fault level. The proposed diagnosis and compensation strategy is validated through simulations performed on a 3 kW wind turbine system, demonstrating its efficiency and robustness.
Journal Article
Control of fluid-containing rotating rigid bodies
\"This book is devoted to the study of the dynamics of rotating bodies with cavities containing liquid. Two basic classes of motion are analyzed: rotation and libration. Cases of complete and partial filling of cavities with ideal liquid and complete filling with viscous liquid are treated. A method is presented for obtaining relations between angular velocities perpendicular to main rotation and external force momentums, treated as control. This work will be of interest to professionals and researchers at universities and laboratories specializing in problems of control for hybrid systems and aerospace/mechanical engineering, as well as to under-/postgraduates with this specialization\"-- Provided by publisher.
Book
The Future of Work
Looking for ways to handle the transition to a digital economy
Robots, artificial intelligence, and driverless cars are no longer things of the distant future. They are with us today and will become increasingly common in coming years, along with virtual reality and digital personal assistants.
As these tools advance deeper into everyday use, they raise the question-how will they transform society, the economy, and politics? If companies need fewer workers due to automation and robotics, what happens to those who once held those jobs and don't have the skills for new jobs? And since many social benefits are delivered through jobs, how are people outside the workforce for a lengthy period of time going to earn a living and get health care and social benefits?
Looking past today's headlines, political scientist and cultural observer Darrell M. West argues that society needs to rethink the concept of jobs, reconfigure the social contract, move toward a system of lifetime learning, and develop a new kind of politics that can deal with economic dislocations. With the U.S. governance system in shambles because of political polarization and hyper-partisanship, dealing creatively with the transition to a fully digital economy will vex political leaders and complicate the adoption of remedies that could ease the transition pain. It is imperative that we make major adjustments in how we think about work and the social contract in order to prevent society from spiraling out of control.
This book presents a number of proposals to help people deal with the transition from an industrial to a digital economy. We must broaden the concept of employment to include volunteering and parenting and pay greater attention to the opportunities for leisure time. New forms of identity will be possible when the \"job\" no longer defines people's sense of personal meaning, and they engage in a broader range of activities. Workers will need help throughout their lifetimes to acquire new skills and develop new job capabilities. Political reforms will be necessary to reduce polarization and restore civility so there can be open and healthy debate about where responsibility lies for economic well-being.
This book is an important contribution to a discussion about tomorrow-one that needs to take place today.
eBook
Advanced dynamics modeling, duality and control of robotic systems
This book provides detailed fundamental theoretical reviews and preparations necessary for developing advanced dynamics modeling and control strategies for various types of robotic systems. This research book specifically addresses and discusses the uniqueness issue of representing orientation or rotation, and further proposes an innovative isometric embedding approach. The novel approach can not only reduce the dynamic formulation for robotic systems into a compact form, but it also offers a new way to realize the orientational trajectory-tracking control procedures. In addition, the book gives a comprehensive introduction to fundamentals of mathematics and physics that are required for modeling robot dynamics and developing effective control algorithms. Many computer simulations and realistic 3D animations to verify the new theories and algorithms are included in the book as well. It also presents and discusses the principle of duality involved in robot kinematics, statics, and dynamics. The duality principle can guide the dynamics modeling and analysis into a right direction for a variety of robotic systems in different types from open serial-chain to closed parallel-chain mechanisms. It intends to serve as a diversified research reference to a wide range of audience, including undergraduate juniors and seniors, graduate students, researchers, and engineers interested in the areas of robotics, control and applications.
Book
Mathematical Modeling of HIV Dynamics After Antiretroviral Therapy Initiation: A Review
This review shows the potential ground-breaking impact that mathematical tools may have in the analysis and the understanding of the HIV dynamics. In the first part, early diagnosis of immunological failure is inferred from the estimation of certain parameters of a mathematical model of the HIV infection dynamics. This method is supported by clinical research results from an original clinical trial: data just after 1 month following therapy initiation are used to carry out the model identification. The diagnosis is shown to be consistent with results from monitoring of the patients after 6 months. In the second part of this review, prospective research results are given for the design of individual anti-HIV treatments optimizing the recovery of the immune system and minimizing side effects. In this respect, two methods are discussed. The first one combines HIV population dynamics with pharmacokinetics and pharmacodynamics models to generate drug treatments using impulsive control systems. The second one is based on optimal control theory and uses a recently published differential equation to model the side effects produced by highly active antiretroviral therapy therapies. The main advantage of these revisited methods is that the drug treatment is computed directly in amounts of drugs, which is easier to interpret by physicians and patients.
Journal Article
Power electronics and control techniques for maximum energy harvesting in photovoltaic systems
\"Preface Photovoltaic (PV) systems are nowadays producing a significant amount of the electrical energy used all around the world. The support the PV technology can offer in the next decades, to the rate of growth of the advanced economies as well as of the developing Countries, is very high. The incentives provided at a first stage by the European governments have resulted in the rapid growth of the photovoltaic market and in the increase of the number and quality of products offered by the industries. PV modules by many producers are nowadays commercially available and a number of power electronic systems have been put on the Market for processing the electric power produced by PV systems, especially for grid connected applications. Also the scientific literature concerning PV applications has been characterized by a strong quantitative and qualitative growth in the last decade. A huge number of papers has been written and continues to be published in many journals; moreover, high impact factor scientific journals which are specifically devoted to photovoltaic systems are printed. A significant number of scientific papers is dedicated to the control of the photovoltaic source. A simple search on the Reuters Thomson website reveals that, at the end of May 2012, about 600 papers include the Maximum Power Point Tracking among their keywords. Many authors have contributed to the scientific field of the circuits and systems ensuring the best operation of the photovoltaic generator, but a reference in this field is still lacking. Some books that try to assess the most significant improvements concerning the connection of the photovoltaic systems to the grid have been recently published\"-- Provided by publisher.
Book
Comparison of LMI solvers for robust control of a DC-DC boost converter
This work deals with a robust Fault-Tolerant Control (FTC) design for a class of uncertain systems. Fault resilience is associated with a robustness bound generated by a sufficient Linear Matrix Inequality (LMI) condition for static state feedback stabilization. This design control approach is based on solving an optimization problem expressed in terms of LMI with three different programming solvers which are mincx (Matlab), lmisolver (Scilab) and cvxopt (Python). Numerical validations were carried out, first on an academic model, then on the model of a PV energy conversion system connected to a DC-DC boost converter. Then, a robustness analysis for fault resilience associated with a control law gains, obtained using the three solvers, was realized to investigate the best performance. This approach was finally validated on an experimental test bench. Ce travail porte sur une conception robuste de contrôle tolérant aux pannes (FTC) pour une classe de systèmes incertains. La résilience aux pannes est associée à une limite de robustesse générée par une condition d'inégalité matricielle linéaire (LMI) suffisante pour la stabilisation par rétroaction d'état statique. Cette approche de contrôle de conception est basée sur la résolution d'un problème d'optimisation exprimé en termes de LMI avec trois solveurs de programmation différents qui sont mincx (Matlab), lmisolver (Scilab) et cvxopt (Python). Des validations numériques ont été réalisées, d'abord sur un modèle académique, puis sur le modèle d'un système de conversion d'énergie PV connecté à un convertisseur boost DC-DC. Ensuite, une analyse de robustesse pour la résilience aux pannes associée aux gains d'une loi de commande, obtenue à l'aide des trois solveurs, a été réalisée pour étudier les meilleures performances. Cette approche a finalement été validée sur un banc de test expérimental.
Journal Article