Sharif Digital Repository

This paper concerns a study on the optimal control for nonlinear systems. An appropriate alternative in order to alleviate the nonlinearity of a system is the exact linearization approach. In this fashion, the nonlinear system has been linearized using input-output feedback linearization (IOFL). Then, by utilizing the well developed optimal control theory of linear systems, the compensated nonlinear system has been controlled. Thus, the structure of the objective function will be converted into a quadratic form which is qualitativly comparable with usual cost functions, and from operating viewpoint is more favorable. To qualify such a procedure, it has been applied to two minimum and... 

This paper attempts to give a perspective on decentralized formation control of multiple car-like mobile robots using local information and formation changes in a dynamic environment having several obstacles. In addition, for every mobile robot, it takes physical dimensions, mass, moment of inertia, movement constraints, and saturation of actuators into account. This study makes use of Input/Output Feedback Linearization Method to control each robot. Hence, hierarchical leader-follower based algorithm is employed to control the group formation. To avoid collision between robots and obstacles, and of robots with each other, local artificial potential fields are addressed. The group can change... 

In this paper, an adaptive fuzzy temperature controller is proposed for a class of continuous stirred tank reactors (CSTRs) based on input-output feedback linearization. Since for control implementation concentrations of all species are needed, based on the observability concept, a fuzzy logic system is used to estimate the concentration dependent terms and other unknown system parameters in the control law, using temperature measurements. It has been shown that the H∞ tracking control performance with a prescribed attenuation level is achieved, by using the proposed controller. Finally the effectiveness of the proposed controller has been demonstrated by applying it to a benchmark chemical... 

In this paper a combination of Kalman filter and feedback linearization methods is used to present a controller-identifier system for synchronizing two different chaotic systems. The drive system has some unknown parameters which are supposed to have linear form within its dynamic equation. An identifier based on Kalman filter approach is designed to estimate the unknown parameters of the drive system, and simultaneously a feedback linearizing controller is used to synchronize the chaotic behavior of the response system with the drive chaotic system. The method proposed in this paper is applied to the Lure' and the Genesio dynamic systems as the drive and response chaotic systems. The... 

In the presence of harmonic disturbances, boiler-turbine units may demonstrate quasi-periodic behaviour due to the occurrence of various types of bifurcation. In this article, a nonlinear model of boiler-turbine unit is considered in which drum pressure, electric output and drum water level are controlled via manipulation of valve positions for fuel, steam and feed-water flow rates. For bifurcation control in tracking problem, two controllers are designed based on gain scheduling and feedback linearization (FBL). To investigate the efficiency of control strategies, three cases are considered for desired tracking objectives (a sequence of steps, ramps/steps, and a combination of them).... 

An adaptive input-output linearization method for general nonlinear systems is developed without using states of the system. Another key feature of this structure is the fact that, it does not need model of the system. In this scheme, neurolinearizer has few weights, so it is practical in adaptive situations. Online training of neurolinearizer is compared to model predictive recurrent training. Relationships between this controller and neural network based model reference adaptive controller are established. A CSTR reactor and pH control in a neutralization process illustrate performance of this method. Simulation studies show a superior performance with respect to a PI controller  

In this paper, two nonlinear observer based controllers for temperature control of a continuous stirred tank reactor in which a special class of parallel exothermic reactions take place are proposed. A reduced order nonlinear observer is constructed to estimate the concentration in the reactor. The observer is coupled with two nonlinear controllers, designed based on two well-known techniques, namely input-output linearization and backstepping for controlling the reactor temperature. For dampening the effect of observer error dynamics, a compensating term is used in each control law. The asymptotical stability of the closed-loop system is shown by the Lyapunov's stability theorem. The... 

In this paper the dynamics and control of the underactuated flexible needle will be discussed. To evaluate the dynamics of the needle, the study uses Saint Venant-Kirchhoff and finite element method. The model is validated using the experimental data provided in the literature. It is also shown that using iterative decomposition of the dynamics equation the unactuated degree of freedom of the needle tip can be feedback linearized. The effect of the control signal exerted on the tip is projected via iterative decomposition of the dynamics equation. The efficiency of the approach will be next explored through some examples  

This paper presents the feedback linearization control of HIV infection. A multi-input multi-output (MIMO) dynamic nonlinear HIV infection model for this purpose has been used. For this purpose, three widely used drugs are considered. A Luenberger-like nonlinear observer (LNO) is designed for estimation of unavailable states. To minimize the side effects of drugs, the concentration of ZDV which has the highest side effect is fixed to a minimum value and the external controllers parameters are obtained by maximizing an objective function. In the control design, limitations on drug consumption and unavailability of all states are taken into account. The closed-loop stability has been... 

This paper deals with the cancer treatment scheduling via observer-based feedback control of a tumor growth biodynamical model. An experimental nonlinear model is utilized to design a feedback controller. This model was validated by a pharmacological study on xenograft models obtained by transplantation of colon carcinoma cell lines in athymic mice. Input-output feedback linearization approach is used to linearize the nonlinear model of the system and design a control law. It is assumed that tumor weight can be measured in definite intervals. So a continuous-discrete observer is designed to estimate states of the system based on discrete sampled data which are tumor weight in this case. To... 

In this paper, the swing-up problem of the Furuta pendulum has been solved by introducing a new combined method based on the frequency response, and the sliding mode method. Furthermore, a trajectory tracking controller has been introduced and applied to the Furuta pendulum; which the pendulum remained regulated at the upward position, while the arm tracks a desired time-varying trajectory. The hierarchical sliding mode control (HSMC) approach has been employed to achieve the mentioned goals. The Furuta system is made up of two subsystems. Based on this physical structure, the hierarchical structure of the sliding surfaces is designed as follows: first, the sliding surface of each subsystem... 

Dynamic instabilities are quite common in planing crafts. This study deals with the elimination of one type of dynamic instabilities known as porpoising. The controller device is a pneumatically driven trim tab that applied to the transom of the boat. The governing dynamic equations of the planing craft and the pneumatically driven system are derived. The stability analysis of the system is carried out and porpoising instability is shown under some conditions. A dual control scheme consisting of the actuator control subsystem (inner control subsystem) and the planing craft (outer control subsystem) is proposed in order to control the planing craft from porpoising instability. Since the... 

In this paper, dynamic modelling and control of WindPACT 1.5 MW wind turbine in Region 2 for extracting the maximum energy from wind is investigated (where the wind velocity is greater than ‘cut in’ and below ‘rated’ wind speeds). In this region, the generator torque must regulate the rotor speed in its optimal value while the blade pitch angle is considered constant in its optimal value. To achieve a more accurate model, wind turbine is modeled as an electromechanical system with two masses dynamics. A new method based on adaptive neuro fuzzy inference system (ANFIS) is considered for wind speed estimation; where rotor speed, output power and pitch angle are inputs of such system and... 

In this paper, an approach is proposed for controlling the uncertain Lorenz system. Based on an identification technique, a controller is designed that guarantees the regulation of all states in the presence of system uncertainty. Since in some applications the challenging problem of output tracking is desired, we have proposed several effective set-point tracking control techniques. The control schemes that are based on the feedback linearization method, can stabilize the internal dynamics of the system. Simulation results have illustrated the effectiveness of the proposed schemes. © 2005 Elsevier Ltd. All rights reserved  

Boiler–turbine units may show quasiperiodic behavior due to the bifurcation occurrence in the presence of harmonic disturbances. In this study, a multi-input–multi-output nonlinear dynamic model of a boiler–turbine unit is considered. Drum pressure, electric output, and fluid density are the state variables and adjusted at the desired values by manipulation of the input variables. Control inputs are the valve positions for fuel, steam and feed-water flow rates. To improve the quasiperiodic behavior of the system and bifurcation control in tracking problem, two controllers are designed: feedback linearization control and nonlinear sliding mode control (SMC). The feedback linearization... 

Synthetic inertial frequency response has attracted increasing attention due to the paradigm shift in power generation from synchronous generators toward wind turbines. This paper presents a novel nonlinear controller to enable inertial response of a variable speed wind turbine (VSWT). The VSWT has a nonlinear model which cannot efficiently be dealt with by linear control techniques as it may experience large deviations from its operating point during the frequency support period. To design the controller, a nonlinear model for the wind turbine together with power system is utilized. The output power of the wind turbine is expressed in terms of the state variables, and its exact Taylor... 

Reducing the renewable energy costs is necessary for the competition with the fossil energies and control strategies have great impact on the efficiency of wind machines. In the wind turbine industry, a practical approach is to maximize the energy capture of a wind machine by optimizing the power coefficient in the under-rated situations. In this paper, with the main objective of maximizing the energy capture in the second region, four different control strategies are compared in the presence of uncertainties. The proposed control methods are compared based on their power capture and robustness against probable uncertainties in the structural and environmental parameters. A two-mass... 

This paper presents an input/output feedback linearization control strategy for the three-level three-phase neutral-point-clamped rectifier using it's dual Lagrangian modeling, which is obtained based on the superposition law, the load current and The Euler-Lagrange description of the rectifier. The load current can be given in two forms: 1. the load current involving the current of capacitor C1 and 2. The load current involving the current of capacitor C2 Applying the obtained load current to the Euler-Lagrange parameters of the rectifier, two nonlinear models of the system are derived. Also two the power-balance equations between the input and output sides are obtained by considering the... 

Due to demands for the economical operations of power plants and environmental awareness, performance control of a boiler-turbine unit is of great importance. In this paper, a nonlinear Multi Input-Multi Output model (MIMO) of a utility boilerturbine unit is considered. Drum pressure, generator electric output and drum water level (as the output variables) are controlled by manipulation of valves position for fuel, feedwater and steam flows. After state space representation of the problem, two controllers, based on gain scheduling and feedback linearization, are designed. Tracking performance of the system is investigated and discussed for three cases of 'near', 'far' and 'so far' setpoints....