The field of robotics has grown a lot over the years due to increasing necessity industrial production and search for quality industrialized products. identification system requires that model output be as close possible real one, in order improve control system. Some hybrid methods can estimation through computational intelligence techniques, mainly improving limitations given linear technique. This paper presents main contribution algorithm robotic manipulators based on recursive least...

Using a new set of semidefinite constraints called recurrent dissipativity-based inequalities (DBIs), this letter presents an iterative procedure to design polynomial feedback control laws for nonlinear systems, let it be static state or linear output (SOF) controller one needs determine. In addition that, the problem SOF time-invariant (LTI) systems is solved as well. case we use sum-of-squares (SOS) programming and provide estimate closed-loop domain attraction. LTI models, matrix (LMIs)...

Recently, the use of Smith Predictor was questioned due to issues related its robustness process dead-time uncertainties.Thus, this work presents a comparison between structure derived from Predictor, called Simplified Dead-Time Compensator (SDTC), and PI/PID controllers in terms performance robustness.The main results show that SDTC is better or similar than uncertainties can be quantified multiplicative index curves.Resumo: Recentemente, o uso do Preditor de foi questionado devido...

Using a new set of semidefinite constraints called recurrent dissipativity-based inequalities, this letter presents an iterative procedure to design polynomial feedback control laws for nonlinear systems, let it be static state or linear output (SOF) controller one needs determine. In addition that, the problem SOF time-invariant (LTI) systems is solved as well. case we use sum-of-squares (SOS) programming and provide estimate closed-loop domain attraction. LTI models, matrix inequalities...

<p>Using a new set of semidefinite constraints called<em> recurrent dissipativity-based inequalities</em>, this letter presents an iterative procedure to design polynomial feedback control laws for nonlinear systems, let it be static state or linear output (SOF) controller one needs determine. In addition that, the problem SOF time-invariant (LTI) systems is solved as well. case we use sum-of-squares (SOS) programming and provide estimate closed-loop domain attraction. LTI...

Modern societies have an abundance of data yet good system models are rare. Unfortunately, many the current identification and machine learning techniques fail to generalize outside training set, producing that violate basic physical laws. This work proposes a novel method for Sparse Identification Nonlinear Dynamics with Side Information (SINDy-SI). SINDy-SI is iterative uses Sum-of-Squares (SOS) programming learn optimally fitted while guaranteeing learned model satisfies side information,...

The generation of electric energy is an essential factor for society, both economic and social development. Within this context, renewable sources have been gaining ground, such as photovoltaic systems. However, its efficiency presents non-linear characteristics due to thresholds in temperature irradiance, mainly caused by climatic factors. This problem affects the load power supply, thus loosing effectiveness. To minimize problem, it necessarythe operation at maximum point (MPP), made means...

In this work, a control structure based on an observer-predictor for discrete time- delay systems is proposed. This strategy allows attenuating both polynomial and sinusoidal disturbances with known frequencies at steady-state from the process output. For purpose, first, extended disturbance model used to estimate states zero error steady-state. Then, predictor-based state-feedback gain computed obtain desired setpoint response. Finally, evaluate performance of proposed controller, it...

This work proposes a new design for the simplified filtered Smith predictor (SFSP) with feedforward action. The proposed strategy is based on stable implementation structure and makes use of an auxiliary filter to obtain controller parameters more directly first- order processes. preserves good robustness noise attenuation properties SFSP, while improving its disturbance rejection performance through evaluation methodology carried out simulation results that show better indices when compared...

This work presents a stability analysis for proportional-integral (PI) controllers processes with constant delays and time-varying delays. It is frequently reported in the literature that time delay feedback loop can lead system to instability. problem be made worse if time-variant with, example, sawtooth variation, which as one of worst types time-delay variation due phenomenon known chattering. Therefore, this study allows us assess whether case scenario PI controller or delay, format....

This work proposes a new tuning method for the simplified filtered Smith predictor (SFSP). Based on stable implementation structure and an auxiliary filter, it is possible to simply directly tune controller first-order models with time delay. To demonstrate effectiveness of its good performance, evaluation proposed carried out against another from recent literature through simulations performance indices.

ResumoEste trabalho propõe uma regra de sintonia controlador proporcional-integral (PI) para processos instáveis com atraso transporte, a partir da formulação do preditor Smith filtrado simplificado (SFSP, inglês simplified filtered predictor). A escolha constante tempo malha fechada, o único parâmetro sintonia, é realizada por meio expressão matemática, obtida otimização. Os resultados simulação mostram robustez e melhor desempenho proposta frente outras regras existentes na literatura.