Abstract This paper deals with design of PID controller the use methods global optimization implemented in Matlab environment and Optimization Toolbox. It is based on minimization a chosen integral criterion respect to additional requirements control quality such as overshoot, phase margin limits for manipulated value. The objective function also respects user-defined weigh coefficients its particular terms different penalization individual that often clash each other example overshoot...

This paper describes smart energy meter design and implementation focused on using in charging stations (stands) for electric vehicle (follows as EV) support possible embedding into current building technology. In this article there are included results of research commercial devices available Czech republic measuring buildings well analysis given purposes. For example described module was required measurement voltage, frequency power network. Finally designed a communication with common...

This paper deals with the use of real time operating system FreeRTOS, which is implemented into 32-bit microcontroller ARM core on swarm robotics platform. The main task realized control to ensure communication different types sensors that are parts robotic platform (ultrasonic sensors, LIDAR - Light Detection And Ranging, GPS, etc.), and prepare obtained information for further use. controlling robot movements according received demands also one tasks. separates low-level (interfacing...

The long-term monitoring of the fetal heart rate (fHR) is important to control well-being. One promising methods for phonocardiography which based on recording sounds. This paper presents a compact low-cost device multi lead fHR measurement. introduced allows monitor non-invasively and with no side effects mother or fetus. Moreover, we developed LabVIEW application signal processing analysis.

This paper deals with the description of concept a virtual laboratory designed for educational purposes and deployment processor-in-the-loop (PIL) use REX Control System. It also presents case study regarding control simple inverted pendulum on cart. The below mentioned techniques represent modern, accessible adaptive teaching methods supporting distance education.

This article deals with design and development of low cost laboratory plant for control system education. The apparatus includes DC motor incremental quadratic encoder. Arduino platform is used to realize digital system. It also possible use Raspberry Pi interact REX Control System algorithm.

LiveLink for COMSOL is a tool that integrates Multiphysics with MATLAB to extend one's modeling scripting programming in the environment. It allows user utilize full power of and its toolboxes preprocessing, model manipulation, post processing. At first, head script launches defines initial value all parameters, refers objective function J described creates runs defined optimization task. Once task launches, being called iteration loop (from environment by use API interface), changing...

The aim of this paper is to analyze the nature algorithms for calculation range battery electric vehicles (BEV) and suggest possibilities improvements current state in field. Most contemporary BEVs use inaccurate that probably do not take into account planned route, but only consumption history last few tens kilometers. This regression analysis does fulfill sufficient quality a reliable prediction exact range. Based on these erroneous predictions, inexperienced BEV driver arrive at...

Abstract Using the principles of Takagi-Sugeno fuzzy modelling allows integration flexible approaches and rigorous mathematical tools linear system theory into one common framework. The rule-based T-S model splits a nonlinear several subsystems. Parallel Distributed Compensation (PDC) controller synthesis uses these rules. resulting is nonlinear, based on aggregation state controllers individual optimized by quadratic control (LQC) method, its stability analysed using Lyapunov method....

This paper deals with analysis of usage numerical methods for discretization continuous models complex highly nonlinear processes considered as a part SIL, PIL and HIL simulations. It also compares low-order high-order integration shows significant effect appropriate the on correspondence results. The inverted pendulum model is used case study here.

The generation of feasible trajectories poses an eminent task in the field control design mechanical systems. paper demonstrates innovative approach trajectory planning for systems via time-reversal symmetry. It also presents two case studies: mass-spring-damper and inverted pendulum on cart. As real break symmetry, authors this work propose a unique method order to overcome drawback. computes feed-forward reference signal state trajectories. proposed solution enables compensation effects...

The R&D Team SAES (Systems of the Alternate Energy Sources) is a group teachers, technicians and research development workers focussing on issues related to sensors, measuring, controlling, intelligent management systems using alternative energy sources. team manages number learning laboratories participates in activities by three workplaces. One main an active participation process. members guarantee conduct lecturing subjects way. introduction project-oriented allowed for student...

Optimal control (OC) is the process of determining and state trajectories for a dynamic system in order to achieve given performance index. Most real-world optimal problems (OCP) are too large complex be solved analytically as typically dynamics nonlinear there predefined constraints governing allowed behavior system. The motivation this paper give brief overview some ready-to-use numerical software tools available on market capable solving problems. It summarizes their basic properties such...

This article deals with analysis and design of automated guided vehicle platform for parking houses. There is some essential research in this area described, communication system between smart house solution AGV itself terms hardware software point view.

This article deals with tuning of PID controllers for linear time-invariant systems. The basis the whole process is Modulus Optimum (MO) method which allows obtaining quite good results fast response closed loop system vast majority proposed mechanism supports both first order systems and higher including astatism order. Certain limitations on type are shown in next sections.An important aspect inclusion a knowledge base used making decision whether certain controller appropriate given or...

This paper deals with the design of a fuzzy controller for stabilization simple inverted pendulum on cart in upper equilibrium. The Mamdani type logic was used this purpose. is aimed at control structure based normalized individually determined scale factors. lists possible methods calculation Also, it gives detailed description particular chosen method. method bases LQR gains and represents key part proposed approach. functionality verified offline simulation compared controller.

Dynamic programming is typically applied to optimization problems. As the analytical solutions are generally very difficult, chosen software tools used widely. These packages often third-party products bound for standard simulation on market. typical examples of such tools, TOMLAB and DYNOPT could be effectively solution problems dynamic programming. will presented in this paper due its licensing policy (free product under GPL) simplicity use. a set MATLAB functions determination optimal...

REX Control System is a professional advanced tool for design and implementation of complex control systems that belongs to softPLC category. It covers the entire process starting from simulation functionality application before deployment, through on real-time target, towards analysis, diagnostics visualization. Basically it consists two parts: development tools runtime system. also compatible with Simulink environment, way algorithm very similar. The scheme finally compiled (using RexDraw...

The paper is dedicated to the problems of control non-linear continuous systems. nonlinear fuzzy model Takagi-Sugeno type utilizes method local approximation in partition spaces. Model-based controller synthesis based on concept parallel distributed compensation PDC. LQR designed using linear matrix inequalities LMIs method. In additional, GA-based tuning weighting matrices proposed achieve better performance and high robustness close-loop controller. Described illustrated problem balancing...

The paper deals with the control design of nonlinear systems. It presents application presented methodology on a swing-up single inverted pendulum. is aimed at planning reference state trajectories and appropriate feedforward signal formulated by two-point boundary value problem. One complications during solution tackles problem providing good initial guess for trajectories. additional optimization procedure dealing this issue described in paper. There an emphasis universality because it can...

Abstract This paper deals with the design and implementation of linear quadratic controller (LQR) for modeling Ball on Spool. The presents entire process, starting from mathematical model through control towards application use given hardware platform. Proposed solution by means REX Control System provides a high level user comfort regarding loop, diagnostics automatically generated visualization based HTML5. It represents an ideal example complex nonlinear mechatronic system lot...

The paper focuses on the issue of collaborative control a two quadrotor (Unmanned Aerial Vehicle QDR) system. In particular, quadrotors perform task horizontally transporting long payload along predefined trajectory. A leader-follower method is used to synchronize motion both QDRs. Conventional PD controllers drive leader QDR-L follow To follower QDR-F drive, in case indoor applications, Position Feedback Controller approach (PFC) can be used. QDR-F, PFC system uses position information and...