Nonlinear ball and beam control system identification

The Ball and Beam system is a common didactical experiment in control laboratories that can be used to illustrate many different closed-loop control techniques. The plant itself is subjected to many nonlinear effects, which the most common comes from the relative motion between the ball and the beam. The modeling process normally uses the lagrangean formulation. However, many other nonlinear effects, such as non-viscous friction, beam flexibility, ball slip, actuator elasticity, collisions at the end of the beam, to name a few, are present. Besides that, the system is naturally unstable. In this work, we analyze a subset of these characteristics, in which the ball rolls with slipping and the friction force between the ball and the beam is non-viscous (Coulomb friction). Also, we consider collisions at the ends of the beam, the actuator consists of a (rubber made) belt attached at the free ends of the beam and connected to a DC motor. The model becomes, with those nonlinearities, a differential inclusion system. The elastic coefficients of the belt are experimentally identified, as well as the collision coefficients. The nonlinear behavior of the system is studied and a control strategy is proposed.

Organic coffee under perspective of energy efficiency

The energy analysis development in this study contributes to the understanding of the dynamics of the organic coffee productive system, in particular to assess the independence of this system with respect to the use of industrialized input products. Thus, it provides information about the sustainability of that production system. Technical itineraries used in this study consist of energy expenditure made with coffee cultivation, according to the type, source and form of energy inputs, agricultural machines, equipment and labor force used in that production system. The energy expenditure, converted into energy units, quantified the input energy. And the organic coffee production, measured in kilograms of processed coffee beans, was the output energy. Primary data used in this study were obtained from organic coffee producers in the Southern region of Minas Gerais State, Brazil, in 2011. Energy balance identified was positive, since the estimated output energy was 626.465 MJ/ha and the energy expenditure was 112.998 MJ/ha, during the useful life of the crop.