A method for plotting the complementary root locus using the root-locus (positive gain) rules

The root-locus method is a well-known and commonly used tool in control system analysis and design. It is an important topic in introductory undergraduate engineering control disciplines. Although complementary root locus (plant with negative gain) is not as common as root locus (plant with positive gain) and in many introductory textbooks for control systems is not presented, it has been shown a valuable tool in control system design. This paper shows that complementary root locus can be plotted using only the well-known construction rules to plot root locus. It can offer for the students a better comprehension on this subject. These results present a procedure to avoid problems that appear in root-locus plots for plants with the same number of poles and zeros.

On Complementary Root Locus of Biproper Transfer Functions

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

DIRECT EXPRESSIONS FOR OGATA LEAD-LAG DESIGN METHOD USING ROOT LOCUS

Direct expressions for the design of a lead-lag continuous compensator using the root locus method and the procedure described in the 1970 and 1990 books by Ogata are presented. These results are useful in the Ogata design method because they avoid the geometrical determination of poles and zeros, making it easier to create a computer-based design.

On lag controllers: Design and implementation

Sometimes it is inconvenient or expensive to open the loop of a system to insert lag controllers-for instance, when this system is an open-loop system. A new controller structure where the loop is not opened, and that allows the design of lag controllers as in the case where one can open the loop, is presented. This result can be used by educators in undergraduate courses that deal with classic control system theory, because it allows a better comprehension of the concept of lag compensation and provides a new method for its design and implementation. An example illustrates the application of the proposed method.

Digital controller design considering hardware constraints: application in a paraplegic patient

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Comportamento dinâmico de suspensão eletromecânica: análise da resposta devido ao amortecimento e à rigidez não linear

Pós-graduação em Engenharia Elétrica - FEB

Estudo da estabilidade dinâmica e controle da aeronave AF-X da equipe AeroFEG

The present work aims to study the stability and control of the aircraft AF-X of AeroFEG team for AeroDesign to contribute with it in developing its theoretical project report for the competition and present the shortcomings of stability that it might measures for the practical test. In the first moment, it was presented forces and motion of the aircraft, so to define the equations of motion. After the equations of motion were calculated, the transfer functions were found and the aircraft response was analyzed under longitudinal stability and lateral-directional. We obtained responses from the aircraft and through the method of Root Locus the gains required to improve responses and reduce the overshoot, finally some changes and improvements for increased stability have been addressed. The study covered all the motions and control surfaces of the aircraft, showing the characteristics and behavior of the front disruptions, as well as opportunities for gains and improvementsThe present work aims to study the stability and control of the aircraft AF-X of AeroFEG team for AeroDesign to contribute with it in developing its theoretical project report for the competition and present the shortcomings of stability that it might measures for the practical test. In the first moment, it was presented forces and motion of the aircraft, so to define the equations of motion. After the equations of motion were calculated, the transfer functions were found and the aircraft response was analyzed under longitudinal stability and lateral-directional. We obtained responses from the aircraft and through the method of Root Locus the gains required to improve responses and reduce the overshoot, finally some changes and improvements for increased stability have been addressed. The study covered all the motions and control surfaces of the aircraft, showing the characteristics and behavior of the front disruptions, as well as opportunities for gains and improvements

Controle ativo de estruturas reticuladas utilizando atuadores de pilha de pzt

Pós-graduação em Engenharia Mecânica - FEIS

Contribution of electrical parameters on the dynamical behaviour of a nonlinear electromagnetic damper

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

The noradrenergic projection from the locus coeruleus to the cochlear root neurons in rats

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Neurochemistry of the afferents to the rat cochlear root nucleus: Possible synaptic modulation of the acoustic startle

Afferents to the primary startle circuit are essential for the elicitation and modulation of the acoustic startle reflex (ASR). In the rat, cochlear root neurons (CRNs) comprise the first component of the acoustic startle circuit and play a crucial role in mediating the ASR. Nevertheless, the neurochemical pattern of their afferents remains unclear. To determine the distribution of excitatory and inhibitory inputs, we used confocal microscopy to analyze the immunostaining for vesicular glutamate and GABA transporter proteins (VGLUT1 and VGAT) on retrogradely labeled CRNs. We also used reverse transcription-polymerase chain reaction (RT-PCR) and immunohistochemistry to detect and localize specific neurotransmitter receptor subunits in the cochlear root. Our results show differential distributions of VGLUT1- and VGAT-immunoreactive endings around cell bodies and dendrites. The RT-PCR data showed a positive band for several ionotropic glutamate receptor subunits, M1-M5 muscarinic receptor subtypes, the glycine receptor alpha 1 subunit (GlyR alpha 1), GABA(A), GABA(B), and subunits of alpha 2 and beta-noradrenergic receptors. By immunohistochemistry, we confirmed that CRN cell bodies exhibit positive immunoreaction for the glutamate receptor (GluR) 3 and NR1 GluR subunits. Cell bodies and dendrites were also positive for M2 and M4, and GlyR alpha 1. Other subunits, such as GluR1 and GluR4 of the AMPA GluRs, were observed in glial cells neighboring unlabeled CRN cell bodies. We further confirmed the existence of nor-adrenergic afferents onto CRNs from the locus coeruleus by combining tyrosine hydroxylase immunohistochemistry and tract-tracing experiments. Our results provide valuable information toward understanding how CRNs might integrate excitatory and inhibitory inputs, and hence how they could elicit and modulate the ASR. (C) 2008 IBRO. Published by Elsevier Ltd. All rights reserved.

Histopathological and histomicrobiological study of root canal therapy medication, comparison of calcium hydroxide versus gutta-percha with zinc oxide/eugenol in the teeth of dogs

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Locus coeruleus is a central chemoreceptive site in toads

The locus coeruleus (LC) has been suggested as a CO2 chemoreceptor site in mammals. This nucleus is a mesencephalic structure of the amphibian brain and is probably homologous to the LC in mammals. There are no data available for the role of LC in the central chemoreception of amphibians. Thus the present study was designed to investigate whether LC of toads (Bufo schneideri) is a CO2/H+ chemoreceptor site. Fos immunoreactivity was used to verify whether the nucleus is activated by hypercarbia (5% CO2 in air). In addition, we assessed the role of noradrenergic LC neurons on respiratory and cardiovascular responses to hypercarbia by using 6-hydroxydopamine lesion. To further explore the role of LC in central chemosensitivity, we examined the effects of microinjection of solutions with different pH values (7.2, 7.4, 7.6, 7.8, and 8.0) into the nucleus. Our main findings were that 1) a marked increase in c-fos-positive cells in the LC was induced after 3 h of breathing a hypercarbic gas mixture; 2) chemical lesions in the LC attenuated the increase of the ventilatory response to hypercarbia but did not affect ventilation under resting conditions; and 3) microinjection with acid solutions (pH = 7.2, 7.4, and 7.6) into the LC elicited an increased ventilation, indicating that the LC of toads participates in the central chemoreception.

Role of Locus coeruleus noradrenergic neurons in cardiorespiratory and thermal control during hypoxia

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

The locus coeruleus and central chemosensitivity

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)