Linear and sliding-mode control design for matrix converter-based unified power flow controllers

This paper presents the design and compares the performance of linear, decoupled and direct power controllers (DPC) for three-phase matrix converters operating as unified power flow controllers (UPFC). A simplified steady-state model of the matrix converter-based UPFC fitted with a modified Venturini high-frequency pulse width modulator is first used to design the linear controllers for the transmission line active (P) and reactive (Q) powers. In order to minimize the resulting cross coupling between P and Q power controllers, decoupled linear controllers (DLC) are synthesized using inverse dynamics linearization. DPC are then developed using sliding-mode control techniques, in order to guarantee both robustness and decoupled control. The designed P and Q power controllers are compared using simulations and experimental results. Linear controllers show acceptable steady-state behaviour but still exhibit coupling between P and Q powers in transient operation. DLC are free from cross coupling but are parameter sensitive. Results obtained by DPC show decoupled power control with zero error tracking and faster responses with no overshoot and no steady-state error. All the designed controllers were implemented using the same digital signal processing hardware.

Two cooperating manipulators with fractional controllers

This paper analyzes the dynamic performance of two cooperative robot manipulators. It is studied the implementation of fractional-order algorithms in the position/force control of two cooperating robotic manipulators holding an object. The simulations reveal that fractional algorithms lead to performances superior to classical integer-order controllers.

Fuzzy linguistic controllers applied to decouple control loop effects

A fuzzy linguistic controller has been developed and implemented with the aim to cope with interactions between control loops due to coupling effects. To access the performance of the proposed approach several experiments have also been conducted using the classical PID controllers in the control loops. A mixing process has been used as test bed of all controllers experimented and the corresponding dynamic model has been derived. The successful results achieved with the fuzzy linguistic controllers suggests that they can be an alternative to classical controllers when in the presence of process plants where automatic control as to cope with coupling effects between control loops. © 2014 IEEE.

Realization of fractional-order controllers: analysis, synthesis and application to the velocity control of a servo system

The synthesis and application of fractional-order controllers is now an active research field. This article investigates the use of fractional-order PID controllers in the velocity control of an experimental modular servo system. The systern consists of a digital servomechanism and open-architecture software environment for real-time control experiments using MATLAB/Simulink. Different tuning methods will be employed, such as heuristics based on the well-known Ziegler Nichols rules, techniques based on Bode’s ideal transfer function and optimization tuning methods. Experimental responses obtained from the application of the several fractional-order controllers are presented and analyzed. The effectiveness and superior performance of the proposed algorithms are also compared with classical integer-order PID controllers.

Application of fractional controllers for quad rotor

This paper studies the application of fractional algorithms in the control of a quad-rotor rotorcraft. The development of a flight simulator provide the evaluation of the controller algorithm. Several basic maneuvers are investigated, namely the elevation and the position control.

Optimal tuning of fractional controllers using genetic algorithms

This study addresses the optimization of fractional algorithms for the discrete-time control of linear and non-linear systems. The paper starts by analyzing the fundamentals of fractional control systems and genetic algorithms. In a second phase the paper evaluates the problem in an optimization perspective. The results demonstrate the feasibility of the evolutionary strategy and the adaptability to distinct types of systems.

On the robustness of the slotine-Li and the FPT/SVD-based adaptive controllers

A comparative study concerning the robustness of a novel, Fixed Point Transformations/Singular Value Decomposition (FPT/SVD)-based adaptive controller and the Slotine-Li (S&L) approach is given by numerical simulations using a three degree of freedom paradigm of typical Classical Mechanical systems, the cart + double pendulum. The effects of the imprecision of the available dynamical model, presence of dynamic friction at the axles of the drives, and the existence of external disturbance forces unknown and not modeled by the controller are considered. While the Slotine-Li approach tries to identify the parameters of the formally precise, available analytical model of the controlled system with the implicit assumption that the generalized forces are precisely known, the novel one makes do with a very rough, affine form and a formally more precise approximate model of that system, and uses temporal observations of its desired vs. realized responses. Furthermore, it does not assume the lack of unknown perturbations caused either by internal friction and/or external disturbances. Its another advantage is that it needs the execution of the SVD as a relatively time-consuming operation on a grid of a rough system-model only one time, before the commencement of the control cycle within which it works only with simple computations. The simulation examples exemplify the superiority of the FPT/SVD-based control that otherwise has the deficiency that it can get out of the region of its convergence. Therefore its design and use needs preliminary simulation investigations. However, the simulations also exemplify that its convergence can be guaranteed for various practical purposes.

Tuning and application of integer and fractional order PID controllers

Fractional calculus (FC) is widely used in most areas of science and engineering, being recognized its ability to yield a superior modeling and control in many dynamical systems. In this perspective, this article illustrates two applications of FC in the area of control systems. Firstly, is presented a methodology of tuning PID controllers that gives closed-loop systems robust to gain variations. After, a fractional-order PID controller is proposed for the control of an hexapod robot with three dof legs. In both cases, it is demonstrated the system's superior performance by using the FC concepts.

Remote operation of embedded controllers designed using IOPT Petri-nets

This paper presents a new communication architecture to enable the remote control, monitoring and debug of embedded-system controllers designed using IOPT Petri nets. IOPT Petri nets and the related tools (http://gres.uninova.pt) have been used as a rapid prototyping and development framework, including model-checking, simulation and automatic code generation tools. The new architecture adds remote operation capabilities to the controllers produced by the automatic code generators, enabling quasi-real-time remote debugging and monitoring using the IOPT simulator tool. Furthermore, it enables the creation of graphical user interfaces for remote operation and the development of distributed systems where a Petri net model running on a central system supervises the actions of multiple remote subsystems. © 2015 IEEE.

Matrix converter as unified power flow controller: design and implementation of decoupled direct power controllers

This paper presents the design and implementation of direct power controllers for three-phase matrix converters (MC) operating as Unified Power Flow Controllers (UPFC). Theoretical principles of the decoupled linear power controllers of the MC-UPFC to minimize the cross-coupling between active and reactive power control are established. From the matrix converter based UPFC model with a modified Venturini high frequency PWM modulator, decoupled controllers for the transmission line active (P) and reactive (Q) power direct control are synthesized. Simulation results, obtained from Matlab/Simulink, are presented in order to confirm the proposed approach. Results obtained show decoupled power control, zero error tracking, and fast responses with no overshoot and no steady-state error.

Distributed controllers modeling through Petri nets with multi-asynchronous-channels

This paper proposes the concept of multi-asynchronous-channel for Petri nets. Petri nets extended with multi-asynchronous-channels and time-domains support the specification of distributed controllers, where each controller has a synchronous execution but the global system is asynchronous (globally-asynchronous locally-synchronous systems). Each multi-asynchronous-channel specify the interaction between two or more distributed controllers. These channels, together with the time-domain concept, ensure the creation of network-independent models to support implementations using heterogeneous communication networks. The created models support not only the systems documentation but also their validation and implementation through simulation tools, verification tools, and automatic code generators. An application example illustrates the use of a Petri net class extended with the proposed channels. © 2015 IEEE.

High-level Petri nets modules for embedded controllers design

Modular design is crucial to manage large-scale systems and to support the divide-and-conquer development approach. It allows hierarchical representations and, therefore, one can have a system overview, as well as observe component details. Petri nets are suitable to model concurrent systems, but lack on structuring mechanisms to support abstractions and the composition of sub-models, in particular when considering applications to embedded controllers design. In this paper we present a module construct, and an underlying high-level Petri net type, to model embedded controllers. Multiple interfaces can be declared in a module, thus, different instances of the same module can be used in different situations. The interface is a subset of the module nodes, through which the communication with the environment is made. Module places can be annotated with a generic type, overridden with a concrete type at instance level, and constants declared in a module may have a new value in each instance.

Mode-Controlled Data-Flow Modeling of Real-Time Memory Controllers

Accepted in 13th IEEE Symposium on Embedded Systems for Real-Time Multimedia (ESTIMedia 2015), Amsterdam, Netherlands.

Limit Cycle Prediction of Systems with Fractional Controllers and Backlash

This article investigates the limit cycle (LC) prediction of systems with backlash by means of the describing function (DF) when using discrete fractional-order (FO) algorithms. The DF is an approximate method that gives good estimates of LCs. The implementation of FO controllers requires the use of rational approximations, but such realizations produce distinct dynamic types of behavior. This study analyzes the accuracy in the prediction of LCs, namely their amplitude and frequency, when using several different algorithms. To illustrate this problem we use FO-PID algorithms in the control of systems with backlash.

An evolutionary approach to the use of Petri net based models: from parallel controllers to HW/SW co-design

"A workshop within the 19th International Conference on Applications and Theory of Petri Nets - ICATPN’1998"