Estudo comparativo de dois conversores Boost quadrático com comutação suave monochaveados para aplicação de rastreamento de máxima potência em sistemas fotovoltaicos

This paper makes a comparative study of two Soft Single Switched Quadratic Boost Converters (SSS1 and SSS2) focused on Maximum Power Point Tracking (MPPT) of a PV array using Perturb and Observe (P&O) algorithm. The proposed converters maintain the static gain characteristics and dynamics of the original converter with the advantage of considerably reducing the switching losses and Electromagnetic Interference (EMI). It is displayed the input voltage Quadratic Boost converter modeling; qualitative and quantitative analysis of soft switching converters, defining the operation principles, main waveforms, time intervals and the state variables in each operation steps, phase planes of resonant elements, static voltage gain expressions, analysis of voltage and current efforts in semiconductors and the operational curves at 200 W to 800 W. There are presented project of PI, PID and PID + Notch compensators for MPPT closed-loop system and resonant elements design. In order to analyze the operation of a complete photovoltaic system connected to the grid, it was chosen to simulate a three-phase inverter using the P-Q control theory of three-phase instantaneous power. Finally, the simulation results and experimental with the necessary comparative analysis of the proposed converters will be presented.

A Methodology to Emulate Single Event Upsets in Flip-Flops using FPGAs through Partial Reconfiguration and Instrumentation

This paper presents a methodology to emulate Single Event Upsets (SEUs) in FPGA flip-flops (FFs). Since the content of a FF is not modifiable through the FPGA configuration memory bits, a dedicated design is required for fault injection in the FFs. The method proposed in this paper is a hybrid approach that combines FPGA partial reconfiguration and extra logic added to the circuit under test, without modifying its operation. This approach has been integrated into a fault-injection platform, named NESSY (Non intrusive ErrorS injection SYstem), developed by our research group. Finally, this paper includes results on a Virtex-5 FPGA demonstrating the validity of the method on the ITC’99 benchmark set and a Feed-Forward Equalization (FFE) filter. In comparison with other approaches in the literature, this methodology reduces the resource consumption introduced to carry out the fault injection in FFs, at the cost of adding very little time overhead (1.6 �μs per fault).

Bioengineered Approaches to Prevent Hypertrophic Scar Contraction

Burn injuries in the United States account for over one million hospital admissions per year, with treatment estimated at four billion dollars. Of severe burn patients, 30-90% will develop hypertrophic scars (HSc). Current burn therapies rely upon the use of bioengineered skin equivalents (BSEs), which assist in wound healing but do not prevent HSc. HSc contraction occurs of 6-18 months and results in the formation of a fixed, inelastic skin deformity, with 60% of cases occurring across a joint. HSc contraction is characterized by abnormally high presence of contractile myofibroblasts which normally apoptose at the completion of the proliferative phase of wound healing. Additionally, clinical observation suggests that the likelihood of HSc is increased in injuries with a prolonged immune response. Given the pathogenesis of HSc, we hypothesize that BSEs should be designed with two key anti-scarring characterizes: (1) 3D architecture and surface chemistry to mitigate the inflammatory microenvironment and decrease myofibroblast transition; and (2) using materials which persist in the wound bed throughout the remodeling phase of repair. We employed electrospinning and 3D printing to generate scaffolds with well-controlled degradation rate, surface coatings, and 3D architecture to explore our hypothesis through four aims.

In the first aim, we evaluate the impact of elastomeric, randomly-oriented biostable polyurethane (PU) scaffold on HSc-related outcomes. In unwounded skin, native collagen is arranged randomly, elastin fibers are abundant, and myofibroblasts are absent. Conversely, in scar contractures, collagen is arranged in linear arrays and elastin fibers are few, while myofibroblast density is high. Randomly oriented collagen fibers native to the uninjured dermis encourage random cell alignment through contact guidance and do not transmit as much force as aligned collagen fibers. However, the linear ECM serves as a system for mechanotransduction between cells in a feed-forward mechanism, which perpetuates ECM remodeling and myofibroblast contraction. The electrospinning process allowed us to create scaffolds with randomly-oriented fibers that promote random collagen deposition and decrease myofibroblast formation. Compared to an in vitro HSc contraction model, fibroblast-seeded PU scaffolds significantly decreased matrix and myofibroblast formation. In a murine HSc model, collagen coated PU (ccPU) scaffolds significantly reduced HSc contraction as compared to untreated control wounds and wounds treated with the clinical standard of care. The data from this study suggest that electrospun ccPU scaffolds meet the requirements to mitigate HSc contraction including: reduction of in vitro HSc related outcomes, diminished scar stiffness, and reduced scar contraction. While clinical dogma suggests treating severe burn patients with rapidly biodegrading skin equivalents, these data suggest that a more long-term scaffold may possess merit in reducing HSc.

In the second aim, we further investigate the impact of scaffold longevity on HSc contraction by studying a degradable, elastomeric, randomly oriented, electrospun micro-fibrous scaffold fabricated from the copolymer poly(l-lactide-co-ε-caprolactone) (PLCL). PLCL scaffolds displayed appropriate elastomeric and tensile characteristics for implantation beneath a human skin graft. In vitro analysis using normal human dermal fibroblasts (NHDF) demonstrated that PLCL scaffolds decreased myofibroblast formation as compared to an in vitro HSc contraction model. Using our murine HSc contraction model, we found that HSc contraction was significantly greater in animals treated with standard of care, Integra, as compared to those treated with collagen coated-PLCL (ccPLCL) scaffolds at d 56 following implantation. Finally, wounds treated with ccPLCL were significantly less stiff than control wounds at d 56 in vivo. Together, these data further solidify our hypothesis that scaffolds which persist throughout the remodeling phase of repair represent a clinically translatable method to prevent HSc contraction.

In the third aim, we attempt to optimize cell-scaffold interactions by employing an anti-inflammatory coating on electrospun PLCL scaffolds. The anti-inflammatory sub-epidermal glycosaminoglycan, hyaluronic acid (HA) was used as a coating material for PLCL scaffolds to encourage a regenerative healing phenotype. To minimize local inflammation, an anti-TNFα monoclonal antibody (mAB) was conjugated to the HA backbone prior to PLCL coating. ELISA analysis confirmed mAB activity following conjugation to HA (HA+mAB), and following adsorption of HA+mAB to the PLCL backbone [(HA+mAB)PLCL]. Alican blue staining demonstrated thorough HA coating of PLCL scaffolds using pressure-driven adsorption. In vitro studies demonstrated that treatment with (HA+mAB)PLCL prevented downstream inflammatory events in mouse macrophages treated with soluble TNFα. In vivo studies using our murine HSc contraction model suggested positive impact of HA coating, which was partiall impeded by the inclusion of the TNFα mAB. Further characterization of the inflammatory microenvironment of our murine model is required prior to conclusions regarding the potential for anti-TNFα therapeutics for HSc. Together, our data demonstrate the development of a complex anti-inflammatory coating for PLCL scaffolds, and the potential impact of altering the ECM coating material on HSc contraction.

In the fourth aim, we investigate how scaffold design, specifically pore dimensions, can influence myofibroblast interactions and subsequent formation of OB-cadherin positive adherens junctions in vitro. We collaborated with Wake Forest University to produce 3D printed (3DP) scaffolds with well-controlled pore sizes we hypothesized that decreasing pore size would mitigate intra-cellular communication via OB-cadherin-positive adherens junctions. PU was 3D printed via pressure extrusion in basket-weave design with feature diameter of ~70 µm and pore sizes of 50, 100, or 150 µm. Tensile elastic moduli of 3DP scaffolds were similar to Integra; however, flexural moduli of 3DP were significantly greater than Integra. 3DP scaffolds demonstrated ~50% porosity. 24 h and 5 d western blot data demonstrated significant increases in OB-cadherin expression in 100 µm pores relative to 50 µm pores, suggesting that pore size may play a role in regulating cell-cell communication. To analyze the impact of pore size in these scaffolds on scarring in vivo, scaffolds were implanted beneath skin graft in a murine HSc model. While flexural stiffness resulted in graft necrosis by d 14, cellular and blood vessel integration into scaffolds was evident, suggesting potential for this design if employed in a less stiff material. In this study, we demonstrate for the first time that pore size alone impacts OB-cadherin protein expression in vitro, suggesting that pore size may play a role on adherens junction formation affiliated with the fibroblast-to-myofibroblast transition. Overall, this work introduces a new bioengineered scaffold design to both study the mechanism behind HSc and prevent the clinical burden of this contractile disease.

Together, these studies inform the field of critical design parameters in scaffold design for the prevention of HSc contraction. We propose that scaffold 3D architectural design, surface chemistry, and longevity can be employed as key design parameters during the development of next generation, low-cost scaffolds to mitigate post-burn hypertrophic scar contraction. The lessening of post-burn scarring and scar contraction would improve clinical practice by reducing medical expenditures, increasing patient survival, and dramatically improving quality of life for millions of patients worldwide.

HRM and Innovation: A Multi-level Organizational Learning Perspective

Drawing on the 4I organizational learning framework (Crossan et al., 1999), this article develops a model to explain the multi-level and cross-level relationships between HRM practices and innovation. Individual, team, and organizational level learning stocks are theorized to explain how HRM practices affect innovation at a given level. Feed-forward and feedback learning flows explain how cross-level effects of HRM practices on innovation take place. In addition, we propose that HRM practices fostering individual, team, and organizational level learning should form a coherent system to facilitate the emergence of innovation. The article is concluded with discussions on its contributions and potential future research directions.

The relationship between early and intermediate level spatial vision during typical development and in autism spectrum disorder

Certaines recherches ont investigué le traitement visuel de bas et de plus hauts niveaux chez des personnes neurotypiques et chez des personnes ayant un trouble du spectre de l’autisme (TSA). Cependant, l’interaction développementale entre chacun de ces niveaux du traitement visuel n’est toujours pas bien comprise. La présente thèse a donc deux objectifs principaux. Le premier objectif (Étude 1) est d’évaluer l’interaction développementale entre l’analyse visuelle de bas niveaux et de niveaux intermédiaires à travers différentes périodes développementales (âge scolaire, adolescence et âge adulte). Le second objectif (Étude 2) est d’évaluer la relation fonctionnelle entre le traitement visuel de bas niveaux et de niveaux intermédiaires chez des adolescents et des adultes ayant un TSA. Ces deux objectifs ont été évalué en utilisant les mêmes stimuli et procédures. Plus précisément, la sensibilité de formes circulaires complexes (Formes de Fréquences Radiales ou FFR), définies par de la luminance ou par de la texture, a été mesurée avec une procédure à choix forcés à deux alternatives. Les résultats de la première étude ont illustré que l’information locale des FFR sous-jacents aux processus visuels de niveaux intermédiaires, affecte différemment la sensibilité à travers des périodes développementales distinctes. Plus précisément, lorsque le contour est défini par de la luminance, la performance des enfants est plus faible comparativement à celle des adolescents et des adultes pour les FFR sollicitant la perception globale. Lorsque les FFR sont définies par la texture, la sensibilité des enfants est plus faible comparativement à celle des adolescents et des adultes pour les conditions locales et globales. Par conséquent, le type d’information locale, qui définit les éléments locaux de la forme globale, influence la période à laquelle la sensibilité visuelle atteint un niveau développemental similaire à celle identifiée chez les adultes. Il est possible qu’une faible intégration visuelle entre les mécanismes de bas et de niveaux intermédiaires explique la sensibilité réduite des FFR chez les enfants. Ceci peut être attribué à des connexions descendantes et horizontales immatures ainsi qu’au sous-développement de certaines aires cérébrales du système visuel. Les résultats de la deuxième étude ont démontré que la sensibilité visuelle en autisme est influencée par la manipulation de l’information locale. Plus précisément, en présence de luminance, la sensibilité est seulement affectée pour les conditions sollicitant un traitement local chez les personnes avec un TSA. Cependant, en présence de texture, la sensibilité est réduite pour le traitement visuel global et local. Ces résultats suggèrent que la perception de formes en autisme est reliée à l’efficacité à laquelle les éléments locaux (luminance versus texture) sont traités. Les connexions latérales et ascendantes / descendantes des aires visuelles primaires sont possiblement tributaires d’un déséquilibre entre les signaux excitateurs et inhibiteurs, influençant ainsi l’efficacité à laquelle l’information visuelle de luminance et de texture est traitée en autisme. Ces résultats supportent l’hypothèse selon laquelle les altérations de la perception visuelle de bas niveaux (local) sont à l’origine des atypies de plus hauts niveaux chez les personnes avec un TSA.

Radon in Groundwater of the Northeastern Gran Canaria Aquifer

[EN]Rn has been detected in 28 groundwater samples from the northeast of Gran Canaria (Canary Islands, Spain) utilizing a closed loop system consisting of an AlphaGUARD monitor that measures radon activity concentration in the air by means of an ionization chamber, and an AquaKIT set that transfers dissolved radon in the water samples to the air within the circuit. Radon concentration in the water samples studied varies between 0.3 and 76.9 Bq/L. Spanish radiological protection regulations limit the concentration of 222Rn for drinking water to 100 Bq/L, therefore the values obtained for all the analyzed samples are below this threshold. The hydrogeological study reveals a significant correspondence between the radon activity concentration and the material characteristics of the aquifer.

Makespaces: From Redistributed Manufacturing to a Circular Economy

Redistributed manufacturing is an emerging concept which captures the anticipated reshoring and localisation of production from large scale manufacturing plants to smaller-scale localised, customisable production units, largely driven by new additive digital production technologies. Critically, community based digital fabrication workshops, or makespaces, are anticipated to be the hothouse for this new era of localised production and as such are key to future sustainable design and manufacturing practices. In parallel, the concept of the circular economy (CE) conceptualises the move from a linear economy of take-make-waste to a closed loop system, through repair, remanufacturing, refurbishment and recycling which maintains the value of materials and resources. Despite the clear interplay between RdM and CE, there is limited research exploring this relationship. In light of these interconnected developments, the aim of this paper is to explore the role of makespaces in contributing to a circular economy through RdM activities. This is achieved through six semi-structured interviews with thought leaders on these topics. The research findings identify barriers and opportunities to both CE and RdM, uncover key overlaps between CE and RdM, and identify a range of future research directions that can support the coming together of these areas. The research contributes to a wider conversation on embedding circular practices within makespaces and their role in RdM.

Makespaces: From Redistributed Manufacturing to a Circular Economy

Redistributed manufacturing is an emerging concept which captures the anticipated reshoring and localisation of production from large scale mass manufacturing plants to smaller-scale localised, customisable production units, largely driven by new digital production technologies. Critically, community-based digital fabrication workshops, or makespaces, are anticipated to be one hothouse for this new era of localised production and as such are key to future sustainable design and manufacturing practices. In parallel, the concept of the circular economy conceptualises the move from a linear economy of take-make-waste to a closed loop system, through repair, remanufacturing, and recycling to ultimately extend the value of products and materials. Despite the clear interplay between redistributed manufacturing and circular economy, there is limited research exploring this relationship. In light of these interconnected developments, the aim of this paper is to explore the role of makespaces in contributing to a circular economy through redistributed manufacturing activities. This is achieved through six semi-structured interviews with thought leaders on these topics. The research findings identify barriers and opportunities to both circular economy and redistributed manufacturing, uncover overlaps between circular economy and redistributed manufacturing, and identify a range of future research directions that can support the coming together of these areas. The research contributes to a wider conversation on embedding circular practices within makespaces and their role in redistributed manufacturing.

Manipolazione robotica mobile per il settore agroalimentare - Pianificazione di traiettorie per la Sloshing Suppression

Movimentazione, da parte di un braccio robotico, di un recipiente riempito con un liquido nello spazio tridimensionale. Sistema di trasferimento liquidi basato sul KUKA youBot, piattaforma open source per la ricerca scientifica. Braccio robotico a 5 gradi di libertà con struttura ortho-parallel e cinematica risolvibile in forma chiusa tramite l’applicazione di Pieper. Studio dei modi di vibrare dei liquidi e modellizzazione dei fenomeni ondosi tramite modello equivalente di tipo pendolo. Analisi delle metodologie di controllo di tipo feed-forward volte a sopprimere la risposta oscillatoria di un tipico sistema vibratorio. Filtraggio delle traiettorie di riferimento da imporre allo youBot, in modo tale da sopprimere le vibrazioni in uscita della massa d’acqua movimentata. Analisi e comparazione delle metodologie di input shaping e filtro esponenziale. Validazione sperimentale delle metodologie proposte implementandole sul manipolatore youBot. Misura dell’entità del moto ondoso basata su dati acquisiti tramite camera RGBD ASUS Xtion PRO LIVE. Algoritmo di visione per l’elaborazione offline dei dati acquisiti, con output l’andamento dell’angolo di oscillazione del piano interpolante la superficie del liquido movimentato.

Discrete-time positive periodic systems with state and control constraints

The aim of this paper is to provide an efficient control design technique for discrete-time positive periodic systems. In particular, stability, positivity and periodic invariance of such systems are studied. Moreover, the concept of periodic invariance with respect to a collection of boxes is introduced and investigated with connection to stability. It is shown how such concept can be used for deriving a stabilizing state-feedback control that maintains the positivity of the closed-loop system and respects states and control signals constraints. In addition, all the proposed results can be efficiently solved in terms of linear programming.

Conception d’un mécanisme déployable à grand ratio d’expansion et de son système d’actionnement par roues d’inertie pour applications spatiales

Cette thèse propose de développer des mécanismes déployables pour applications spatiales ainsi que des modes d’actionnement permettant leur déploiement et le contrôle de l’orientation en orbite de l’engin spatial les supportant. L’objectif étant de permettre le déploiement de surfaces larges pour des panneaux solaires, coupoles de télécommunication ou sections de station spatiale, une géométrie plane simple en triangle est retenue afin de pouvoir être assemblée en différents types de surfaces. Les configurations à membrures rigides proposées dans la littérature pour le déploiement de solides symétriques sont optimisées et adaptées à l’expansion d’une géométrie ouverte, telle une coupole. L’optimisation permet d’atteindre un ratio d’expansion plan pour une seule unité de plus de 5, mais présente des instabilités lors de l’actionnement d’un prototype. Le principe de transmission du mouvement d’un étage à l’autre du mécanisme est revu afin de diminuer la sensibilité des performances du mécanisme à la géométrie de ses membrures internes. Le nouveau modèle, basé sur des courroies crantées, permet d’atteindre des ratios d’expansion plans supérieurs à 20 dans certaines configurations. L’effet des principaux facteurs géométriques de conception est étudié afin d’obtenir une relation simple d’optimisation du mécanisme plan pour adapter ce dernier à différents contextes d’applications. La géométrie identique des faces triangulaires de chaque surface déployée permet aussi l’empilement de ces faces pour augmenter la compacité du mécanisme. Une articulation spécialisée est conçue afin de permettre le dépliage des faces puis leur déploiement successivement. Le déploiement de grandes surfaces ne se fait pas sans influencer lourdement l’orientation et potentiellement la trajectoire de l’engin spatial, aussi, différentes stratégies de contrôle de l’orientation novatrices sont proposées. Afin de tirer profit d’une grande surface, l’actionnement par masses ponctuelles en périphérie du mécanisme est présentée, ses équations dynamiques sont dérivées et simulées pour en observer les performances. Celles-ci démontrent le potentiel de cette stratégie de réorientation, sans obstruction de l’espace central du satellite de base, mais les performances restent en deçà de l’effet d’une roue d’inertie de masse équivalente. Une stratégie d’actionnement redondant par roue d’inertie est alors présentée pour différents niveaux de complexité de mécanismes dont toutes les articulations sont passives, c’est-à-dire non actionnées. Un mécanisme à quatre barres plan est simulé en boucle fermée avec un contrôleur simple pour valider le contrôle d’un mécanisme ciseau commun. Ces résultats sont étendus à la dérivation des équations dynamiques d’un mécanisme sphérique à quatre barres, qui démontre le potentiel de l’actionnement par roue d’inertie pour le contrôle de la configuration et de l’orientation spatiale d’un tel mécanisme. Un prototype à deux corps ayant chacun une roue d’inertie et une seule articulation passive les reliant est réalisé et contrôlé grâce à un suivi par caméra des modules. Le banc d’essai est détaillé, ainsi que les défis que l’élimination des forces externes ont représenté dans sa conception. Les résultats montrent que le système est contrôlable en orientation et en configuration. La thèse se termine par une étude de cas pour l’application des principaux systèmes développés dans cette recherche. La collecte de débris orbitaux de petite et moyenne taille est présentée comme un problème n’ayant pas encore eu de solution adéquate et posant un réel danger aux missions spatiales à venir. L’unité déployable triangulaire entraînée par courroies est dupliquée de manière à former une coupole de plusieurs centaines de mètres de diamètre et est proposée comme solution pour capturer et ralentir ces catégories de débris. Les paramètres d’une mission à cette fin sont détaillés, ainsi que le potentiel de réorientation que les roues d’inertie permettent en plus du contrôle de son déploiement. Près de 2000 débris pourraient être retirés en moins d’un an en orbite basse à 819 km d’altitude.

A matlab-based toolbox for the simulation and design of L1 adaptive controllers

This thesis introduces the L1 Adaptive Control Toolbox, a set of tools implemented in Matlab that aid in the design process of an L1 adaptive controller and enable the user to construct simulations of the closed-loop system to verify its performance. Following a brief review of the existing theory on L1 adaptive controllers, the interface of the toolbox is presented, including a description of the functions accessible to the user. Two novel algorithms for determining the required sampling period of a piecewise constant adaptive law are presented and their implementation in the toolbox is discussed. The detailed description of the structure of the toolbox is provided as well as a discussion of the implementation of the creation of simulations. Finally, the graphical user interface is presented and described in detail, including the graphical design tools provided for the development of the filter C(s). The thesis closes with suggestions for further improvement of the toolbox.

Comparação do controle do inversor trifásico conectado à rede com filtro LCL considerando o amortecimento passivo e ativo

Distributed generation systems must fulfill standards specifications of current harmonics injected to the grid. In order to satisfy these grid requirements, passive filters are connected between inverter and grid. This work compares the characteristic response of the traditional inductive (L) filter with the inductive-capacitive-inductive (LCL) filter. It is shown that increasing the inductance L leads to a good ripple current suppression around the inverter switching frequency. The LCL filter provides better harmonic attenuation and reduces the filter size. The main drawback is the LCL filter impedance, which is characterized by a typical resonance peak, which must be damped to avoid instability. Passive or active techniques can be used to damp the LCL resonance. To address this issue, this dissertation presents a comparison of current control for PV grid-tied inverters with L filter and LCL filter and also discuss the use of active and passive damping for different regions of resonance frequency. From the mathematical models, a design methodology of the controllers was developed and the dynamic behavior of the system operating in closed loop was investigated. To validate the studies developed during this work, experimental results are presented using a three-phase 5kW experimental platform. The main components and their functions are discussed in this work. Experimental results are given to support the theoretical analysis and to illustrate the performance of grid-connected PV inverter system. It is shown that the resonant frequency of the system, and sampling frequency can be associated in order to calculate a critical frequency, below which is essential to perform the damping of the LCL filter. Also, the experimental results show that the active buffer per virtual resistor, although with a simple development, is effective to damp the resonance of the LCL filter and allow the system to operate stable within predetermined parameters.

Análise e proposição de estratégias de estimação e controle de velocidade para motores de indução trifásicos

This study presents a proposal of speed servomechanisms without the use of mechanical sensors (sensorless) using induction motors. A comparison is performed and propose techniques for pet rotor speed, analyzing performance in different conditions of speed and load. For the determination of control technique, initially, is performed an analysis of the technical literature of the main control and speed estimation used, with their characteristics and limitations. The proposed technique for servo sensorless speed induction motor uses indirect field-oriented control (IFOC), composed of four controllers of the proportional-integral type (PI): rotor flux controller, speed controller and current controllers in the direct and quadrature shaft. As the main focus of the work is in the speed control loop was implemented in Matlab the recursive least squares algorithm (RLS) for identification of mechanical parameters, such as moment of inertia and friction coefficient. Thus, the speed of outer loop controller gains can be self adjusted to compensate for any changes in the mechanical parameters. For speed estimation techniques are analyzed: MRAS by rotóricos fluxes MRAS by counter EMF, MRAS by instantaneous reactive power, slip, locked loop phase (PLL) and sliding mode. A proposition of estimation in sliding mode based on speed, which is performed a change in rotor flux observer structure is displayed. To evaluate the techniques are performed theoretical analyzes in Matlab simulation environment and experimental platform in electrical machinery drives. The DSP TMS320F28069 was used for experimental implementation of speed estimation techniques and check the performance of the same in a wide speed range, including load insertion. From this analysis is carried out to implement closed-loop control of sensorless speed IFOC structure. The results demonstrated the real possibility of replacing mechanical sensors for estimation techniques proposed and analyzed. Among these, the estimator based on PLL demonstrated the best performance in various conditions, while the technique based on sliding mode has good capacity estimation in steady state and robustness to parametric variations.

Controller system design using the coefficient diagram method

Coefficient diagram method is a controller design technique for linear time-invariant systems. This design procedure occurs into two different domains: an algebraic and a graphical. The former is closely paired to a conventional pole placement method and the latter consists on a diagram whose reading from the plotted curves leads to insights regarding closed-loop control system time response, stability and robustness. The controller structure has two degrees of freedom and the design process leads to both low overshoot closed-loop time response and good robustness performance regarding mismatches between the real system and the design model. This article presents an overview on this design method. In order to make more transparent the presented theoretical concepts, examples in Matlab®code are provided. The included code illustrates both the algebraic and the graphical nature of the coefficient diagram design method. © 2016, King Fahd University of Petroleum & Minerals.