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.

Predictive value of serologic tests in the diagnosis and follow-up of patients with paracoccidioidomycosis

A serologic study was undertaken in a group of 43 patients with active paracoccidioidomycosis who were treated in the same form (ketoconazole), for identical periods of time (6 months), and folio wed-up for various periods posttherapy. The tests employed were agar gel immunodiffusion (AGID) and complement fixation (FC). Also studied were 50 sera from patients with proven histoplasmosis and pulmonary aspergilloma, 30 patients with culturaly proven tuberculosis as well as 92 specimens from healthy individuals, residents in the endemic area for paracoccidioidomycosis. A single lot of yeast filtrate antigen was used throughout the study. The value of each test was measured according to GALEN and GAMBINO6. Both tests were highly sensitive, 89 and 93% respectively. Regarding their specificity, the AGID was totally specific while the CF exhibited 96.6% and 97% specificity in front of tuberculosis patients and healthy individuals respectively and 82% in comparison with patients with other mycoses. The concept of predictive value, that is, the certainty one has in accepting a positive test as diagnostic of paracoccidioidomycosis, favored the AGID procedure (100%) over the CF test. The latter could sort out with 93% certainty a patient with paracoccidioidomycosis among a group of healthy individuals and with 97.5% in the case of TB patients; when the group in question was composed by individuals with other deep mycoses, such certainty was lower (81%). The above results indicate that both the AGID and the CF tests furnish results of high confidence; one should not relay, however, in the CF alone as a means to establish the specific diagnosis of paracoccidioidomycosis.

Consumer energy management system with integration of smart meters

This paper develops an energy management system with integration of smart meters for electricity consumers in a smart grid context. The integration of two types of smart meters (SM) are developed: (i) consumer owned SM and (ii) distributor owned SM. The consumer owned SM runs over a wireless platform - ZigBee protocol and the distributor owned SM uses the wired environment - ModBus protocol. The SM are connected to a SCADA system (Supervisory Control And Data Acquisition) that supervises a network of Programmable Logic Controllers (PLC). The SCADA system/PLC network integrates different types of information coming from several technologies present in modern buildings. The developed control strategy implements a hierarchical cascade controller where inner loops are performed by local PLCs, and the outer loop is managed by a centralized SCADA system, which interacts with the entire local PLC network. In order to implement advanced controllers, a communication channel was developed to allow the communication between the SCADA system and the MATLAB software. (C) 2014 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

On performance of distributed model predictive control in power system frequency regulation

This paper describes the implementation of a distributed model predictive approach for automatic generation control. Performance results are discussed by comparing classical techniques (based on integral control) with model predictive control solutions (centralized and distributed) for different operational scenarios with two interconnected networks. These scenarios include variable load levels (ranging from a small to a large unbalance generated power to power consumption ratio) and simultaneously variable distance between the interconnected networks systems. For the two networks the paper also examines the impact of load variation in an island context (a network isolated from each other).

Confronting predictive texture zeros in lepton mass matrices with current data

Several popular Ansatze of lepton mass matrices that contain texture zeros are confronted with current neutrino observational data. We perform a systematic chi(2) analysis in a wide class of schemes, considering arbitrary Hermitian charged-lepton mass matrices and symmetric mass matrices for Majorana neutrinos or Hermitian mass matrices for Dirac neutrinos. Our study reveals that several patterns are still consistent with all the observations at the 68.27% confidence level, while some others are disfavored or excluded by the experimental data. The well-known Frampton-Glashow-Marfatia two-zero textures, hybrid textures, and parallel structures (among others) are considered.

The role of functional polymorphisms in immune response genes as biomarkers of BCG Immunotherapy outcome in bladder cancer: Establishment of a predictive profile in a Southern Europe population

OBJECTIVE: To evaluate the predictive value of genetic polymorphisms in the context of BCG immunotherapy outcome and create a predictive profile that may allow discriminating the risk of recurrence. MATERIAL AND METHODS: In a dataset of 204 patients treated with BCG, we evaluate 42 genetic polymorphisms in 38 genes involved in the BCG mechanism of action, using Sequenom MassARRAY technology. Stepwise multivariate Cox Regression was used for data mining. RESULTS: In agreement with previous studies we observed that gender, age, tumor multiplicity and treatment scheme were associated with BCG failure. Using stepwise multivariate Cox Regression analysis we propose the first predictive profile of BCG immunotherapy outcome and a risk score based on polymorphisms in immune system molecules (SNPs in TNFA-1031T/C (rs1799964), IL2RA rs2104286 T/C, IL17A-197G/A (rs2275913), IL17RA-809A/G (rs4819554), IL18R1 rs3771171 T/C, ICAM1 K469E (rs5498), FASL-844T/C (rs763110) and TRAILR1-397T/G (rs79037040) in association with clinicopathological variables. This risk score allows the categorization of patients into risk groups: patients within the Low Risk group have a 90% chance of successful treatment, whereas patients in the High Risk group present 75% chance of recurrence after BCG treatment. CONCLUSION: We have established the first predictive score of BCG immunotherapy outcome combining clinicopathological characteristics and a panel of genetic polymorphisms. Further studies using an independent cohort are warranted. Moreover, the inclusion of other biomarkers may help to improve the proposed model.

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.

Prognostic modelling of breast cancer patients: a benchmark of predictive models with external validation

Dissertação apresentada para obtenção do Grau de Doutor em Engenharia Electrotécnica e de Computadores – Sistemas Digitais e Percepcionais pela Universidade Nova de Lisboa, Faculdade de Ciências e Tecnologia