Automatyka
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ISSN 1429-3447
e-ISSN: 2353-0952
Issue Date
2006
Volume
T. 10
Number
Nr 1
Description
Journal Volume
Automatyka
T. 10 (2006)
Projects
Pages
Articles
Czy sterowanie predykcyjne wymaga dokładnej optymalizacji?
(Wydawnictwa AGH, 2006) Bania, Piotr
A nonlinear predictive control scheme, which does not require an exact solution of optimal control problem is proposed. The proper asumptions are formulated and the stability of the closed loop system is proved. These results are used for analysis of proposed algorithm robustness. Robust stability of the alghorithm is proved in the case of suboptimal solutions of the optimal control problem in the presence of bounded disturbances. Proposed schme is applied to the pendulum-cart nonlinear control system with disturbances.
Projektowanie obserwatora dla silnika szeregowego prądu stałego
(Wydawnictwa AGH, 2006) Baranowski, Jerzy
The problem of angular velocity estimation in DC motor is considered. The goal is design of the observer asymptotically reconstructing angular velocity without information about angular position. Design algorithm for high-gain nonlinear observer is proposed. Such design is based on differential geometry methods. Resulting observer is subjected to series of simulational tests. The comparison with linear full order Luenberger observer is made. Also there is presented the idea of asymptotic load torque reconstruction. Robustness in regard to disturbances and modeling errors is discussed.
Regulator rozmyty jako przykład algorytmu odpornego
(Wydawnictwa AGH, 2006) Pauluk, Mariusz
The paper presents a fuzzy controller, that controls a three dimensional laboratory crane model in real time. Some basic definitions, which the construction of the controller is based on, were also brought up. The control process is noise robust. Basing on received experimental results, likewise on graphic analyze of the control set, an influence of the separate fuzzy rules on quality of the process control was showed. The experiments were carrying up in the MATLAB-Simulink software environment.
Sterowanie i synteza regulatora minimalnoczasowego dla oscylacyjnych systemów liniowych drugiego rzędu
(Wydawnictwa AGH, 2006) Ślusarczyk, Adam
In the article the time-optimal control in the linear oscillation systems of the second order is considered. The exact number of switches is determined as a function of the initial conditions and the coefficients of differential equation and synthesis of the time-optimal controller is given.
Criterions for the stability of the convex combination of polynomials
(Wydawnictwa AGH, 2006) Zalot, Ewelina
Necessary and sufficient conditions for Hurwitz (resp. Schur) stability of convex combination of two complex polynomials are introduced in the paper. The conditions are more general than those given in [2] and supplement work [3].