Baranowski, Jerzy
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automatyka, elektronika, elektrotechnika i technologie kosmiczne
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Item type:Article, Access status: Open Access , Trust region based parametric optimisation for nonlinear systems(Wydawnictwa AGH, 2012) Baranowski, Jerzy; Bauer, WaldemarIn this paper, we propose the possibility of solution of parametric optimisation problem with a trust region algorithm. Problem of parameter optimisation is reformulated into initial condition optimisation resulting in analytical formulas for gradients and hessian which are then subsequently used in the trust region algorithm. An example of nonlinear series DC motor controller optimisation is presented along with some numerical results.Item type:Article, Access status: Open Access , Projektowanie obserwatora dla silnika szeregowego prądu stałego(Wydawnictwa AGH, 2006) Baranowski, JerzyThe 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.Item type:Article, Access status: Open Access , State estimation in linear multi-output systems - design example and discussion of optimality(Wydawnictwa AGH, 2006) Baranowski, JerzyProblem of full rank observer design for multi output systems is considered. Joining of pole placement and optimization of chosen performance index are proposed. Two performance indexes (16) and (25) are presented along with reasoning for their application. Results are illustrated on the example of RC ladder network along with simulational results.Item type:Article, Access status: Open Access , A Comparison between Integer Order and Non-integer Order Controllers Applied to a Water Levelling System(Wydawnictwa AGH, 2014) Kania, Bartosz; Dziwiński, Tomasz; Bauer, Waldemar; Zagórowska, Marta; Baranowski, JerzyW artykule porównano odpowiedzi układów z dwoma regulatorami: typu PI oraz typu PI niecałkowitego rzędu. W celu syntezy regulatorów, stworzono i opisano model numeryczny, a następnie wykorzystano metodę symulowanego wyżarzania do znalezienia optymalnych parametrów. Tak zaprojektowane regulatory zostały przetestowane na rzeczywistym zbiorniku. W rezultacie okazało się, że zastosowanie regulatora niecałkowitoliczbowego rzędu do układu całkującego nie jest konieczne. Obliczenia były prowadzone w środowisko Matlab/Simulink.Item type:Article, Access status: Open Access , Output collocation method for continuous state estimation from discrete output measurements in linear dynamical systems(Wydawnictwa AGH, 2008) Baranowski, JerzyThe goal of this paper is to introduce a new method for dynamical system output approximation - output collocations. The need for such approximation arises when the measurements are discrete in time and we want to estimate the continuous state of the system. Such approximation can be used along with a continuous asymptotic observer as part of a solution for continuous state estimation from discrete output measurements (CSEDOM) problem. The presented method is designed specially for this task and, besides output measurements, it uses the CSEDOM information from earlier iterations. This method is also presented along with classical interpolation approach which was considered in the author's previous works.