Leyla Gören

Implementation of local modular supervisory control for a pneumatic system using PLC

Abstract In this study, we implement a controller, based on Supervisory Control Theory on a pneumatic assembly system. We use local modular approach, which exploits modular structure of the plant and the specifications. An implementation methodology using a hierarchical control structure where PLCs are utilized is introduced. Local modular approach, together with the implementation methodology presented in this study provides an effective way for synthesizing and realizing supervisors for DES control problems. The resulting PLC program is also modular in structure, making it easy to modify and detect errors.

A MULTIOBJECTIVE ℋ∞ CONTROL PROBLEM: MODEL MATCHING AND DISTURBANCE REJECTION

Abstract Abstract In this paper, the multiobjective ℋ ∞ control problem of model matching and disturbance rejection by dynamic state feedback and disturbance measurement feedforward is studied via Linear Matrix Inequality (LMI) approach. To solve the problem, first, the multiobjective ℋ ∞ control problem is defined and shown that this problem can be reduced in two independent ℋ ∞ Model Matching Problems (MMP) and then the LMI-based solution of the ℋ ∞ MMP is derived by using the solution of the ℋ ∞ Optimal Control Problem (OCP) in the formulation of the LMI. The LMI-based solvability conditions for the multiobjective ℋ ∞ control problem and a design procedure for the controller are given.

IMPROVING THE BEHAVIOUR OF SUPERVISOR UNDER BLOCKING

Abstract Sometimes, under control of a supervisor a discrete event system could constitute a conservative solution in this case relaxing the blocking becomes an inevitable fact to improve the performance. Meanwhile the balance between blocking and achievement has to be preserved. So the strings that drive the system to blocking and also the strings causing achievement have to be investigated in a numerical manner. For this purpose in this study a new performance measure is introduced. The elements of the performance measure depend on numeric values obtained from strings that correspond to blocking and success so the proposed formulation captures the fundamental trade-off motivated by the classical optimization approach. Then a new algorithm that explores the best result according to this performance measure is introduced.

Simultaneous Decoupling and Disturbance Rejection in Singular Systems: A Polynomial Equation Approach

Abstract The combined problem of disturbance rejection and decoupling is studied for regularizable singular systems. The problem is handled in matrix polynomial equation setting. The necessary and sufficient conditions are introduced for the existence of the solution. An algorithm for calculation of feedback gains is presented.

Decoupling by State Feedback in Singular Systems

Abstract In this paper, row by row decoupling problem of singular square systems is studied by static state feedback. The problem is handled in polynomial matrix equation setting and a related theorem is Introduced. The theorem is based on a new necessary and sufficient condition for the constant solution of a matrix polynomial equation.

A Predictive-based Method for Modelling and Control of Robot Arm

Abstract To simulate the motion of a manipulator, one must make use of a model of real robot dynamics, where the robot dynamics is usually given by the Newton-Euler equations, A reliable model of a robot is essential not only for simulation purposes but also to let the designer to develop better control algorithms, In literature, the models usually used are given by state-equations; the basic disadvantage of using these models is that they create cumulative errors in simulation. In this study, a new method is proposed which determines the error between the discrete, linear, time-variant model and the real robot dynamics over torques. This error dynamic which possess a predictive character produced very efficient results in obtaining error-free model of a robot.

IDA-PBC DESIGN FOR MARINE VEHICLE

Abstract Passivity based control with interconnection and damping assignment (IDA-PBC) design technique is developed for marine vehicle. Some speed components defined as generalized coordinates must be kept constant in order to derive an IDA-PBC rule for continuously moving marine vehicle. In this study, using the error dynamics of the system, we derive a control rule which has a different structure from the traditional one and guarantees the asymptotic stability.

Systems approaches to sustainable advancement of developing countries: Recent contributions

Abstract Advanced information technologies resulting from automation of control and decision expertise and their respective scientific disciplines have essential impacts on the development of national economies within the more and more globalized economy hence a decisive role in ameliorating current socioeconomic problems in developing countries. Recent developments have put new emphasis on the IFAC activities dedicated to help improving the technological background of developing countries so as to assists their sustainable but accelerated developments. It is important to keep the focus should be on innovative systems approaches to combined knowledge and technology transfer to developing countries that may remedy their current state of the matters.

Discrete-time H˞ model matching problem in two degrees of freedom control structure

Abstract In this study, the model-matching problem (MMP) in two degrees of freedom (2DOF) control structure is considered for discrete-time system in the sense of the H ∞ optimality criterion. The problem is solved in Linear Matrix Inequality (LMI) framework using the results on the standard H ∞ OCP and the recent results given by Goren (2003) on the MMP in 2DOF control structure for continuous-time systems.

H ∞ model matching in two degree of freedom control structure

In this study, the model-matching problem (MMP) in two degree of freedom (2DOF) control structure is defined and solved in the sense of the H<inf>∞</inf> optimality criterion in the framework Linear Matrix Inequality (LMI) by using the results on the standard H<inf>∞</inf> OCP.