Milica B. Naumović

Virtual laboratory and learning management system in optimal control theory education

Virtual and remote laboratories that are commonly used in engineering education are mainly designed using Java programming language. The most popular and widely used learning management system is Moodle. This paper describes the development of a virtual laboratory using Easy Java Simulations software tool and its integration with e-learning tool Moodle. The virtual laboratory demonstrates how Easy Java Simulations and Moodle are used in optimal control theory education by the example of the well-known brachistochrone problem solution.

FPGA-based system level design of control systems: A case study of three-axis positioning controller implementation

In this paper Field Programmable Gate Array (FPGA) system level based methodology for control system design is proposed and described in details on the case study of three-axis positioning controller implementation. System level design tool, such as Xilinx System Generator (XSG), provides Simulink based FPGA design and automatic converting of XSG model into efficient Very high speed integrated circuit Hardware Description Language (VHDL) code, increasing productivity by reducing the design time. The optimal design, in terms of FPGA recourse occupancy, is provided using restructuring data flow graph (DFG) of control algorithm and specifying the optimal fixed-point format. The proposed approach is validated through real experiments on three-axis didactic radar platform.

Tracking in Digital Systems with Cross-Coupling Control

Abstract In preceding papers an original structure of two distant speed-controlled or positioning servodrives with cross-coupling control has been proposed and tested by Naumovic, and Stojic (1996, 1997a, b, 2004). The structure enables synchronous motion of the servomechanisms. The suggested cross-coupling control is based upon the idea of simulation of effects that appear in a virtual mechanical link between the shafts of servomechanisms. In this paper, a novel approach to design an observer-based crosscoupled nonlinear contour tracking regulator is proposed. Results of analytical design are verified by simulation runs of a circular contour tracking example.

Basics of mathematical modeling of pulmonary ventilation mechanicsand gas exchange

The human cardiovascular-respiratory system is a complex system which exhibits the properties of a control system of the regulator type. The gas exchange combines many processes that occur in the brain, lungs, vasculature, and body tissues. This paper deals with a simple model that provides a linearized description of pulmonary ventilation mechanics. Some equations describing the introduction to chemical regulation of lung ventilation are derived.

Optimised active disturbance rejection motion control with resonant extended state observer

ABSTRACT Tracking sinusoidal references with high precision and rejection of sinusoidal disturbances is a challenging task in the motion control practice. In order to deal with this control problem, a new resonant extended state observer is proposed and introduced in the active disturbance rejection control concept. The frequency analysis shows that an appropriate selection of resonant frequency provides complete rejection of sinusoidal disturbance and ideal reference tracking in the steady state. Further, it is shown that the proposed structure achieves better performances than generalised extended state observer based system in the wide frequency range. Moreover, in order to improve the system performances in transient period, the optimal parameter tuning method is developed. The results demonstrate that the optimally tuned system achieves better performances than the conventionally tuned one by about 25%, with the same robustness and noise sensitivity. The experimental validation of the new controller is carried out on the laboratory model of the didactic three-axis radar platform in fast sinusoidal reference tracking mode.

A simple parametric identification procedure based on the final value theorem

The present paper describes the application of the final value theorem of the Laplace transform in the identification procedure of a continuous-time parametric model. The presented identification approach involves only a number of integrating processes and is suitable for easy automation. Three examples are used to demonstrate the effectiveness and merits of the considered identification algorithm.

Testing the MATLAB®Simulink-based frequency response analyzer

The correlation-based frequency response analyzer is implemented in MATLAB®Simulink environment and has been tested under different working conditions in this paper. Two examples are selected to stress the good features of the analyzer even in the cases of the non-minimum phase object and a system with non-rational transfer function.