We present a methodology for the synthesis of controllers, which exploits (explicit) model checking techniques. That is, we can cope with the systematic exploration of a very large state space. This methodology can be applied to systems where other approaches fail. In particular, we can consider systems with an highly nonlinear dynamics and lacking a uniform mathematical description (model). We...

This paper considers the optimal control problem for time-delay bilinear systems affected by sinusoidal disturbances with known frequency and measurable amplitude and phase. Firstly, using the differential homeomorphism, a timedelay bilinear system affected by sinusoidal disturbances is changed to a time-delay pseudo linear system through the coordinate transformation. Then the system with time...

Different control strategies are compared, in regard to issues associated to biomass inhibition when treating toxic wastewater, to operate sequencing batch bioreactors. In particular the problem of time optimal operation and also the problem of handling sudden unknown toxicant peak concentrations are addressed. Because of the application characteristics it is not feasible, nowadays, to measure ...

The ability to take intelligent actions in real-world domains is a goal of great interest in the machine learning community. Unfortunately, the real-world is filled with systems that can be partially observed but cannot, as yet, be described by first principle models. Moreover, the traditional paradigm of direct interaction with the environment used in reinforcement learning is often prohibitiv...

This paper presents methodologies for kinematic/dynamic modeling and trajectory tracking for a four wheeled nonholonomic mobile robot. The vehicle with two front (steering) and two rear (driving) wheels is considered. The complete dynamic model of such a wheeled mobile robot is established using the Euler’s Lagrange equation and MATHEMATICA. Then a dynamical extension that makes possible the in...

A convective loop is a system in which a fluid circulates freely inside a closed circular pipe. The circulating fluid works as a transport media of heat from a source to a sink. First order lumped parameter modelling of this system leads to a set of nonlinear ordinary differential equations. Depending on heating rate this system can show chaotic behavior. In this paper, the performance of nonli...

The objective of this paper is to develop the mathematical model of the non-linear power system that can be utilized for implementing the different class of controller. The controller designed here fulfills the stability requirement of the system as well as makes the system transiently stable. The linearization of the power system is done using direct feedback linearization technique andthe mod...

This paper deals with optimal control problems for systems affine in the control variable. We have nonnegativity constraints on the control, and finitely many equality and inequality constraints on the final state. First, we obtain second order necessary optimality conditions. Secondly, we get a second order sufficient condition for the scalar control case. The results use in an essential way t...

2. Direct Adaptive Control of Scalar Plant. Let us begin with a simple scalar adaptive system, ẋp(t) = apxp(t) + kpu(t) (1) where xp(t) ∈ R is the plant state, u(t) ∈ R is the control input, ap ∈ R is an unknown scalar and only the sign of kp ∈ R is known. For the direct adaptive controller we choose a reference model as ẋm(t) = amxm(t) + kmr(t)− l(x(t)− xm(t)). (2) All of the parameter above a...

This paper deals with the torque control of multi-phase permanent magnet synchronous machines. The dynamic model of these motors is obtained using the Power-Oriented Graphs technique. This graphical modeling technique allows to write the dynamic equations of the system in a very compact form. Starting from the dynamic equations, a torque control law with saturated input voltages is proposed bas...