2018-01-23T13:06:56Z
http://mjee.modares.ac.ir/?_action=export&rf=summon&issue=5451
The Modares Journal of Electrical Engineering
MJEE
2228-527X
2228-527X
2014
13
4
Fuzzy Sliding-Mode State-Feedback Control of Non-Minimum Phase Quadruple Tank System
Elnaz
Mirakhorli
Mohammad
Farrokhi
This paper considers control of a laboratory Quadruple Tank System (QTS) in its non-minimum phase mode. This system is a well-known laboratory process suitable to illustrate the concepts of multivariable control methods. The objective of this paper was to design a controller based on combination of the sliding-mode and the state-feedback control methods using fuzzy logic. The proposed method takes advantage of the fast transient response of the sliding-mode controller and the zero steady-state error of the state-feedback controller. In other words, the fuzzy system uses the SMC when the QTS is in the transient mode and utilizes the SFC when it is near the steady-state mode. Hence, the advantages of both controllers have been used simultaneously. The switching between these two controllers is continuous and smooth based on a few simple fuzzy rules. Stability analysis of the proposed method is presented based on the Lyapunov stability direct method. Experimental results confirmed effectiveness of the proposed method as compared with the stand-alone controllers, especially when there are uncertainties in the system parameters.
non-minimum phase system
quadruple tank system
sliding-mode control
state-feedback
Control
hybrid fuzzy systems
2014
01
21
1
16
http://mjee.modares.ac.ir/article_15120_4a44091295217a2fae303c74e442c2af.pdf
The Modares Journal of Electrical Engineering
MJEE
2228-527X
2228-527X
2014
13
4
A Hierarchical Identification Method for SISO Fractional-order State-space Systems
Behrooz
Safarinejadian
Mojtaba
Asad
Amin
Torabi Jahromi
This paper proposes a new hierarchical identification method for fractional-order systems. In this method, a SISO (single input, single output) state space model has been considered in which parameters and also state variables should be estimated. By using a linear transformation and a shift operator, the system will be transformed into a form appropriate for identification of a fractional-order system. Then, the unknown parameters will be identified through a recursive least squares method and the states will be estimated using a fractional order Kalman filter. This identification method is based on the hierarchical identification principle that reduces the computational burden and is easy to implement on computer. The promising performance of the proposed method is verified using two stable fractional-order systems.
Fractional order systems
fractional order Kalman filter
recursive identification
hierarchical identification principle
2014
01
21
17
28
http://mjee.modares.ac.ir/article_15121_178d0e685297b8b1d4204791b87422f3.pdf
The Modares Journal of Electrical Engineering
MJEE
2228-527X
2228-527X
2014
13
4
Gain-Scheduled Controller Design for a LPV Model of a Turboshaft Driving Variable Pitch Propeller
Farhad
Lashkarboluki
Alireza
Khosravi
Jalil
Sadati
This paper has proposed a gain-scheduled controller with stability proof and guaranteed cost for a turboshaft driving a variable pitch propeller. In order to overcome the complexity of the nonlinear model, a linear parameter varying (LPV) model is proposed for the first time which is in affine form. Proposed model is established based on a family of local linear models and is suitable for LPV gain scheduling methods. Thus a gain scheduled design procedure is proposed which considers parameter dependent Lyapunov matrices to ensure stability and a quadratic cost function for guaranteed performance of the closed loop system. Proposed procedure also has the advantage of considering an upper bound for change rate of the scheduling signal which decreases conservativeness. Controller design problem and calculating its gain matrices is formulated in a set of Linear Matrix Inequalities which easily can be solved using LMILAB toolbox. Simulation results showed the effectiveness and practicality of the proposed procedure.
Gas Turbine Engine
Linear Parameter Varying System
Gain-scheduled Controller
Linear Matrix Inequality
2014
01
21
29
35
http://mjee.modares.ac.ir/article_15122_b7298293b86801a5dcfb37e57749aed3.pdf
The Modares Journal of Electrical Engineering
MJEE
2228-527X
2228-527X
2014
13
4
Equations of Motion Extraction for a Three Axes Gimbal System
Ali
Kazemy
Mahdi
Siahi
Inertial stabilization of a sensor mounted on non-stationary platforms is an important task in many applications such as image processing, astronomical telescopes, and tracking systems. For this purpose, some type of gimbaling arrangements is typically used. For implementing the LOS stabilization, usually a two-axes gimbal system is used which the sensor is mounted in the inner gimbal. The dynamic modeling and designing the control system for two axes gimbal system have been studied extensively, but there is a few works on three axes gimbal system. In this paper, the equation of motion for a three axes gimbal system is derived by the moment equation. The effect of angular velocities of the base into the gimbaled dynamic system and cross-coupling between gimbals are presented. In addition, some critical notes are presented for constructing the gimbal assembly. Moreover, a model based control strategy is proposed for controlling the gimbal dynamics.
.
Gimbal system
Inertial Stabilization Platform
Equation of Motion
Dynamic System
2014
01
21
37
43
http://mjee.modares.ac.ir/article_15123_44f28f7fd87b51c7c457e4d0c1964b32.pdf
The Modares Journal of Electrical Engineering
MJEE
2228-527X
2228-527X
2014
13
4
Delay-dependent filter design for stochastic genetic regulatory networks in presence of time-varying delays
Neda Sadat
Hosseini
Sadjaad
Ozgoli
Mohammad
Mohammadian
This paper addresses robust state estimation problem for Genetic Regulatory Networks (GRNs). A delay-dependent robust filter is designed for a realistic nonlinear stochastic model of GRN. The model provided is the most complete model used in the literature so far, in the sense that delays are time-varying, parameter uncertainties (time-varying and norm-bounded) are considered, stochastic noises appear at the state equations as well as the measurement equations. Besides, stochastic noise and disturbance are considered simultaneously in this model. Using a proper Lyapunov-Krasovskii functional based on delay decomposition approach, sufficient conditions for the existence of the filter are derived in terms of linear matrix inequality (LMI). These conditions ensure robust asymptotic mean square stability of the filtering error dynamics with a prescribed disturbance attenuation level. By use of delay decomposition approach and using a lemma containing a stochastic integral inequality, the obtained conditions are delay-dependent and have less conservativeness. The filter parameters are determined then, as the solution of another LMI. A simulation study is also given to show the effectiveness of the proposed filter design procedure.
Genetic regulatory network
robust filter
Parameter uncertainty
time-varying delay
stochastic noise
2014
01
21
45
59
http://mjee.modares.ac.ir/article_15124_49e694557b41217b518104189fdfedf4.pdf
The Modares Journal of Electrical Engineering
MJEE
2228-527X
2228-527X
2014
13
4
Optimal Auxiliary Signal Design for a Lumped Tire-Road Friction System
Mehdi
Forouzanfar
Mohammad Javad
Khosrowjerdi
Active fault detection consists of finding an auxiliary input signal the use of which allows detection of the masked faults using a multi-model framework in continuous or discrete- time cases. In this paper, a modified approach to optimal auxiliary signal design in robust fault detection based on a multi-model formulation of healthy and faulty systems is used to study the problem of active fault detection for a class of systems with nonlinear coupled continuous state-space equations in the presence of uncertainties and disturbances. Due to the nonlinearity in the state-space equations, the traditional active fault detection approach is not straightforward to be employed. To overcome this difficulty, a modified solution is proposed in order to design an optimal auxiliary signal to guarantee robust fault detection for this class of nonlinear systems in the presence of uncertainties and disturbances. Finally, the proposed solution for optimal auxiliary signal design is applied to a Lumped Tire-Road Friction system.
Key Words: Active Fault Detection
Auxiliary Signal
Tire/Road Friction Model
Nonlinear Systems
2014
01
21
61
68
http://mjee.modares.ac.ir/article_15125_834bdb6cff9224e1c18543c68a85cd27.pdf
The Modares Journal of Electrical Engineering
MJEE
2228-527X
2228-527X
2014
13
4
Error Analysis in Accelerometers Calibration of Measurement while Drilling Instrument used in Directional Drilling Operations
Seyed Mohsen Seyed
Moosavi
Bijan
Moaveni
Behzad
Moshiri
Mohammad Reza
Arvan
The aim of this paper is to analyze the sensor errors in measurement while drilling (MWD) instrument used in directional drilling operations. The MWD consist of three orthogonal accelerometers, three orthogonal magnetometers and one temperature sensor. The system formulation is achieved through the system analysis and functional consideration. The obtained formulation is validated and verified by comparing the results obtained from measurements and simulations. The accelerometers calibration, to estimate bias factors, scale factors and non-orthogonal factors of sensors, is done using optimal non-linear Newton Raphson algorithm by considering the high temperature calibration coefficients. The accuracy of the experimental results, obtained from several measurement while drilling systems in Iranian national oil drilling company shows the effectiveness of the approach.
Directional drilling
Measurement While Drilling Instrument
Calibration
Sensor data fusion
Bias
Scale factor
Non-orthogonality
2014
01
21
69
76
http://mjee.modares.ac.ir/article_15126_ce34363527d9bdb5c1281d2d0ed8ef7f.pdf
The Modares Journal of Electrical Engineering
MJEE
2228-527X
2228-527X
2014
13
4
Spherical Trigonometry, a Bridge from Trajectory Waypoints to Guidance Algorithm
Seyyed Javad
Talebian
Jafar
Heyrani Nobari
Conventionally flight path in airplanes and unmanned air vehicles is determined with waypoints. Waypoints are points on the surface of the earth with specific latitude and longitude. For accurate crossing the waypoints at a specific time, definition of accurate guidance error parameters is essential. Guidance algorithm based on these parameters can make appropriate commands. In this article two parameters, guidance latitude and guidance longitude, based on spherical trigonometry, are defined. Indeed these parameters show guidance error in horizontal channel and longitudinal channel respect to great circles between waypoints. These parameters can be calculated in a closed form and solution of complicated integrals, which is in geodetics on an ellipsoid, do not required. Also guidance algorithms in two channel based on these parameters are designed. In horizontal channel, a PD controller and in longitudinal channel a proportional controller on the difference between desired and real velocity, are designed as guidance algorithms. Also performance of these algorithms is shown with simulation results in comparison with plane simulation.
Spherical trigonometry
Guidance latitude
Guidance longitude
Waypoints
Guidance algorithm
2014
01
21
77
84
http://mjee.modares.ac.ir/article_15127_035458108f45254e2188491c0111568f.pdf
The Modares Journal of Electrical Engineering
MJEE
2228-527X
2228-527X
2014
13
4
Multivariable Adaptive Output-Feedback Regulation Using Adaptive Observer
Mohammad Hosein
Kazemi
In this paper, an innovative adaptive output feedback control scheme is proposed for general multi-input multi-output (MIMO) plants with unknown parameters in a regulation task; such that the outputs of the plant converge to zero as well as the control gains remain uniformly bounded. First an adaptive observer is designed to estimate the state variables and system parameters by using the inputs and outputs of the plant. Then a linear combination of the estimated states by adaptive control gains is used to design a robust adaptive controller. Some theorems are given to show the convergence of the modeling errors and the control gains. The proposed controller is used to control a two degree of freedom robot manipulator such that the robot moves from any initial configuration to zero position. Simulation results exhibit the effectiveness of the proposed scheme to control the robot manipulator with different initial conditions and parameter perturbations.
Adaptive observer
robust adaptive control
multivariable control
robot manipulator control
2014
01
21
85
92
http://mjee.modares.ac.ir/article_15128_c5b859deae45519f7fad557622ee5b12.pdf
The Modares Journal of Electrical Engineering
MJEE
2228-527X
2228-527X
2014
13
4
Analysis the Performance of Controllers for He-Ne Laser Stabilization by Combination of Frequency Locking and Power Balanced Methods for Nano-Metrology Applications
Mahsa
Bagheri
Saeed
Olyaee
Erich
Leitgeb
In this paper, analysis the performance of PI, PI-like fuzzy, and parallel fuzzy P+ fuzzy I controllers for He-Ne lasers frequency stabilization by combination of frequency locking and power balanced methods is presented. He-Ne lasers can be attributed to an unstable system due to the influence of environmental factors on its' frequency. Therefore, the stabilization of He-Ne laser is so important in sensitive applications such as laser interferometers and nanometrology systems. The simulation results of controllers by powerful software MATLAB/SIMULINK-GUI show that parallel fuzzy P+ fuzzy I controller has better stabilization performance and integrated absolute error (IAE) than others. Also, frequency fluctuations of He-Ne laser is about 2×10-11 by parallel fuzzy P+ fuzzy I controller.
Cavity Length
Controller
He-Ne Lasers
Nanometrology
Thermal Instability
2014
01
21
93
98
http://mjee.modares.ac.ir/article_15129_c5d767783c09d97fb2b7f3208fe56e4c.pdf