In the paper finite-dimensional time-variable dynamical control systems described by linear stochastic ordinary differential state equations with single time-variable point delay in the control are considered. Using notations, theorems and methods taken directly from deterministic controllability problems necessary and sufficient conditions for different kinds of stochastic relative controllability in a given time interval are formulated and proved. It will be proved that under suitable assumptions relative controllability of a deterministic linear associated dynamical system is equivalent to stochastic relative exact controllability and stochastic relative approximate controllability of the original linear stochastic dynamical system. Some remarks and comments on the existing results for stochastic controllability of linear dynamical systems are also presented.
Control of the technological processes of coal enrichment takes place in the presence of wide disturbances. Thus, one of the basic tasks of the coal enrichment process control systems is the stabilization of coal quality parameters at a preset level. An important problem is the choice of the controller which is robust for a variety of disturbances. The tuning of the controller parameters is no less important in the control process . Many methods of tuning the controller use the dynamic characteristics of the controlled process (dynamic model of the controlled object). Based on many studies it was found that the dynamics of many processes of coal enrichment can be represented by a dynamic model with properties of the inertial element with a time delay. The identification of object parameters (including the time constant) in industrial conditions is usually performed during normal operation (with the influence of disturbances) from this reason, determined parameters of the dynamic model may differ from the parameters of the actual process. The control system with controller parameters tuned on the basis of such a model may not satisfy the assumed control quality requirements. In the paper, the analysis of the influence of changes in object model parameters in the course of the controlled value has been carried out. Research on the controller settings calculated according to parameters T and τ were carried out on objects with other parameter values. In the studies, a sensitivity analysis method was used. The sensitivity analysis for the three methods of tuning the PI controller for the coal enrichment processes control systems characterized by dynamic properties of the inertial element with time delay has been presented. Considerations are performed at various parameters of the object on the basis of the response of the control system for a constant value of set point. The assessment of considered tuning methods based on selected indices of control quality have been implemented.
Self-control is a complex and multifaceted construct that can be regarded as an individual trait that follows its own developmental trajectory. In the presented study we used NAS-50 for the assessment of self-control in adolescents and young adults. Since the questionnaire has not been used before in underage participants we tested its reliability in adolescent and adult samples. We also investigated possible age and gender differences in self-control abilities as well as relations between NAS-50 and behavioral measures of cognitive control and impulsivity. Although the sample was quite small, the reliability of the questionnaire was similar to the results achieved by its authors. According to the predictions in the literature we did not find relations between NAS-50 and behavioral measures of cognitive control and impulsivity. We also did not observe significant age differences in the assessment of self-control abilities. The theoretical relevance of our results is discussed.
This paper presents the design of digital controller for longitudinal aircraft model based on the Dynamic Contraction Method. The control task is formulated as a tracking problem of velocity and flight path angle, where decoupled output transients are accomplished in spite of incomplete information about varying parameters of the system and external disturbances. The design of digital controller based on the pseudo-continuous approach is presented, where the digital controller is the result of continuous-time controller discretization. A resulting output feedback controller has a simple form of a combination of low-order linear dynamical systems and a matrix whose entries depend nonlinearly on certain known process variables. Simulation results for an aircraft model confirm theoretical expectations.
We derive exact and approximate controllability conditions for the linear one-dimensional heat equation in an infinite and a semi-infinite domains. The control is carried out by means of the time-dependent intensity of a point heat source localized at an internal (finite) point of the domain. By the Green’s function approach and the method of heuristic determination of resolving controls, exact controllability analysis is reduced to an infinite system of linear algebraic equations, the regularity of which is sufficient for the existence of exactly resolvable controls. In the case of a semi-infinite domain, as the source approaches the boundary, a lack of L2-null-controllability occurs, which is observed earlier by Micu and Zuazua. On the other hand, in the case of infinite domain, sufficient conditions for the regularity of the reduced infinite system of equations are derived in terms of control time, initial and terminal temperatures. A sufficient condition on the control time, heat source concentration point and initial and terminal temperatures is derived for the existence of approximately resolving controls. In the particular case of a semi-infinite domain when the heat source approaches the boundary, a sufficient condition on the control time and initial temperature providing approximate controllability with required precision is derived.
The LQR (linear quadratic regulator) control problem subject to singular system constitutes a optimization problem in which one must be find an optimal control that satisfy the singular system and simultaneously to optimize the quadratic objective functional. In this paper we establish a sufficient condition to obtain the optimal control of discounted LQR optimization problem subject to disturbanced singular system where the disturbance is time varying. The considered problem is solved by transforming the discounted LQR control problem subject to disturbanced singular system into the normal LQR control problem. Some available results in literatures of the normal LQR control problem be used to find the sufficient conditions for the existence of the optimal control for discounted LQR control problem subject to disturbanced singular system. The final result of this paper is in the form a method to find the optimal control of discounted LQR optimization problem subject to disturbanced singular system. The result shows that the disturbance is vanish with the passage of time.
The study of the subdivision driving technology of a stepper motor and two types of typical acceleration and deceleration curves aims at optimizing the open-loop control performance of the stepper motor. The simulation model of a two-phase hybrid stepper motor open-loop control system is set up based on the mathematical model of the stepper motor, in order to let the stepper motor have the smaller stepper angle, two types of typical acceleration and a deceleration curve algorithm are designed for the real- time online calculation based on the subdivision driving technology. It respectively carries out the simulation analysis for their control effects. The simulation results show that the parabolic acceleration and deceleration curves have a larger maximum in-step rotation angle and the faster dynamic response ability in the same control period, and at the same time, the position tracking error of an intermediate process is smaller.
In this paper, the applications of the multivariate data analysis and optimization on vibration signals from compressors have been tested on the assembly line to identify nonconforming products. The multivariate analysis has wide applicability in the optimization of weather forecasting, agricultural experiments, or, as in this case study, in quality control. The techniques of discriminant analysis and linear program were used to solve the problem. The acceleration and velocity signals used in this work were measured in twenty-five rotating compressors, of which eleven were classified as good baseline compressors and fourteen with manufacturing defects by the specialists in the final acoustic test of the production line. The results obtained with the discriminant analysis separated the conforming and nonconforming groups with a significance level of 0.01, which validated the proposed methodology.
A novel method of active noise control using adaptive radiation sound sources is investigated. A finite element model of a modal enclosed sound field is excited harmonically, representing a noise field in the low-frequency range. The control sources are comprised of elementary dipole sources for which the driving signals are adjusted by an optimization method. Two set-up cases of the proposed compound sources are investigated. The coupling of the control sources with the modal sound field is discussed. The simulated performance of the proposed method is compared with that of a system with distributed simple sources and the results show the effectiveness of the sources with adaptive radiation for active noise control in small enclosures.
The aim of this study is to design a control strategy for the angular rate (speed) of a DC motor by varying the terminal voltage. This paper describes various designs for the control of direct current (DC) motors. We derive a transfer function for the system and connect it to a controller as feedback, taking the applied voltage as the system input and the angular velocity as the output. Different strategies combining proportional, integral, and derivative controllers along with phase lag compensators and lead integral compensators are investigated alongside the linear quadratic regulator. For each controller transfer function, the step response, root locus, and Bode plot are analysed to ascertain the behaviour of the system, and the results are compared to identify the optimal strategy. It is found that the linear quadratic controller provides the best overall performance in terms of steady-state error, response time, and system stability. The purpose of the study that took place was to design the most appropriate controller for the steadiness of DC motors. Throughout this study, analytical means like tuning methods, loop control, and stability criteria were adopted. The reason for this was to suffice the preconditions and obligations. Furthermore, for the sake of verifying the legitimacy of the controller results, modelling by MATLAB and Simulink was practiced on every controller.
An electric power steering system (EPS) is a new type of steering system developed after a mechanical hydraulic power system (MHPS) and electric-hydraulic power steering system (EHPS). In order to coordinate and solve the portability and sensitivity of the steering system optimally, taking an induction power steering system as the research object, the control algorithm of induction motor control under the EPS is studied in this paper. In order to eliminate the feed-forward performance degradation caused by the change of feed-forward parameters, an on-line identification algorithm of feed-forward parameters is proposed. It can improve the control performance of online identification among three feed-forward parameters in the T-axle motor, it improves on the robustness of feed-forward control performance, at the same time it also gives simulation and test results. This method can improve the control performance of the three feed-forward parameter online identification of the T-axis motor and improve the robustness of feed-forward control performance. At the same time, simulation and test results are given. The simulation results show that the algorithm can significantly improve the response speed and control accuracy of EPS system control.
The need to generate innovative solutions clearly is closely related with professional activities of special education teachers. The specificity of functioning of people with disabilities, unpredictability of actions and behaviours, developmental disharmoniousness imposes the searching and implementing of customized solutions, improvements and modifications to adjust the educational process to the needs and capabilities of this group of students. The presented beliefs have become the basis for research activities allowing to describe the innovativeness of special education teachers in their workplace. The main aim of this article is to attempt to determine the relationship between innovativeness in the workplace and locus of control in special education teachers group.
For successful active control with a vibrating plate it is essential to appropriately place actuators. One of the most important criteria is to make the system controllable, so any control objectives can be achieved. In this paper the controllability-oriented placement of actuators is undertaken. First, a theoretical model of a fully clamped rectangular plate is obtained. Optimization criterion based on maximization of controllability of the system is developed. The memetic algorithm is used to find the optimal solution. Obtained results are compared with those obtained by the evolutionary algorithm. The configuration is also validated experimentally.
In the present paper finite-dimensional dynamical control systems described by semilinear ordinary differential state equations with multiple point delays in control are considered. It is generally assumed, that the values of admissible controls are in a convex and closed cone with vertex at zero. Using so-called generalized open mapping theorem, sufficient conditions for constrained local relative controllability near the origin are formulated and proved. Roughly speaking, it will be proved that under suitable assumptions constrained global relative controllability of a linear associated approximated dynamical system implies constrained local relative controllability near the origin of the original semilinear dynamical system. This is generalization to the constrained controllability case some previous results concerning controllability of linear dynamical systems with multiple point delays in the control and with unconstrained controls. Moreover, necessary and sufficient conditions for constrained global relative controllability of an associated linear dynamical system with multiple point delays in control are discussed. Simple numerical example, which illustrates theoretical considerations is also given. Finally, some remarks and comments on the existing results for controllability of nonlinear dynamical systems are also presented.
In the present paper .nite-dimensional, stationary dynamical control systems described by semilinear ordinary di.erential state equations with multiple point delays in control are considered. In.nite-dimensional semilinear stationary dynamical control systems with single point delay in the control are also discussed. Using a generalized open mapping theorem, su.cient conditions for constrained local relative controllability are formulated and proved. It is generally assumed, that the values of admissible controls are in a convex and closed cone with vertex at zero. Some remarks and comments on the existing results for controllability of nonlinear dynamical systems are also presented.
In the paper finite-dimensional stationary dynamical control systems described by linear stochastic ordinary differential state equations with single point delay in the control are considered. Using notations, theorems and methods taken directly from deterministic controllability problems, necessary and sufficient conditions for different kinds of stochastic relative controllability are formulated and proved. It will be proved that under suitable assumptions relative controllability of a deterministic linear associated dynamical system is equivalent to stochastic relative exact controllability and stochastic relative approximate controllability of the original linear stochastic dynamical system. Some remarks and comments on the existing results for stochastic controllability of linear dynamical systems with delays are also presented. Finally, minimum energy control problem for stochastic dynamical system is formulated and solved.
We study an elegant snap system with only one nonlinear term, which is a quadratic nonlinearity. The snap systemdisplays chaotic attractors,which are controlled easily by changing a system parameter. By using analysis, simulations and a real circuit, the dynamics of such a snap system has been investigated. We also investigate backstepping based adaptive control schemes for the new snap system with unknown parameters.
High voltage direct current (HVDC) emergency control can significantly improve the transient stability of an AC/DC interconnected power grid, and is an important measure to reduce the amount of generator and load shedding when the system fails. For the AC/DC interconnected power grid, according to the location of failure, disturbances can be classified into two categories: 1) interconnected system tie-line faults, which will cause the power unbalance at both ends of the AC system, as a result of the generator rotor acceleration at the sending-end grid and the generator rotor deceleration at the receiving-end grid; 2) AC system internal faults, due to the isolation effect of the DC system, only the rotor of the generator in the disturbed area changes, which has little impact on the other end of the grid. In view of the above two different locations of disturbance, auxiliary power and frequency combination control as well as a switch strategy, are proposed in this paper. A four-machine two-area transmission system and a multi-machine AC/DC parallel transmission system were built on the PSCAD platform. The simulation results verify the effectiveness of the proposed control strategy.
In multi-axis motion control systems, the tracking errors of single axis load and the contour errors caused by the mismatch of dynamic characteristics between the moving axes will affect the accuracy of the motion control system. To solve this issue, a biaxial motion control strategy based on double-iterative learning and cross-coupling control is proposed. The proposed control method improves the accuracy of the motion control system by improving individual axis tracking performance and contour tracking performance. On this basis, a rapid control prototype (RCP) is designed, and the experiment is verified by the hardware and software platforms, LabVIEW and Compact RIO. The whole design shows enhancement in the precision of the motion control of the multiaxis system. The performance in individual axis tracking and contour tracking is greatly improved.
This paper presents a robust model free controller (RMFC) for a class of uncertain continuous-time single-input single-output (SISO) minimum-phase nonaffine-in-control systems. Firstly, the existence of an unknown dynamic inversion controller that can achieve control objectives is demonstrated. Afterwards, a fast approximator is designed to estimate as best as possible this dynamic inversion controller. The proposed robust model free controller is an equivalent realization of the designed fast approximator. The perturbation theory and Tikhonov’s theorem are used to analyze the stability of the overall closed-loop system. The performance of the developped controller are verified experimentally in the position control of a pneumatic actuator system.
Although the explicit commutativitiy conditions for second-order linear time-varying systems have been appeared in some literature, these are all for initially relaxed systems. This paper presents explicit necessary and sufficient commutativity conditions for commutativity of second-order linear time-varying systems with non-zero initial conditions. It has appeared interesting that the second requirement for the commutativity of non-relaxed systems plays an important role on the commutativity conditions when non-zero initial conditions exist. Another highlight is that the commutativity of switched systems is considered and spoiling of commutativity at the switching instants is illustrated for the first time. The simulation results support the theory developed in the paper.
Basing on Polish experience of about 5 years (since the presence of the African swine fever (ASF) in this country, starting from February 17th, 2014) and in accordance with literature the importance of the disease in wild boar is charaterised. ASF belongs to the most dangerous, very contagious diseases occurring in domestic swine and wild boar in Eurasia. In Europe, including Russia, Ukraine, Belarus, Lithuania, Latvia, Estonia, Poland, Romania, Hungary, Bulgaria, Czech Republic and Belgium ASF is existing at present and was diagnosed for short time in the frame of the Eurasian pandemy. There is a serious concern of spreading of the virus of ASF (ASFV) to other countries of Europe, not only by wild boar. However the reservoir of ASFV in this animal is playing a very important role in the maintenance of the virus and infection of pigs. Long lasting existence of ASFV in the environmnent is connected with the very high resistance to antiviral environmental factors. Following the lack of an effective immunogenic vaccine against ASF the disease can only be controlled by administrative measures. Additionally the important and recommended procedure is the significant reduction of the wild boar population. Probability of eradication of ASFV from wild boar is increased after adding quick carcass removal simultaneously by respecting biosecurity rules. If effectively implemented, fencing is more useful to delineating zones rather than adding substantially to increased efficiency of ASF control. However, segments of fencing will be particularly usefull in theses areas, where carcasses removal or intensive hunting is difficult to implement.
The article discusses the importance of small hydro power plants in the Polish power system and defines the legal conditions for the operation of small hydro power plants. The phenomena occurring in the hydrological system of small hydro power plants and their impact on the natural environment were analyzed. An analysis of phenomena occurring in the hydrological system and the activity of small hydro power plants that are operating on the Radunia River helped us identify relations between different types of power plants working in cascades and possibilities of power generation control in period of several days. The above-mentioned analysis has been used in the development of a mathematical model of a hydroelectric plant and cascades of hydroelectric plants. The numerical simulations carried out concerned both the self-operating power plant and a cascade of two identical objects of this type. There is a possibility for small hydro power plant to run as a base load power plant and during periods of high demand as well (peak demand or unexpected loss of generation in the power system). A single hydroelectric power plant can deal with varying peak load demands while adding a second stage increase those abilities. A cascade of reservoir hydropower plants has a much greater ability to store energy and give it back in time. In addition, the existence of a second power plant equipped with a surge reservoir allows for a significant reduction in the amplitude of flows in the river below the cascade, which will reduce the negative impact of the cascade on the environment.
Drawing on the stressor–emotion model, the study examines the mechanisms of counterproductive work behavior (CWB) development: specifically (1) the direct effect of job stressor (bullying at work); (2) the moderation effect of the Dark Triad (DT) and job control (JC); and (3) the moderated moderation effect (DT x JC) on the job stressor–CWB link. Data were collected among 763 white- and blue-collar workers. The hypotheses were tested by means of the PROCESS method. As expected in the hypotheses, high job stressor was directly related to high CWB, and DT moderated (increased) the link. JC also moderated the job stressor–CWB link, but the moderation effect was in a direction opposite to expectations. High job control participants were more likely to report CWB when they reported a high level of the stressors. The moderated moderation effect was supported. JC increases the moderation effect of DT on the job stressor–CWB link. The highest level of CWB was observed when DT and JC were high. The findings provide further insight into processes leading to the development of CWB.