Describes the general principles and current research into Model Predictive Control (MPC); the most up-to-date control method for power converters and drivesThe book starts with an introduction to ...the subject before the first chapter on classical control methods for power converters and drives. This covers classical converter control methods and classical electrical drives control methods. The next chapter on Model predictive control first looks at predictive control methods for power converters and drives and presents the basic principles of MPC. It then looks at MPC for power electronics and drives. The third chapter is on predictive control applied to power converters. It discusses: control of a three-phase inverter; control of a neutral point clamped inverter; control of an active front end rectifier, and; control of a matrix converter. In the middle of the book there is Chapter four - Predictive control applied to motor drives. This section analyses predictive torque control of industrial machines and predictive control of permanent magnet synchronous motors. Design and implementation issues of model predictive control is the subject of the final chapter. The following topics are described in detail: cost function selection; weighting factors design; delay compensation; effect of model errors, and prediction of future references. While there are hundreds of books teaching control of electrical energy using pulse width modulation, this will be the very first book published in this new topic.Unique in presenting a completely new theoretic solution to control electric power in a simple wayDiscusses the application of predictive control in motor drives, with several examples and case studiesMatlab is included on a complementary website so the reader can run their own simulations
In this paper, we propose a self-triggered formulation of model predictive control for continuous-time nonlinear input-affine networked control systems. Our control method specifies not only when to ...execute control tasks but also provides a way to discretize the optimal control trajectory into several control samples, so that the reduction of communication load will be obtained. Stability analysis under the sample-and-hold implementation is also given, which guarantees that the state converges to a terminal region where the system can be stabilized by a local state feedback controller. Some simulation examples validate our proposed framework.
The text begins with an overview of concepts from system theory. New results are provided on feedback stabilization and smooth control of non-holonomic systems. Control design moves from open-loop ...steering control of an individual vehicle to cooperative control of multiple vehicles, a progression culminating in a decentralized control hierarchy requiring only local feedback information. Novel methods are presented: parameterization for collision avoidance and optimization in path planning, near-optimal control for tracking and regulation of non-holonomic chained systems and matrix-theoretical analysis of cooperativity. These methods generate solutions of guaranteed performance for problems of: optimal and collision-free path planning, near-optimal stabilization of non-holonomic systems, cooperative control of dynamic systems. Examples, simulations and comparative studies add zest to the fundamental issues, illustrate the technical approaches and verify the performance of the final control designs.
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FIS, FZAB, GEOZS, GIS, IJS, IMTLJ, KILJ, KISLJ, MFDPS, NUK, OBVAL, OILJ, PNG, SAZU, SBCE, SBJE, SBMB, SBNM, UKNU, UL, UM, UPUK, VKSCE, ZAGLJ
Offshore platforms are widely used to explore, drill, produce, storage, and transport ocean resources and are usually subject to environmental loading, such as waves, winds, ice, and currents, which ...may lead to failure of deck facilities, fatigue failure of platforms, inefficiency of operation, and even discomfort of crews. In order to ensure reliability and safety of offshore platforms, it is of great significance to explore a proper way of suppressing vibration of offshore platforms. There are mainly three types of control schemes, i.e., passive control schemes, semi-active control schemes, and active control schemes, to deal with vibration of offshore platforms. This paper provides an overview of these schemes. Firstly, passive control schemes and several semi-active control schemes are briefly summarized. Secondly, some classical active control approaches, such as optimal control, robust control, and intelligent control, are briefly reviewed. Thirdly, recent advances of active control schemes with delayed feedback control, sliding model control, sampled-data control, and network-based control are deeply analyzed. Finally, some challenging issues are provided to guide future research directions.
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EMUNI, FIS, FZAB, GEOZS, GIS, IJS, IMTLJ, KILJ, KISLJ, MFDPS, NLZOH, NUK, OBVAL, OILJ, PNG, SAZU, SBCE, SBJE, SBMB, SBNM, UKNU, UL, UM, UPUK, VKSCE, ZAGLJ
Time-delay occurs in many dynamical systems. This book presents some basic theories of stability and stabilization of systems with time-delay. Attention is paid to synthesis of systems with ...time-delay, such as sliding mode control of systems with time-delay.
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FIS, FZAB, GEOZS, GIS, IJS, IMTLJ, KILJ, KISLJ, MFDPS, NUK, OBVAL, OILJ, PNG, SAZU, SBCE, SBJE, SBMB, SBNM, UKNU, UL, UM, UPUK, VKSCE, ZAGLJ
This study proposes an adaptive non-singular integral terminal sliding mode control (ANITSMC) scheme for trajectory tracking of autonomous underwater vehicles (AUVs) with dynamic uncertainties and ...time-varying external disturbances. The ANITSMC is first proposed for a first-order uncertain non-linear dynamic system to eliminate the singularity problem in conventional terminal sliding mode control (TSMC) and avoid the requirement of the bound information of the lumped system uncertainty. The time taken to reach the equilibrium point from any initial error is guaranteed to be finite. The proposed ANITSMC is then applied to trajectory tracking control of AUVs. It guarantees that the velocity tracking errors locally converge to zero in finite time and after that the position tracking errors locally converge to zero exponentially. The designed ANITSMC of AUVs avoids the requirement of the prior knowledge of the lumped system uncertainty bounds as opposite to the existing globally finite-time stable tracking control (GFTSTC), provides higher tracking accuracy than the existing GFTSTC and adaptive non-singular TSMC (ANTSMC) and offers faster convergence rate and better robustness against dynamic uncertainties and time-varying external disturbances than the adaptive proportional-integral sliding mode control (APISMC). Comparative simulation results are presented to validate the superiority of the ANITSMC over the APISMC.
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FZAB, GIS, IJS, KILJ, NLZOH, NUK, OILJ, SAZU, SBCE, SBMB, UL, UM, UPUK
Objectives To evaluate the prophylactic efficacy of the human papillomavirus (HPV) quadrivalent vaccine in preventing low grade cervical, vulvar, and vaginal intraepithelial neoplasias and anogenital ...warts (condyloma acuminata).Design Data from two international, double blind, placebo controlled, randomised efficacy trials of quadrivalent HPV vaccine (protocol 013 (FUTURE I) and protocol 015 (FUTURE II)). The trials were to be 4 years in length, and the results reported are from final study data of 42 months’ follow-up.Setting Primary care centres and university or hospital associated health centres in 24 countries and territories around the world.Participants 17 622 women aged 16-26 years enrolled between December 2001 and May 2003. Major exclusion criteria were lifetime number of sexual partners (>4), history of abnormal cervical smear test results, and pregnancy.Intervention Three doses of quadrivalent HPV vaccine (for serotypes 6, 11, 16, and 18) or placebo at day 1, month 2, and month 6.Main outcome measures Vaccine efficacy against cervical, vulvar, and vaginal intraepithelial neoplasia grade I and condyloma in a per protocol susceptible population that included subjects who received all three vaccine doses, tested negative for the relevant vaccine HPV types at day 1 and remained negative through month 7, and had no major protocol violations. Intention to treat, generally HPV naive, and unrestricted susceptible populations were also studied.Results In the per protocol susceptible population, vaccine efficacy against lesions related to the HPV types in the vaccine was 96% for cervical intraepithelial neoplasia grade I (95% confidence interval 91% to 98%), 100% for both vulvar and vaginal intraepithelial neoplasia grade I (95% CIs 74% to 100%, 64% to 100% respectively), and 99% for condyloma (96% to 100%). Vaccine efficacy against any lesion (regardless of HPV type) in the generally naive population was 30% (17% to 41%), 75% (22% to 94%), and 48% (10% to 71%) for cervical, vulvar, and vaginal intraepithelial neoplasia grade I, respectively, and 83% (74% to 89%) for condyloma.Conclusions Quadrivalent HPV vaccine provided sustained protection against low grade lesions attributable to vaccine HPV types (6, 11, 16, and 18) and a substantial reduction in the burden of these diseases through 42 months of follow-up.Trial registrations NCT00092521 and NCT00092534.
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This study introduces a proposed control method for microgrids (MGs) in islanded (off‐grid) mode. The proposed control method is developed by modifying the droop control method using H‐infinity ...controller. In this control method, the droop control loop, current and voltage control loops are adjusted to respond to system load variation. The proposed method is an adaptive control one as it regulates the system voltage and frequency to their nominal values after system load variations. Also, it is a repetitive control method as it depends on the internal model principle that provides good performance for voltage and current error tracking. To prove the applicability and effectiveness of the proposed method, it is applied to a test system using MATLAB/Simulink under three different loading conditions. The results are compared with those of droop control and they prove the effectiveness of the proposed method in adjusting MGs under the off‐grid mode of operation. Also, a system stability analysis is performed based on root locus and system step response. Robustness analysis is performed to prove the ability of the proposed controller to restore the system performance after the fault clearance.
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FZAB, GIS, IJS, KILJ, NLZOH, NUK, OILJ, SAZU, SBCE, SBMB, UL, UM, UPUK
A novel robust adaptive controller for multi-input multi-output (MIMO) feedback linearizable nonlinear systems possessing unknown nonlinearities, capable of guaranteeing a prescribed performance, is ...developed in this paper. By prescribed performance we mean that the tracking error should converge to an arbitrarily small residual set, with convergence rate no less than a prespecified value, exhibiting a maximum overshoot less than a sufficiently small prespecified constant. Visualizing the prescribed performance characteristics as tracking error constraints, the key idea is to transform the ldquoconstrainedrdquo system into an equivalent ldquounconstrainedrdquo one, via an appropriately defined output error transformation. It is shown that stabilization of the ldquounconstrainedrdquo system is sufficient to solve the stated problem. Besides guaranteeing a uniform ultimate boundedness property for the transformed output error and the uniform boundedness for all other signals in the closed loop, the proposed robust adaptive controller is smooth with easily selected parameter values and successfully bypasses the loss of controllability issue. Simulation results on a two-link robot, clarify and verify the approach.
This book explores the missing details of the linear parameter-varying (LPV) system theory that have hindered the formulation of a well established identification framework. It covers the key issues ...from system theory to modeling and identification.
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FIS, FZAB, GEOZS, GIS, IJS, IMTLJ, KILJ, KISLJ, MFDPS, NUK, OBVAL, OILJ, PNG, SAZU, SBCE, SBJE, SBMB, SBNM, UKNU, UL, UM, UPUK, VKSCE, ZAGLJ
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