@article{ author = {Maleki, Maliheh and Moaveni, Bijan and Nasiri, Say}, title = {Designing a modified adaptive nonlinear filter for vehicle longitudinal velocity estimation and slip detection}, abstract ={In this paper, a modified adaptive nonlinear filter (MANF) to estimate the vehicle longitudinal velocity of the vehicle has been presented which has an acceptable accuracy and simple structure. Obtaining accurate model with minimum uncertainty is difficult and almost impossible, consequently, conventional model based filters can not be usded simply in estimating the longituadinal velocity of the vehicle during the braking. On the other hand, the model based filters reuire the braking toque in velocity estimation where, measuring the braking torque requires specific sensors which will cause increasing the costs of repairing and maintenance. Consequently,  in this paper a MANF has been introduced which didn’t require the dynamic model of vehicle and the value of braking torque in estimation process. MANF has been evaluated by experimental data and its effectiveness has been approved.}, Keywords = {Longitudinal Velocity Velocity, Velocity Estimation, Wheel Slip Detection, Adaptive Nonlinear Filter.}, volume = {10}, Number = {1}, pages = {1-10}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-364-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-364-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2016} } @article{ author = {abbaszadeh, karim and ebrahimi, sedigheh}, title = {Modelling, Simulation & Blade Pitch Fault Detection of Wind Turbines Equipped with Permanent Magnet Synchronous Generator Based-on Support Vector Machine}, abstract ={In this paper, the effect of the wind turbine blade pitch fault and fault detection method based on support vector machine algorithm based on electrical and mechanical signals have been modeled and studied. Dynamic model of permanent magnet synchronous generator and wind turbine under both aerodynamic asymmetry and normal conditions modes have been modelled in Simulink, FAST and TurbSim environment.  The aerodynamic asymmetry has been simulated by adjusting the pitch of one blade different from the other pitch blades. . The simulation results recorded in the time-domain and then transformed into the frequency-domain by using the Fast Fourier Transform (FFT). This results shows when the blade failure occurred, the amplitude of excitation frequency 1p is appeared in electric signals and with more intensity in mechanic signals. For fault detection, first the time-domain and frequency-domain parameters of signals extracted, and then, The sensitivity of this parameters in healthy and faulty conditions obtained by using Distance Evaluation Criteria (DEC). The result of DEC considered as a variable input in SVM. This process implemented for the number of 60 wind Turbulence for healthy and faulty turbines. Simulation results confirmed that the proposed approach to be able to identifying the healthy condition from aerodynamic asymmetry fault in wind turbine and this proposed approach is effective and efficient for blade fault detection.}, Keywords = { Aerodynamic Asymmetry, Fault Detection, Direct-Drive Wind Turbine, Support Vector Machine.}, volume = {10}, Number = {1}, pages = {11-22}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-298-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-298-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2016} } @article{ author = {HeidariNiaz, Tahere and Alfi, Alirez}, title = {TCP Congestion Control using Finite Spectrum Assignment: A Comparative Study}, abstract ={Congestion is one of the most well-known problems in data networks. The congestion occurres when the number of packets being transmitted through the network exceeds the packet handling capacity of the network. The aim of AQM is to keep the queue size at a certain desired level at which network performance falls off dramatically. This situation leads to long time delays, and may even result in instability in the network. The purpose of this paper is to design controller for congestion control of the TCP network using Finite Spectrum Assignment (FSA) technique and comparison with other conventional methods including Proportional-Integrator (PI), Random Early Detection (REM) and H∞. To evaluate the performance of the proposed controller, different experiments are conducted through NS-2 simulations by considering variations in network dynamics.}, Keywords = {Data networks, Congestion control, Active queue management, Finite spectrum assignment}, volume = {10}, Number = {1}, pages = {23-35}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-300-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-300-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2016} } @article{ author = {AkbarzadehKalat, Ali and Hosseinpur, Mohamm}, title = {Observer-Based Robust Indirect Adaptive Fuzzy Control of Antilock Braking System Using Road Conditions Estimation}, abstract ={In this study, an observer based indirect adaptive fuzzy controller for the anti-lock braking system (ABS) is proposed. First, using the Lugre internal friction model in the single corner model of automobile, road profile is estimated. Then, using the estimator results, the optimum slip is estimated. It should be noted that in the optimum slip, the maximum longitudinal friction created between the tire and road is achieved, so that the automobile stops in the least possible distance. Since some of state variables of the system are difficult to measure or contaminated by noise, and observer based controller is designed in this paper. The controller objective is to realize the reference slip obtained from the road condition estimator. Using Lyapunov stability theory, it is verified that the values obtained for road condition and vehicle speed will converge to their actual values. In addition, it is shown that the indirect adaptive fuzzy controller results in asymptotic tracking of the optimum slip. Simulations results show the proper performance of the proposed anti-lock breaking control system in achieving the optimum slip and quick stop of the car without locking the wheel in various road conditions.}, Keywords = {Antilock Braking System, Adaptive Fuzzy Control, State Estimator, Lyapunov theory }, volume = {10}, Number = {1}, pages = {37-49}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-292-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-292-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2016} } @article{ author = {Mohammadzadeh, Ehsan and Pariz, Naser and Hosseinisani, Seyed Kamal and Jajarmi, Ami}, title = {Optimal Control for a Class of Nonlinear Fractional-Order Systems Using an Extended Modal Series Method and Linear Programming Strategy}, abstract ={This paper presents a novel hybrid technique based on the modal series method and linear programming strategy for solving the optimal control problem of nonlinear fractional-order systems. The fractional derivative is defined in the sense of Riemann-Liouville with order less than one. The performance index includes the terminal cost in addition to the integral quadratic cost functional. Both the fixed and free final states cases have been taken into account. In this approach, first we extend the modal series method in order to convert the original nonlinear fractional-order two point boundary value problem (FTPBVP) derived from the Pontryagin’s maximum principle into a sequence of linear time-invariant FTPBVPs. This sequence is then transformed into a sequence of linear programming problems by defining a new variational problem in the calculus of variations, using a discretization technique based on the first-order Grünwald-Letnikov approximation and introducing a new transformation. The convergence analysis of the proposed approach is also provided. To achieve an accurate suboptimal control, we apply a fast iterative algorithm with low computational effort. Finally, two numerical examples are included to illustrate the effectiveness of the proposed approach.}, Keywords = {Fractional-order optimal control, Extended modal series, Nonlinear fractional-order two point boundary value problem, Grünwald-Letnikov approximation, Linear programming}, volume = {10}, Number = {1}, pages = {51-64}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-324-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-324-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2016} } @article{ author = {heydari, vahideh and karsaz, ali}, title = {Feedback Linearization and Intelligent Combination Control Method to Blood Glucose Level Control Based on Palumbo Delayed Model}, abstract ={Diabetes is one of the important issues in the medical field and determination of appropriate rate of insulin injection in order to regulation of blood glucose level is vital for diabetics. In this thesis the problem of tracking of desired plasma blood glucose by using subcutaneous insulin administration is expressed. Mathematical model is used in this thesis for glucose-insulin regulation system was based on Palumbo delayed nonlinear model and is one of the most comprehensive models in recent years. The control method is used by Palumbo based on feedback linearization is one of the most complete control methods in this field. The main problem of this method was locus location of the desired closed-loop poles issue based on trial and error. Location of closed-loop poles away from imaginary axis can cause reduce of oscillations and increase of steady state error that in insulin injection issue is considered a fundamental problem. To fix this problem, in this paper for the first time employing combination of the fuzzy logic controller optimized by genetic algorithm with feedback linearization method as hybrid method is used to regulate the blood glucose level in diabetic patients and stabilization of blood glucose level three diabetic patients with different initial glucose level is simulated. One of the advantages of the proposed method is very high robustness controller against the uncertainty and disturbance. Finally, the simulation results of proposed control methods are compared with the control method based on Palumbo poles location, which indicates the phenomenal functioning of the proposed controller for tracking of desired blood glucose level at the lowest possible error in the presence of uncertainty or without the uncertainty.}, Keywords = {Fuzzy logic, Genetic algorithm, Insulin injection rate, Glucose-Insulin regulation system, Palumbo feedback linearization}, volume = {10}, Number = {1}, pages = {65-75}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-380-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-380-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2016} } @article{ author = {EbrahimiMeymand, Nahid and Ozgoli, Saj}, title = {Design of Model free Terminal Sliding Mode Control for discrete time nonlinear systems}, abstract ={A model free terminal sliding mode controller has been proposed. The proposed controller is data driven i.e. based only on input and output data (thus, model free). This method employs a recursive nonlinear sliding surface.  This leads to higher tracking precision and to finite time convergence of the response. The method uses “Model Free Adaptive Controller” approach, combined with “Discrete time Sliding Mode Controller” method. Boundedness of tracking error is proved analytically. Theoretical analysis also shows the superiority of the proposed method over Model Free Linear Sliding Mode Controller. Analysis results are confirmed via simulation}, Keywords = {Terminal Sliding Mode Control, Data Driven Control, Model Free Adaptive Control, Discrete time Sliding Mode Control. }, volume = {10}, Number = {2}, pages = {1-12}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-360-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-360-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2016} } @article{ author = {Khandani, Khosro and JohariMajd, Vahid and Tahmasebi, Mahdieh}, title = {A sliding mode control scheme for fractional stochastic systems with state delay}, abstract ={In this paper, a new approach is proposed for stability analysis of fractional stochastic systems. By extending the concept of infinitesimal generator using the fractional Ito formula, it becomes possible to apply it in fractional stochastic systems for stability analysis by Lyapunov functions. Thereafter, the presented stability criterion is utilized to develop the sliding mode control scheme for fractional stochastic systems with state delay.  The proposed design method ensures that the state trajectories reach the sliding surface in finite time with probability one. Stability analysis of the system at sliding mode is executed using the given fractional infinitesimal generator and the stability conditions are given in the form of linear matrix inequalities. To illustrate the efficiency of the results, the application of the method is presented for the pitch control of a variable speed wind turbine.}, Keywords = {fractional stochastic system, fractional infinitesimal generator, sliding mode control, linear matrix inequalities, pitch control of a wind turbine.}, volume = {10}, Number = {2}, pages = {13-22}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-348-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-348-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2016} } @article{ author = {Sadeghian, Hamid and Hadianjazi, Shahram and Keshmiri, Mehdi}, title = {Adaptive Control of a Multi-Task Redundant Manipulator}, abstract ={A nonlinear adaptive control algorithm for a multi-task redundant manipulator is developed in this paper. The method considers the parametric uncertainties in the system and defines a proper filtered error signal according to the allocated priority. Based on this error analysis, the asymptotic stability and convergence of the tracking error, both for the main task as well as the sub-tasks are shown using Lyapunov approach. In order to extend the algorithm for the case of orientation control in the operational task, quaternion feedback has been exploited, and the stability is shown. The results of the paper are verified in several simulations on 4DoF planar arm as well as 7DoF KUKA lightweight robot arm.}, Keywords = {Multi-priority control, Nonlinear adaptive control, Null space, Quaternion feedback }, volume = {10}, Number = {2}, pages = {23-34}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-232-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-232-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2016} } @article{ author = {Kafash, Behzad and Nikoeenezhad, Zahra and Delavarkhalafi, Ali}, title = {An iterative algorithm for solving stochastic optimal control via the Markov chain approximation}, abstract ={In this paper, a numerical method for solving stochastic optimal control problem by using Markov chain approximation method has presented. The basic idea of the Markov chain approximation method is to approximate the original controlled process by an appropriate controlled Markov chain on a finite state space. Also, we need to approximate the original cost function by one which is appropriate for the approximating chain. These approximations should be chosen such that a good numerical approximation to the associated optimal control problem can be obtained, which means the conditional mean and covariance of the changes in state of the chain are proportional to the local mean drift and covariance for the original process. The finite difference approximations are used to the construction of locally consistent approximating Markov chain, the coefficients of the resulting discrete equation can serve as the desired transition probabilities and interpolation interval. The convergence is analogous to the convergence of a sequence of finite difference or finite element approximations to an original problem as the approximation interval goes to zero. Finally, we propose an iterative algorithm for solving stochastic optimal control and efficiency of the proposed algorithm is illustrated by an example.}, Keywords = {solving stochastic optimal control problem, Markov chain approximation, Numerical method, iterative algorithm}, volume = {10}, Number = {2}, pages = {35-43}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-291-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-291-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2016} } @article{ author = {Naemi, Ali and Dehghani, Hami}, title = {Providing a new method for acoustic source DOA estimation based on TDoA by trigonometric methods}, abstract ={Environmental  surveillance and recognition are important issues to avoid surprises and conditions control. This awareness is necessary to combat and prevent the enemy attacks and increase deterrence. Direction of Arrival (DoA) estimation and localization targets are including the main bases environmental surveillance in an environment. DoA acoustic means calculated to enter acoustic wave emitted by the source in sensors that is provided different methods such as MVB, MUSIC and TDoA for this issue. The proposed method with simplification of trigonometric equations calculate the location is provided new equations to estimate direction of arrival acoustic signal for hemispherical environment that number equal to two-dimensional state. DoA estimation for hemisphere environment is provided for this reason, often with installed DoA estimation system on a platform is needed to be half of environment localization or DoA estimation and also just by adding a sensor, system will obtain the ability to work in sphere environment. In this simplification is decreases the computational complexity and the number of sensors needed to DoA estimation a hemisphere. In the proposed method is obtained the responses with acceptable error for elevation and azimuthal angles in simulations.}, Keywords = {Direction of arrival estimation, Acoustic source, Time difference of arrival, Trigonometric method, Hemispherical environment}, volume = {10}, Number = {2}, pages = {45-54}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-347-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-347-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2016} } @article{ author = {Mohammadi, Meghdad and Gholizade-Narm, Hossei}, title = {Adaptation of the Noise Covariance in Extended Kalman Filter Applied on Bearing Only Target Tracking Using Indirect Recursive Method}, abstract ={This paper proposes a recursive method to determine the process and measurement noise covariance matrix in the extended Kalman filter in application of bearing-only target tracking. One of the requirements of Kalman filters is knowledge of process and measurement noise covariance matrices. If the inappropriate choice of covariance, the filter performance is affected and even there is the possibility of divergence. In this paper, a recursive structure to adapting noise covariance is presented that unlike the conventional methods, instead of direct adapting covariance matrices, based on steepest descent adapting rule structure parameters are adapted. This increases the reliability of the adaptive method and non-negative condition of some of covariance matrix elements to be resolved. To evaluate the performance of proposed method, the bearing-only target tracking scenario is considered. To compare the proposed approach, three adaptive covariance common methods is used that simulation results show that the reliability and efficiency of the proposed method.}, Keywords = {State Estimation, Extended Kalman Filter, Covariance Adaptation, Bearing only Tracking}, volume = {10}, Number = {2}, pages = {55-72}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-386-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-386-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2016} } @article{ author = {Ayati, Moosa and Nikbakht, Hami}, title = {Permanent Magnet Synchronous Motor Sensor Fault Compensation via Fault Tolerant Sliding Mode Controller}, abstract ={The fault tolerant controller (FTC) issue is one of the most important subjects in the system theory and control engineering which has many practical and industrial applications. In This paper, a new FTC has been designed in order to detect and compensate the sensors faults of permanent magnet synchronous motor (PMSM). To achieve this goal, sliding mode controller (SMC) and PMSM vector control have been used. In the faulty conditions, in order to achieve control purposes, two sliding mode observers (SMO) estimate the speed and currents of motor. The observers create virtual sensors for the feedback control. If sensors face with a condition that cause any fault, the FTC detects the fault and the virtual sensors are immediately used for sensorless control of motor. The stability of the closed-loop system has been investigated by the Lyapunov stability theory. Simulation results confirm good performance of the proposed FTC for PMSM.}, Keywords = {Permanent magnet synchronous motor, Sliding mode controller, Sliding mode observer, Fault tolerant controller, Sensorless control.}, volume = {10}, Number = {3}, pages = {1-12}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-376-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-376-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2016} } @article{ author = {KhosraviSamamani, Mahdi and MoafiMadani, Mohammad Javad and Nikusokhan, Mahdi and Mohammadzaman, Im}, title = {Design of Radome Compensator in Guidance Loop Using Frequency Response Shaping}, abstract ={Radome causes refraction of the incoming rardar wave in radar-guided interceptors, thus having a destabilizing effect on the guidance loop, especially at high altitudes. Therefore, a compensator is required to maintain the stability of the guidance loop and causes minimum miss distance in the presence of radome error. From the control perspective, Radome causes an unwanted feedback that is not similar to the conventional feedback loops, in which output must follow a desired control signal. In this paper, the desired closed-loop response is determined first, then  a novel approach is proposed to shape the frequency response of the feedforward path so that the stability and performance requirements are satisfied . Frequency response is shaped by linear matrix inequality (LMI) tools and v-gap metric is used to select the best frequency response. Simulation results show that the designed compensator drastically decreases the miss distance, while the stability is guaranteed.}, Keywords = {Radome error, guidance loop stability, loop shaping, linear matrix inequality, v-gap metric}, volume = {10}, Number = {3}, pages = {13-23}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-257-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-257-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2016} } @article{ author = {Asadinia, maryam and Binazadeh, Tahereh}, title = {Design of Robust Control Law for Stabilization of Singular Systems with Time-Varying Delay in The Presence of Model Uncertainty and Input Amplitude Constraint}, abstract ={This paper investigates the problem of robust stabilization of uncertain singular systems with time-varying delay in the presence of model uncertainties and input amplitude constraint. Here, the purpose of robust stabilization is to design a saturated state feedback such that the closed-loop system is regular, impulse free and stable for all admissible uncertainties. The time- delay has been considered to be time-varying with known lower and upper bound. The problem of stabilization is studied in two cases. First, the robust stabilization problem is considered for the singular systems with time-varying delay in the presence of actuator saturation and model uncertainties. In this case, the existence conditions of robust stabilizing delay-independent state feedback controller are given via the linear matrix inequalities. Additionally, an estimation of the domain of attraction of the closed-looped system is proposed in the related theorem. In the second case, delay-dependent criteria for robust stability of uncertain time-delay singular systems with constrained input is given in two theorems. These theorems investigate delay-independent stability conditions via the linear matrix inequalities for constant and time-varying delay. Also, the domain of attraction for the closed-looped system is estimated in this case, too. Finally, practical and }, Keywords = {Time-varying singular systems, Robust stability, Input amplitude constraint, Model uncertainty.}, volume = {10}, Number = {3}, pages = {25-38}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-368-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-368-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2016} } @article{ author = {Bagheri, Peym}, title = {Model Predictive Controller Based on Steady-State Value of Control Signal, Analytically Tuning and Closed-Loop Studies}, abstract ={There are two approaches to guarantee zero steady-state error in step reference tracking and step disturbance rejection in model predictive controllers. In the first scheme, which is more prevalent, integrator is added to the model of the system. In generalized predictive control and dynamic matrix control, this structure is used. In second scheme, the desired steady-state value of control signal is used in cost function of predictive controller. Due to substantial characteristics of second scheme, in this paper it is tried to propose an analytically tuning method for these predictive controllers. Besides, many industrial processes can be effectively described with first-order plus dead time models. Hence, in this paper these models are used to provide predictions. Using these models and considering the constraints are inactive, the closed-loop transfer function is derived and a deep study on the closed-loop system and its robustness are given. Finally, the simulation results are used to evaluate the efficiency of the proposed tuning method.}, Keywords = {Model Predictive Control, Analytically Controller tuning, First Order plus Dead Time Models, Steady-State Control Signal.}, volume = {10}, Number = {3}, pages = {39-51}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-355-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-355-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2016} } @article{ author = {VahidianKamyad, Ali and JahedMotlagh, Mohamad Reza and Pariz, Naser}, title = {Domain of Attraction Estimation of Second Order Polynomial System using Rational Lyapunov Function}, abstract ={In this paper, estimation of second order polynomial systems’ domain of attraction (DA) via rational Lyapunov function is investigated. One of the methods for estimating DA is to find the greatest level set. In this study, in order to obtain the greatest level set, cost function based on increasing the region enclosed to the level set has been offered instead of using shape factor. Estimating DA has been converted into solving bilinear matrix inequality optimization problem. Capacity of this method compared to other methods in recent studies has been shown through some examples.}, Keywords = {Polynomial system, domain of attraction estimation, SOS polynomial, level set.}, volume = {10}, Number = {3}, pages = {53-60}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-306-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-306-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2016} } @article{ author = {Chehardoli, Hossein and Homainezhad, mohamadrez}, title = {Robust Control of a Platoon of Vehicles with Communication Time Delay and Switched Interaction Topology}, abstract ={In this paper the problem of vehiclular platoons control with time delay and switching topology is considered. Due to data transmitions and sensors mesuarements, time delay should be investigated in system’s modeling and controller design. Changes in communication topology may cause the internal and string instability of the vehicular platoons. Based on constant spacing policy, a robust controller is designed to provide internal and string stability of the vehicular platoons. By using Lyapunov-Krassovski and Lyapunov-Razumikhn theorems, two new approaches are presented to perform the internal stability of the proposed switched linear time-delay system. In continuance, a new theorem is presented to attain conditions satisfying string stability. Several simulation studies are provided to show the effectiveness of the proposed approaches.}, Keywords = {Platoon of vehicles, Time delay, Time varying topology, Switching system, String stability.}, volume = {10}, Number = {3}, pages = {61-70}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-377-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-377-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2016} } @article{ author = {TaheriKalani, Jafar and Aslansefat, Koorosh and LatifShabgahi, Gholamrez}, title = {A Systematic Approach to Design and Analysis of Univariate Alarm Systems Using Penalty Approaches}, abstract ={This paper presents a new method for designing a generalized delay timer based on penalty scenario and Markov chain schemes. The penalty approach is the extension of n-sample on/off delay approaches in designing alarm systems. Three performance indices named, False Alarm Rate (FAR), Missed Alarm Rate (MAR) and Average Alarm Delay (AAD) are derived for penalty approaches using Markov models. Also, the new index named “Mean Time to Alarm (MTTA)” is introduced to analysis alarm system and computation of AAD in penalty scenario. The optimal values of delays and penalties are derived based on target function using Genetic Algorithm (GA). Finally, the effectiveness of the proposed method is investigated and compared with other methods through a case study.}, Keywords = {Alarm system, Delay timer, Penalty scenario, Mean Time to Alarm, Genetic Algorithm. }, volume = {10}, Number = {4}, pages = {1-15}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-428-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-428-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Haghshenas, Hamed and Badamchizadeh, Mohammad Ali and Baradarannia, Mahdi}, title = {Containment Control of Linear Multi-Agent Systems with Non-Identical Agents Using Dynamic Output Feedback}, abstract ={In this paper, we study the containment control problem of heterogeneous linear multi-agent systems under directed topology based on output regulation framework and using output feedback control. Motivated by leader-follower output regulation problems, the leaders are assumed to be exosystems with identical dynamics. In controller design approach for each follower, we utilize a distributed dynamic output feedback control scheme. To achieve the objective of this work we utilize the containment error, which enables us to consider more than one leader in output regulation framework and to use output regulation techniques with some modifications to solve the containment problem. Finally, the validity of theoretical results are demonstrated through an example.}, Keywords = {Containment control, Non-Identical agents, Output regulation, Output feedback}, volume = {10}, Number = {4}, pages = {17-27}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-226-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-226-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Ghaffari, Ali and Khodayari, Alireza and Pourmahmodi, Abbas}, title = {Designing a Stability Algorithm for Swarm Robots in the Cases of Obstacle Avoidance and Absence of Tendency to Aggregate based on Lagrange Equations}, abstract ={Stability is one of the most important issues in swarm movement. Stability in swarm movement is composed of features such as collision avoidance between members of the swarm with each other and also obstacle avoidance along the path of movement. This paper presents a new algorithm in the form of a dynamic equation based on Lagrange equations for stable movement of the swarm robot. One of the objective of presenting this algorithm is to enable aggregation at the target point. The new algorithm will be extended in two cases; first, when the members of the swarm have the tendency for aggregation from the beginning of the movement, and second, members of the swarm don’t have the tendency for aggregation along the path. At the end, the presented algorithms will be simulated and evaluated. The simulation results show successful obstacle avoidance along the path and aggregation at the target point. The results show that in the second case—when there is no aggregation along the path—the members of the swarm cover more area along the path. Covering more area along the path empowers the application of the proposed algorithm in cases such as identification, exploration, environmental monitoring and mapping along the path}, Keywords = {Swarm, swarm robots, swarm movement algorithm, swarm robots aggregation}, volume = {10}, Number = {4}, pages = {29-44}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-247-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-247-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Delavari, Hadi and Mohadeszade, Mil}, title = {Chaos Control in a Gear Transmission System via a Novel Adaptive Terminal Sliding Mode Control Approach with Nonlinearity in the Control Input}, abstract ={Chaos is an unpredictable phenomenon that is considered in the nonlinear dynamical systems. In this paper, the chaos control in the nonlinear dynamic gear transmission system is considered. At first, the complex dynamics characters of gear transmission system are studied. Then, the existence of chaos in this nonlinear dynamic system is studied by phase portrait. The design process of sliding-mode control is divided into two steps: The first step is designing a sliding surface so that the plant restricted to the sliding surface has a desired system response, and the second step is constructing a switched feedback gains necessary to drive the plant’s state trajectory to the sliding surface. The stability of the proposed sliding surface is studied by the first theorem in this paper. Chaos control and stabilization of the gear transmission system states is studied based on the Lyapunov stability theorem. Also the stability of the closed loop system is investigated. The effects of the unknown controller parameters, system uncertainty, external disturbance and nonlinearity in the control input are fully taken into account. Appropriate adaptation laws are obtained to undertake the unknown parameters of the controller.  Finally, simulation results demonstrate the feasibility and robustness of the proposed controller.}, Keywords = {gear transmission system, nonlinear dynamic, chaos control, sliding mode control, nonlinearity in the control input}, volume = {10}, Number = {4}, pages = {45-53}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-311-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-311-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Torabi, Hamed and Pariz, Naser and Karimpour, Ali}, title = {Nonlinear Kalman Filter Design for the Fractional Order Nonlinear Stochastic Systems with Student’s t measurement Noise}, abstract ={This paper presents a fractional order Kalman filter for the stochastic nonlinear fractional order systems where the measurement noise is assumed to have Student’s t distribution. Modeling of the system and measurement noises in the state space representation, for target tracking problems, often carried out by additive Gaussian noise, but Gaussian distribution is not enough robust to the outliers, in the other words, Gaussian distribution has much less robustness against outliers than Student's t distribution, so if the tracking system affected by noises that have outliers, modeling of theses noises by the Gaussian distribution, may cause large estimation error or divergence of filter in the filtering and estimation problems. In this paper, after defining the stochastic fractional order systems, by comparing the performance of two Student’s t and Gaussian distributions in the modeling of noises that have outliers, try to design a nonlinear Kalman filter for fractional order systems using variational Bayesian inference method. Finally by comparing the simulation results of proposed filter in this paper and a fractional extended Kalman filer in the presence of Gaussian and Student’s t noises, the effectiveness of the proposed filter in estimation of states of the fractional order systems is demonestrated.}, Keywords = {Fractional order nonlinear systems, Student’s t distribution, State estimation and Kalman filtering, Variational Bayesian inference}, volume = {10}, Number = {4}, pages = {55-68}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-393-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-393-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Azizi, Azadeh and HesamiNaghshbandy, Ali and Batmany, Yaz}, title = {Robust Nonlinear Optimal Control of DFIG based Wind Turbine}, abstract ={In this paper, based on the state-dependent Riccati equation (SDRE) technique, two nonlinear suboptimal controllers (a regulator and a tracker) are designed for a wind turbine with doubly fed induction generator (DFIG). The control objectives include increasing the system stability margin and setting of the electromagnetic torque and the stator reactive power signals to the desired values. In the designed procedure of the controller, a nonlinear model is used for modeling the dynamical properties of the considered DFIG. The performance of the designed controllers to improve the system stability is evaluated in MATLAB software through some simulations for different working conditions of the wind turbine. In addition, an eigen-analysis of the closed-loop system is carried out to evaluate the effects of the proposed SDRE controller on the system stability. The performance of the designed SDRE tracking controller is also investigated through some simulations. In closing, simulation results demonstrate the effectiveness and robustness of the proposed SDRE controllers}, Keywords = {Wind turbine, doubly fed induction generator, state-dependent Riccati equation, nonlinear suboptimal controller.}, volume = {10}, Number = {4}, pages = {69-80}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-411-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-411-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} }