@article{ author = {Razavi, Hooman and Ghasemi, Abdorasoul}, title = {Multi-Objective Optimization of a QoS-Aware Channel Allocation in Cognitive Radio Networks using NSGA-II Algorithm}, abstract ={In this paper the QoS-aware channel allocation problem formulated as an optimization problem with two conflicting objectives; spectrum utilization and fairness among secondary users (SUs) subject to channel availabilities constraints. Any possible channel allocation which could be a solution of the optimization problem, encoded as a binary chromosome. By having coded available spectrum opportunities instead of all channel-user combinations, the search space is significantly reduced. Designing the QoS-aware channel assignment scheme is based on NSGA-II Algorithm to find the optimum allocation of these two objectives jointly and finally the set of Pareto optimal solutions achieved by proposed algorithm in discrete space of feasible solutions. Simulation results demonstrate the trade-off between spectrum utilization and fairness and the Pareto optimum points. Binary Integer Programming (BIP) confirms the results of the proposed evolutionary scheme in small-scale instances while our scheme outperforms BIP method significantly in computational for large-scale ones.}, Keywords = {Binary Integer Programming, Cognitive radio, NSGA-II Algorithm, Multi-Objective Optimization, QoS-Aware Channel Assignment, Spectrum Opportunities.}, volume = {11}, Number = {1}, pages = {1-9}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-293-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-293-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Mirzaeinejad, hossein and shafei, Ali Moham}, title = {A Nonlinear Optimal Multivariable Controller Design for Trajectory Tracking of Non-Holonomic Mobile Robots}, abstract ={In this paper, a predictive approach is applied to design a nonlinear multivariable controller to generate trajectory tracking control commands of non-holonomic robots. In this method, the nonlinear responses of the mobile robot are predicted using Taylor series. The optimal control laws are analytically developed by minimizing the difference between the predicted and the desired responses of the system outputs. The obtained control laws lead to the feedback linearization. Here, the nonlinear kinematics model of mobile robot is used for design of the controller and simulations. The performed analyses along with the simulation results indicate that the designed controller can successfully track the reference trajectories with high performance in different maneuver conditions.}, Keywords = {Nonholonomic mobile robot, Nonlinear control, Prediction, Trajectory tracking}, volume = {11}, Number = {1}, pages = {11-18}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-362-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-362-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Ganjefar, soheil and Rezaei, sara and Hashemzadeh, Farz}, title = {Bounded Adaptive Control of Uncertain Nonlinear Teleoperation with Actuators Saturation and Asymmetric Varying Time Delays}, abstract ={In this paper, adaptive controller is proposed for bilateral teleoperation systems with parametric uncertainties, asymmetric time-varying delays in their communication channel and sandwich linearity in their actuators. The proposed bounded adaptive approach is a nonlinear-Proportional plus nonlinear Damping (nP+nD) controller which nonlinear adaptive terms are also employed locally to cope with the parametric uncertainties. The designed controller has  the  ability  to deal with  parameter variations  in  the  dynamics  of  the  master and  slave robots . The proposed controller also guarantees asymptotic stability and position tracking and avoiding the inputs to reach their usual actuator bounds. The asymptotic stability and tracking performance of the teleoperation system are proved using a Lyapunov-Krasovskii functional. The effectiveness of the proposed method is corroborated through simulation results.}, Keywords = {Nonlinear Teleoperation, Asymmetric Time-varying Delay, Actuator Saturation, Asymptotic Stability, Bounded Adaptive Control}, volume = {11}, Number = {1}, pages = {19-25}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-369-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-369-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Chehardoli, Hossein and homaienezhad, Mohammad rez}, title = {Control of a Heterogeneous Platoon of Vehicles with Actuator Lag, Communication Delay and Switched Interaction Topology: Constant Spacing and Constant Time Headway Policies}, abstract ={p { margin-bottom: 0.1in; direction: ltr; line-height: 120%; text-align: left; orphans: 2; widows: 2; }a:link { color: rgb(0, 0, 255); } This paper investigates the control problem of a heterogonous vehicular platoon with time-varying interaction topology, communication delay and actuator’s lag. For each vehicle, a neighbor based linear control law using relative position and relative velocity between vehicles is considered. Two new approaches based on Lyapunov-Razumikhin theorem are presented to perform the internal stability analysis of the resultant switched linear time delay system. It is shown that the closed-loop dynamic is globally asymptotically stable under arbitrary switching. It means that the heterogeneous platoon of vehicles is internal stable under switching action. In continuance of paper, a new theorem is presented to obtain conditions on controller gains satisfying the string stability of heterogeneous platoon. Simulation results are provided to show the effectiveness of the proposed approaches.}, Keywords = {Heterogeneous platoon, Communication delay, Actuator lag, Lyapunov-Razumikhin, String stability}, volume = {11}, Number = {1}, pages = {27-37}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-419-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-419-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Moghadas-Dastjerdi, Hadi and Ahmadzadeh, Mohammad Reza and Karami, Mehdi and Ghiasi, Farzin and Samani, Abbas}, title = {A New Optimization Based Method for Estimation and Spatial Localization of Lung’s Air Volume from 3D CT Images}, abstract ={Lung’s air volume estimation is of great importance in lung disease diagnosis. In this paper a fully automatic algorithm, which we presented recently to estimate the lung’s air volume from CT-images, is more developed. In this algorithm, first a suitable cost function is introduced based on the long parenchyma physics to determine the voxels of lung’s air region. In this paper, a fully automatic framework is proposed to calculate the initial guess for the solution of the optimization problem. Moreover, a 3D model reconstruction technique is utilized to determine spatial localization of the lung’s air region in 3D CT-images. Furthermore, the performance of the whole-lung-volume-based methods and direct lung’s air volume measurment methods are compared and investigated. In order to evaluate the accuracy, porcine’s lung images and clinical human’s lung images from reliable databases are fed to the proposed algorithm. The significant accuracy and robust performance of the proposed algorithm is illustrated with respect to the resolution reduction of CT-images.}, Keywords = {Optimization, air volume estimation, lung, partial volume effect, CT images.}, volume = {11}, Number = {1}, pages = {39-50}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-384-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-384-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Hajary, Ali and Kianinezhad, Reza and seyfossadat, seyed ghodratolah and Saffarian, Alireza and Mortazavi, Seyed seidolah}, title = {Robust Control of Symmetrical Six-Phase Induction Machine Under Open-phase Fault Condition Based on ADRC}, abstract ={Control methods for multi-phase machine drives under open-phase fault condition are commonly designed to achieve minimum torque ripple. These methods are usually based on machine fault model. Therefore, it is highly model dependant. In this article, a new robust control method for six-phase induction motors (SPIM) under open-phase fault condition is proposed. Design of ADRC is independent of the controlled system model and machine parameters. This method has been proposed for the first time for multi-phase machines in the post-fault situation. There is no need to change control structure for post-fault operation and machine control in faulty condition is carried out without need to fault detection. Performace of ADRC in healthy and faulty situations are compared with PI and resonant (dual PI) controllers. Simulation results on a six-phase induction motor are presented for verification of the proposed control scheme. It can be seen the six-phase induction motor drive shows better performance when it works with ADRC in both healthy and faulty operation modes.}, Keywords = {Robust Control, Six-phase Induction Motor, Open Phase Fault, PI Controller, Resonant Controller, ADRC}, volume = {11}, Number = {1}, pages = {51-60}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-387-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-387-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Ahmadi, Mahdi and Haeri, Mohamm}, title = {A New Method to Reduce the Multi-Model Set Based on Maximum Stability Margin and Gap Metric}, abstract ={In this paper the multiple model control of linear time invariant systems with wide uncertainty is studied and a new straightforward and systematic method is proposed to select the local models. The gap metric is used to measure the distance between local models and the maximum stability margin is employed to grid the uncertainty space and measure the permissible distance between local models. The proposed method guarantees the improvement of the maximum stability margin which has direct influence on the reduction of the number of local models and computational complexity loads. To evaluate performance of the proposed method, control of a mass-spring-dashpot system is considered and it is shown that based on our algorithm only a single local model is adequate to control this system while the existing methods in the literature require five local models.}, Keywords = {maximum stability margin, gap metric, linear time invariant systems with a wide uncertainty, nonlinear systems, state feedback}, volume = {11}, Number = {2}, pages = {1-8}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-356-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-356-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Aslani, Mohammad and Mesgari, Mohammad Saadi}, title = {Developing Adaptive Traffic Signal Controller based on Continuous Reinforcment Learning in a Microscopic Traffic Environment}, abstract ={The daily increase of a number of vehicles in big cities poses a serious challenge to efficient traffic control. The suitable approach for optimum traffic control should be adaptive in order to successfully content with the urban traffic that has the dynamic and complex nature. Within such a context, the major focus of this research is developing a method for adaptive and distributed traffic signal control based on reinforcement learning (RL). RL as a promising approach for generating, evaluating, and improving traffic signal decision-making solutions is beneficial and synergetic. RL-embedded traffic signal controller has the capability to learn through experience by dynamically interacting with the traffic environment in order to reach its goals. Traffic signal control often requires dealing with continuous state defined by means of continuous variables. Conventional RL methods do not scale well to problems with continuous state space or very large state space because they require storing distinct estimations of each state value in lookup tables. The contribution of the present research is developing adaptive traffic signal controllers based on continuous state RL for handling the big state space challenge arises in traffic control. The performance of the proposed method is compared with Q-learning and actor-critic and the results reveal that the proposed method outperforms others.}, Keywords = {Continuous State Reinforcement Learning, Q-Learning, Actor-Critic, Microscopic Traffic Control}, volume = {11}, Number = {2}, pages = {9-21}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-374-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-374-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Farhadi, Alirez}, title = {Stabilization of Nonlinear Polynomial Systems Subject to System Noise and Quantization Distortion}, abstract ={This paper is concerned with the stability of nonlinear polynomial dynamic systems subject to system noise when transmission from sensor to controller is via the digital noiseless channel. A stabilizing technique consisting of an encoder, decoder and a controller is presented for almost sure asymptotic bounded stability of nonlinear polynomial systems subject to system noise over the digital noiseless channel. In the absence of system noise it is shown that the proposed stabilizing technique results in asymptotic stability. The satisfactory performance of the proposed technique for almost sure asymptotic bounded stability and asymptotic stability of a polynomial dynamic system over the digital noiseless channel is illustrated using computer simulations.}, Keywords = {Networked control system, Polynomial nonlinear system, Digital noiseless channel}, volume = {11}, Number = {2}, pages = {23-30}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-307-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-307-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Daghigh, Ali and Ebrahimi, Mahnaz and Javadi, Hami}, title = {Design and Control of a Coreless Axial Flux Permanent Magnet Synchronous Generator to Extract the Maximum Power from the Variable Speed Wind Turbine}, abstract ={This paper presents design and control of a coreless axial flux permanent magnet synchronous generator for variable speed wind turbine application. The effect of design main parameters variation on the active material cost of the generator and its performance characteristics are investigated using sensitivity analysis, and the proper values of design parameters are chosen. The generator is modeled with 3-D Finite Element Method (FEM) and the validity of the design is evaluated. In the control method, the optimum torque values for different wind speeds are calculated to extract the maximum power from the variable speed wind turbine. In order to accurate modeling of the system and direct connection of the generator model in FEM to control system in Matlab-Simulink, the simplorer software is used. Using this software and the real model of the generator in FEM, are lead to more accurate results. The results show that the control system tracks the generator maximum power point with good dynamic response.}, Keywords = {Axial Flux Permanent Magnet Synchronous Generator, wind turbine, coreless, Maximum power point tracking, Finite Element Method.}, volume = {11}, Number = {2}, pages = {31-41}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-349-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-349-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Faghih, Sanaz and Shojaei, Khoshnam}, title = {Partial State Feedback Control for Trajectory Tracking of Underactuated Autonomous Underwater Vehicle by Using Neural Adaptive Dynamic Surface Control}, abstract ={In this paper, the trajectory tracking control of underactuated autonomous underwater vehicle without measuring velocity in three-dimensional space and in the presence of unknown disturbances caused by waves and ocean currents is studied based on dynamic surface control for the first time. In order to estimate parametric uncertainties with underwater vehicle dynamic model, radial basis function neural network approximation technique has been proposed. Also, the output feedback control problem is resolved by employing a high-gain observer to estimate the required unmeasurable states. The stability of the proposed controller is investigated by an analysis based on Lyapunov theory and uniform ultimate boundedness stability of states and convergence of tracking errors to a small bound around the origin are guaranteed. Finally, the tracking performance of the proposed control scheme has been verified via computer simulations.}, Keywords = {Autonomous underwater vehicle, dynamic surface control, high-gain observer, Lyapunov stability, radial basis function neural network}, volume = {11}, Number = {2}, pages = {43-54}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-435-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-435-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Orvatinia, Mohammad and Gharibi, Abbas}, title = {Design and Fabrication of a Four-path Ultrasonic Flowmeter using the Time-difference Method}, abstract ={A four-path ultrasonic flow meter was designed and fabricated by using of ultrasonic transmitter/receivers on an 8-inch pipe. By passing fluid through the flowmeter at a controlled rate, the velocity was measured in different layers using the time-difference method. Fluid flow rate was estimated by Gauss-Legendre numerical integration method and applying of the engineering approximation. By comparison of the results with the actual measurement done by a calibrated reference flow meter, the accuracy of the system was tested at various flow rates. It also was compared with the measurement of an equivalent one-path ultrasonic flowmeter, and the measurement errors were calculated. The test result represented that, the average error of measurement is less than 3% at the speeds of 0.5 m/s and more. The average error was more than 15% at the speeds below 0.3 m/s. The measurement error of the one-path flowmeter was 20% more than that of four path one.}, Keywords = {flow meter, ultrasonic, time difference method, method of Gauss-Legendre}, volume = {11}, Number = {2}, pages = {55-62}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-420-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-420-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Keshavarz-Mohammadiyan, Atiyeh and Khaloozadeh, Hami}, title = {Distributed Estimation and Sensor Selection in Wireless Sensor Network in the Presence of State-Dependent Noise}, abstract ={In this paper, the problem of distributed state estimation of a nonlinear dynamical system in a decentralized Wireless Sensor Network (WSN) in the presence of state-dependent observation noise is considered. Some bearings or ranging devices, such as ultrasonic sensors, have distance-dependent measurement error and their measurement noise variance grows as their relative distance to the target increases. This state-dependent measurement error leads to poor performance of estimation algorithm. To solve this problem, a consensus-based distributed state estimation methodology is presented in this paper by reaching a consensus on likelihood functions in the presence of state-dependent observation noise of bearings sensors. To reduce energy consumption in WSN, a distributed sensor selection algorithm is proposed. Unlike centralized networks, no fusion center is deployed in decentralized networks to gather and process the collected data, globally. Moreover, there is no global knowledge of the network topology in decentralized networks. Therefore, the Posterior Cramér-Rao Lower Bound (PCRLB) is derived in a distributed fashion in the presence of state-dependent noise of bearings sensors, to perform an adaptive sensor selection algorithm. Simulation results demonstrate the effectiveness of the proposed state estimation and sensor selection algorithms for a target tracking problem}, Keywords = {Distributed state estimation, wireless sensor network, state-dependent noise, sensor selection, consensus algorithm}, volume = {11}, Number = {3}, pages = {1-12}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-394-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-394-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {zarei, Farzad and Shafiei, Mohammad Hossein and Rahideh, Akbar}, title = {Event-Triggered based Sliding Mode Control of Uncertain Linear Systems}, abstract ={This paper presents the implementation of the event-triggered technique on sliding mode control (SMC) method in the case of linear systems with bounded uncertainty. Event-triggered technique is a scheduling strategy to reduce the number of control updates in a feedback loop. The Main contribution of this paper is to implement event-triggered SMC on the linear multi-input linear systems with parameter uncertainties. Although the chattering is inevitable in SMC, to tackle this phenomenon, hysteresis bounds are offered to reduce the frequency of control updates; nevertheless it induces a limit cycle. By updating control law at hysteresis boundaries, as the event-triggering rule, system finally ends to limit cycle. Another contribution of this paper is to reduce the amplitude of this limit cycle according to the variable control input, while guaranteeing no request for successive control updates too. In this paper by properly designing dynamic control law and hysteresis bands based on state trajectory, as the system moves towards the stable point, its amplitude decreases and the limit cycle amplitude fades accordingly. This method is illustrated by an example of linear system with uncertainty in the system matrix. Simulation results depict the applicability of SMC combination with the event-triggered technique.}, Keywords = {Sliding mode control, hysteresis band, event-triggered method, inter-execution time, triggering rule, accumulation point}, volume = {11}, Number = {3}, pages = {13-24}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-404-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-404-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Abdi, Bahman and Mirzaei, Mehdi and Rafatnia, Sadra and AkbariAlvanagh, Ahm}, title = {Analytical Design of Constrained Nonlinear Optimal Controller for Vehicle Active Suspension System considering the Limitation of Hydraulic Actuator}, abstract ={In this paper, a constrained nonlinear optimal control law is analytically developed for vehicle active suspension system considering the limitation of hydraulic actuator. In the design of the controller, the nonlinear characteristics of spring and damper forces and hydraulic actuator are considered. The control input is the displacement of the hydraulic valve spool which is bounded in practice and its constraint should be considered in the design process. In the proposed method, the control problem is firstly transformed to a constrained nonlinear optimization problem by performing a performance index defined as a weighted combination of predicted responses of nonlinear suspension system and control input. Then, this equivalent constrained optimization problem is solved using Kuhn-Tucker theorem to find the constrained optimal control law. The derived control law is in the closed form which is easy to solve and implementation. The controller performance is evaluated through computer simulation of the vehicle suspension model excited by a random road input. The obtained result indicate a remarkable decrease of the body acceleration which leads to the ride comfort. Meanwhile, other suspension responses including suspension and tire deflections are in suitable ranges.  }, Keywords = {active suspension system, constrained optimal control, nonlinear control, hydraulic actuator.}, volume = {11}, Number = {3}, pages = {25-34}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-397-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-397-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Bashiri, Saeed and Mobayen, Saleh and Bayat, Farh}, title = {Observer Designing for Discrete-Time Piecewise Linear Systems: Linear Matrix Inequalities Approach}, abstract ={In this paper, the state feedback and design problem of state observer are presented to stabilize the discrete-time piecewise linear systems. In this article, we have two discrete-time systems that one of them is the disturbed system and the other is the system without disturbance. The linear matrix inequalities approach, piecewise quadratic Lyapunov functions and the Finsler’s lemma are used to design the state observer. In addition to the above mentioned methods, H∞ control approach used to design the state observer for the system with external disturbance. The H∞  control approach undermines the disturbance signal and provides an appropriate estimation of the system states. In this paper, by using the Finsler’s lemma, a set of slack variables are introduced to reduce the design conservatism. The Simulation results show the high performance of the proposed method for stabilize the closed-loop system and achieve to the acceptable estimation of state variables.}, Keywords = {State observer, Static output feedback, Discrete-time systems, Linear matrix inequalities, Finsler’s lemma. }, volume = {11}, Number = {3}, pages = {35-49}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-390-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-390-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Golestani, Mehdi and Ebadollahi, Saeed and Smaeilzadeh, Seyed Maji}, title = {Robust Adaptive Control for a Class of Uncertain Nonlinear Systems: Integral Sliding Mode Control Approach Mehdi Golestani, Saeid Ebadollahi, Seyed Majid Smaeilzadeh}, abstract ={This paper investigates the problem of finite-time stabilization of a class of uncertain nonlinear systems and a controller is proposed based on combination of integral sliding mode control with finite-time state feedback. The proposed controller consists of two parts. One part rejects matched uncertainties and the other part provides finite time stability. An adaption mechanism is also employed to estimate unknown parameters of the system. The proposed control law guarantees finite-time convergence of the sliding variable in the presence of uncertainties and unknown parameters. By elimination of the reaching phase, in which the system states are quite sensitive to any uncertainties or disturbances, the robustness of the system is guaranteed throughout the entire response. Furthermore, the upper bound of disturbance and uncertainties is not required to be known in advance which makes the suggested controller more flexible in terms of implementation.}, Keywords = {Nonlinear control, robust adaptive control, integral sliding mode control, finite time state feedback.}, volume = {11}, Number = {3}, pages = {51-58}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-401-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-401-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {SarabadaniTafreshi, Ehsan and Nikranjbar, Abolfath}, title = {Fuzzy Adaptive Observer Based Control of Double Inverted Pendulum}, abstract ={In this paper, stabilization and trajectory tracking control of the double inverted pendulum (DIP) as a benchmark under actuated highly nonlinear dynamical system, attributed with specific control complexities using hybrid observer based indirect fuzzy adaptive control is investigated. Due to inherent nature of the process that the equal number of control inputs as the degrees of freedom of the plant are not available, therefore, setting up the control action faces with serious challenges. Meanwhile, inaccessibility assumption to some state parameters as the most important factor in designing the controller by means of the proposed control method is for the first time addressed stabilizing the specified plant in this research. In order to illustrate the performance of the proposed approach, specific simulation software is developed in Matlab/Simulink platform. Set of conducted simulation results and comparative studies with the published papers addressing the same aim, showing the capability and excellence of the proposed hybrid fuzzy adaptive observer control approach achieving the targets in terms of establishing stabilization, trajectory tracking and robustifying the under controlled plant.}, Keywords = {Fuzzy Adaptive Observer, Indirect Fuzzy Control, Double Inverted Pendulum (DIP)}, volume = {11}, Number = {3}, pages = {59-71}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-450-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-450-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2017} } @article{ author = {Mohammadzaman, Iman and MoafiMadani, Mohammad Jav}, title = {Robust Autopilot Design using Fuzzy Gain Scheduling}, abstract ={In this paper a robust autopilot is designed using fuzzy gain scheduling. At first the flight envelop is divided to sub regions using v-gap metric and a suitable operating point is selected in each region and robust static H∞ loop shaping controller is designed for the linearized model. Finally, fuzzy gain scheduling is used to interpolate the local controllers. Simulation results show the generality and effectiveness of the proposed control strategy in terms of the performance and robustness of the system.}, Keywords = {Robust autopilot, Fuzzy gain scheduling, H∞ loop shaping, v-gap metric}, volume = {11}, Number = {4}, pages = {1-11}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-406-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-406-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2018} } @article{ author = {Alamiyanharandi, Farinaz and Derhami, Vali}, title = {Feature Extraction from Depth Data using Deep Learning for Supervised Control of a Wheeled Robot}, abstract ={This paper proposes a framework of Supervised Deep Learning (SDL) for wheeled robot navigation in soft terrains with a focus on wall following and obstacle avoidance tasks. Here, it is supposed the robot is only equipped with a vision system (Kinect camera). The main challenge while using depth images is high dimensionality of images and extracting proper features of them with a purpose of reducing input dimensionality of controller. To do this, the deep learning is utilized in this paper and the appropriate features which are the representation of depth images are acquired. Four architectures are created using this features and the history of steering commands. These architectures are compared in WEBOT simulator. The experiments show that the proposed architecture with four groups of features including: the represented features of depth data, previous represented features, the position of trajectory in color image, and the history of previous steering commands can control the robot in soft terrain with a variety of obstacles as well.  }, Keywords = {Robot navigation, Supervised learning, Deep learning, Depth data}, volume = {11}, Number = {4}, pages = {13-24}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-467-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-467-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2018} } @article{ author = {Mohamadpor, Sammaneh and Binazadeh, Tahereh}, title = {Robust Observer-Based Synchronization of Unified Chaotic Systems in the Presence of Dead-Zone Nonlinearity Input}, abstract ={In this paper, the synchronization of unified chaotic systems in the presence of practical constraints is considered. Constraints that this paper is considered are: dead-zone nonlinearity input, model uncertainty, external disturbance and the unavailability of state variables. First, the dynamical model of the unified chaotic systems in the presence of aforesaid constraints is introduced. Then, an observer-based adaptive controller is designed which guarantees robust synchronization between two unified chaotic systems (i.e. master and slave systems). For this purpose, a theorem is given and according to a Lyapunov stabilization approach, it is guaranteed that the proposed controller leads to robust synchronization objective despite the dead-zone nonlinearity input and also uncertainty terms. Finally, the computer simulations show proper performance of the proposed law in robust synchronization of the unified chaotic systems}, Keywords = {unified chaotic systems, robust synchronization, nonlinear observer, dead-zone nonlinearity input, adaptive sliding mode}, volume = {11}, Number = {4}, pages = {25-36}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-413-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-413-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2018} } @article{ author = {Roozbehani, Sam and Nazifi, Hamed and Saki, Saman and Kanzi, Khalili}, title = {Identification and Torque Control of Claw Pole Eddy Current Dynamo meter}, abstract ={In this paper, the object is estimation and torque control of the claw pole eddy current dynamometer. The eddy current dynamometer is included DC excitation coil, poles and rotational cylinder that coupled to the electrical motor. Load testing of electrical motor in different operating point is done through torque control of dynamometer. The close loop system of eddy current dynamometer has two inner and outer control loops. In outer control loop, the torque should estimate. The torque estimation is presented as a function of DC excitation current and rotational speed. After that, as regards to comparison of reference torque and estimation torque, the reference current is determined. Finally, the control of DC current source is done to generate the reference current. Both controllers of loops are PI controller. The experimental and simulation results for 22.5 KW eddy current load is shown the efficiency of proposed estimation and control method. The implementing system is done by using the ARM-LPC-1788 micro controller.}, Keywords = {Claw pole eddy current dynamo meter, Identification and torque control, load testing of motor.}, volume = {11}, Number = {4}, pages = {37-46}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-371-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-371-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2018} } @article{ author = {ZamaniMohiabadi, Mostaf}, title = {A New Method for Measuring Contact Angle of Impacting Drop}, abstract ={In this paper, a new image processing technique has been proposed to measure the contact angle of symmetric and asymmetric drops. In our proposed method, the contact angle is calculated by analyzing the side view image of the drop without needing any liquid parameters. The procedure of the technique is according to the secant technique coupled with a Gaussian weighted function, as follows: at the beginning the exact location of the contact points is obtained by Harris corner detector function, then a series of points are selected on the drop boundary near the contact points. In the third step, a set of contact angles are estimated by passing secant lines through the contact point and each of the boundary points. In the final step, a gaussian weighted average function is applied to the calculated angles to estimate the main contact angle. The contact angle measurement algorithm is verified by comparing its results with the obtained measurements of a recent standard study. High accuracy, usability for all ranges of contact angles, applicability to both symmetric and asymmetric drops and being fully automatic are other advantages of the presented method.}, Keywords = {Measurement, Contact Angle, drop impact, Image Processing.}, volume = {11}, Number = {4}, pages = {47-55}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-416-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-416-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2018} } @article{ author = {Fayazi, Ali and Pariz, Nasser and Karimpor, Ali and HosseinNia, Hass}, title = {Robust Impedance Control of a Single-Link Flexible Robot Interacting with the Unknown Environment using Sliding Mode Control Method}, abstract ={: In this paper, a novel scheme based on sliding mode control method for impedance control of a single link flexible robot arm when it comes into contact with unknown environment, is presented. The proposed control strategy is robust against the changes of the environment parameters (such as stiffness and damping coefficient), the unknown Coulomb friction disturbances, payload and viscous friction variations. The proposed scheme is also valid for both constrained and unconstrained motions. In our new approach, the controller automatically switches from a free to a constrained motion mode therefore it does not need an algorithm to detect collision between the link and the environment. In this regard, impedance control is proposed with the inner loop position. This means that in the free motion, the applied force to the environment is zero and the reference trajectory for the inner loop position is the desired trajectory. In the constrained motion, the reference trajectory for the inner loop is determined by the desired impedance dynamic. Feasibility and effectiveness of the proposed control scheme are demonstrated via numerical simulations.}, Keywords = {Robust impedance control, Sliding mode control, Unknown disturbance observer, Single-link flexible arm, Unknown environment.}, volume = {11}, Number = {4}, pages = {57-71}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-436-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-436-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2018} }