@article{ author = {Yonesie, Behrooz and Sebghati, Ashkan and Shamaghdari, Saee}, title = {Constrained Optimal PID Controller Design: Convex-Concave Optimization Approach}, abstract ={In this paper, an algorithm is proposed to improve the constrained PID control design based on the convex-concave optimization. The control system is designed by optimizing a performance cost function, taking into account the stability and efficiency constraints with frequency domain analysis in which the sensitivity and complementary sensitivity concepts are used. It is shown, using a counter example, the previous methods are not effective for some systems, the optimization problem becomes unbounded and interrupted. To solve the problem, conditions where the optimization problem fails to have a response are analyzed and the previous limitations are eliminated by representing a new designing method. The performance of the proposed scheme is shown by applying it to the counter example. Moreover, the control system is designed for an unstable system.}, Keywords = {PID control design, convex-concave optimization, stability, sensitivity and complementary sensitivity constraints.}, volume = {14}, Number = {1}, pages = {1-10}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.1.1}, url = {http://joc.kntu.ac.ir/article-1-522-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-522-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Zarei, Farzad and Shafiei, Mohammad Hossein and Rahideh, Akbar}, title = {Analysis of Applying Event-Triggered Strategy on the Model Predictive Control}, abstract ={In this paper, the event-triggered strategy in the case of finite-horizon model predictive control (MPC) is studied and its advantages over the input to state stability (ISS) Lyapunov based triggering rule is discussed. In the MPC triggering rule, all the state trajectories in the receding horizon are considered to obtain the triggering rule. Clearly, the finite horizon MPC is sub-optimal with respect to the infinite-horizon case. This sub-optimality is considered as a coefficient to implement the MPC triggering rule and to increase the inter-execution time. However, to design a proper processing board to control this coefficient suitably, it is necessary to specify lower and upper bounds for it. The contribution of this paper is to determine an effective upper bound for this coefficient. By incorporating the sub-optimal lower bound instead of being 1, the conservatism decreases. This coefficient can be used as a tunable parameter in integrated or network control systems to compromise between the performance and inter-execution time. Simulation results depict the applicability of the proposed method and validate the theoretical results.}, Keywords = {event-triggered, model predictive control, sub-optimality, input-to-state-stability.}, volume = {14}, Number = {1}, pages = {11-24}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.1.11}, url = {http://joc.kntu.ac.ir/article-1-402-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-402-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Kamali, Sadegh and Amraee, Tooraj}, title = {Prediction of transient instability and unplanned islanding using phasor measurements data}, abstract ={in this paper a new algorithm has been proposed to predict unplanned islanding. To predict unplanned islanding, rotor angle and speed time series have been used. Times of fault occurrence and clearance are estimated using monitoring system response based on the variation of phasor measure data. The estimated times of fault occurrence and clearance are used to determine suitable calculation window for uncontrolled islanding prediction. The proposed algorithm is applied to IEEE 39 bus test system. The result shows that the objective function can be used to estimate fault occurring and clearance time to predict unplanned islanding.}, Keywords = {Islanding, Prediction, Transient instability, Optimization}, volume = {14}, Number = {1}, pages = {25-32}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.1.25}, url = {http://joc.kntu.ac.ir/article-1-439-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-439-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Dianati, Aref and Moaveni, Bij}, title = {Design of an Active Approach for Detection, Estimation and Short-Circuit Stator Fault Tolerant Control in Induction Motors}, abstract ={Three phase induction motors have many applications in industries. Consequently, detecting and estimating the fault and compensate it in a way that the faulty induction motor satisfies the predefined goals are important issues. One of the most common faults in induction motors is the short circuit of the stator winding. In this paper, an active fault-tolerant control system is designed and presented to compensate the effect of the short circuit fault in the stator of a three-phase induction motor. The introduced fault tolerant control system consists of an exponential unknown input observer to detect and estimate the fault. Also, based on the estimation results, control signals are made by employing a sliding mode controller to compensate the short circuit of the stator winding. The efficiency of the proposed system includes, fault detector, fault estimator and controller, is shown using simulation results.}, Keywords = {Induction motor, Short circuit stator winding fault, Fault-tolerant control system, Fault detection, Fault estimation.}, volume = {14}, Number = {1}, pages = {33-48}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.1.33}, url = {http://joc.kntu.ac.ir/article-1-600-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-600-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Rajabi, Mohammad Javad and Vali, Ahmad Reza and Behnamgol, Vahi}, title = {Design of integrated Guidance and control system in the pitch channel using observer based chattering free sliding mode theory}, abstract ={The design of integrated guidance and control system for flying objects is one of the research fields in the aerospace that is considered by researchers in recent years. Due to the nonlinearity of the kinematic and dynamic equations of the homing interceptors in the terminal phase and also existence of uncertainties such as target maneuvers, external disturbances and variations in aerodynamic coefficients, siding mode control theory is a suitable method for designing integrated guidance and control system. One of the most problem of sliding mode is the presence of high frequency oscillations in the control signal that is called chattering, which makes it impossible to implement this controller. A method for smoothing the control signal in a sliding mode is to use a disturbance observer. In this paper, the control signal is completely smooth, with having the disturbances estimation and using a different scheme compared with standard sliding mode. Also, the finite time convergence is guaranteed in the presence of uncertainty. The proposed guidance and control system are evaluated in computer simulation.}, Keywords = {Integrated guidance and control, sliding mode control, disturbance observer, finite time convergence.}, volume = {14}, Number = {1}, pages = {49-63}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.1.49}, url = {http://joc.kntu.ac.ir/article-1-577-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-577-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Arjmandzadeh, Ameneh and Yarahmadi, Maji}, title = {Designing a Quantum Genetic Controller for Tracking the Path of Quantum Systems}, abstract ={Based on learning control methods and computational intelligence, control of quantum systems is an attractive field of study in control engineering. What is important is to establish control approach ensuring that the control process converges to achieve a given control objective and at the same time it is simple and clear. In this paper, a learning control method based on genetic quantum controller approach is presented. For tracking a time variant function trajectory, in a closed quantum system, the presented controller is used. For this purpose a constrained optimization problem, based on minimization of difference between a given trajectory and system states subject to an iteration relation of the dynamical solution be satisfied, is designed. According to high convergence rate in quantum genetic algorithm, a quantum genetic algorithm for solving the optimization problem is used. A stochastic measure for observation the initial population is used. Efficient an optimal tracking, with at least tracking errors and at least learned chattering are advantages of the presented method. A couple of examples for demonstrating the advantages are simulated. Simulation results reflect the good performance of the proposed method for controlling the quantum systems.}, Keywords = {Quantum Genetic Algorithm, Tracking Algorithm, Quantum Systems, Learning Control}, volume = {14}, Number = {1}, pages = {65-71}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.1.65}, url = {http://joc.kntu.ac.ir/article-1-430-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-430-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Abooee, Ali and Ahmadzadeh, Hamid Reza and Haeri, Mohammad and Arefi, Mohammad Mehdi}, title = {Designing Robust Finite-Time Nonlinear Torques for a n-DOF Robot Manipulator with Uncertainties, Sector and Dead-Zone Nonlinearities}, abstract ={In this paper, a complete dynamical model is presented for an uncertain -DOF robot manipulator containing description of sector and dead-zone nonlinearities. Next, robust finite-time tracking problem of desired trajectories is declared and formulated for the aforementioned robot manipulator. By defining innovative nonlinear sliding manifolds and developing the nonsingular terminal sliding mode control, several types of input torques are designed to exactly reach configuration variables of robot's joints to desired paths within the finite times in the presence of uncertainties, sector and dead-zone nonlinearities. By utilizing some applicable lemmas and well-known inequalities, for each class of the proposed input torques, the global finite-time stability of the closed-loop robot system is proven analytically. Also, several new formulas are extracted for determining the convergence finite times of the closed-loop system. These formulas demonstrate that mentioned times are dependent on robot's initial conditions and optional parameters of the suggested torques. Finally, by using MATLAB software, all classes of the designed torques are numerically simulated onto the SCARA industrial robot manipulator and obtained results show the acceptable performance of the suggested control scheme.}, Keywords = {n-DOF Robot manipulator, Sector and dead-zone nonlinearities, Robust finite-time tracking, Nonsingular terminal sliding mode control (NTSMC), SCARA industrial robot.}, volume = {14}, Number = {1}, pages = {73-91}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.1.73}, url = {http://joc.kntu.ac.ir/article-1-520-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-520-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Abooee, Ali and eslami, Mehran and Haeri, Mohamm}, title = {Design of Robust Finite-Time Nonlinear Controllers for a 6-DOF Autonomous Underwater Vehicle for Path Tracking Objective}, abstract ={In this paper, kinematic and dynamic equations of a 6-DOF (Degree Of Freedom) autonomous underwater vehicle (6-DOF AUV) are introduced and described completely. By developing the nonsingular terminal sliding mode control method, three separate groups of control inputs are proposed for the autonomous underwater vehicle subjected to uncertainties including parametric uncertainties, unmodeled dynamics, and unknown disturbances from ocean. All classes of suggested inputs are able to steer the mentioned underwater vehicle to the desired path within finite times. For all of them, innovative nonlinear sliding surfaces are defined possessing several optional parameters. The global finite-time stability is proven for the closed-loop system of the aforementioned underwater vehicle injected by each class of proposed inputs. More, three applicable inequalities are derived to determine the convergence finite times related to suggested inputs. Obtained inequalities reveal that the mentioned finite times are dependent on initial conditions and optional parameters of control inputs. Finally, three suggested inputs are separately simulated on the Naval Postgraduate School Autonomous Underwater Vehicle II (NPS AUV II). Simulation results illustrate that all proposed inputs can fulfill the trajectory tracking objective for the NPS AUV II properly.}, Keywords = {6-DOF autonomous underwater vehicle (6-DOF AUV), Robust finite-time tracking, Nonsingular terminal sliding mode control, sliding mode dynamic (sliding motion), NPS AUV II.}, volume = {14}, Number = {1}, pages = {93-113}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.1.93}, url = {http://joc.kntu.ac.ir/article-1-509-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-509-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Ghesmati, Mohammad and HeyraniNobari, Jafar and Arvan, Mohammadreza and Kashaninia, Abdorrez}, title = {Gyroscope Drift Error Analysis in the Position-Independent Navigation Algorithm of a stable platform Inertial System}, abstract ={  This paper deals with analyzing gyroscope drift error in the position-independent navigation algorithm of a stable platform inertial system. Most of the stable platform navigation algorithms proposed in the literature have drawbacks of estimating position rates for alignment commands. Not only the estimating position rates are the basic source of position errors, but they also make the alignment commands and their implementation more complicated. The major advantage of the proposed design is that the angular velocity commands of gyroscopes are independent of the system position and are proportional to accelerations’ integrals, all of which eliminate, the errors resulted from the estimation of the longitude and latitude rates. In this paper, the stable platform system is modeled, and plate alignment procedure is determined and the initial conditions of navigation phase are calculated. In stationary conditions, the position error propagation for the fixed gyroscope drift is obtained analytically. The position error of the proposed algorithm propagates linearly with time, while in the strapdawn algorithm; this error propagates as the cube of time.}, Keywords = {gyroscope drift, navigation algorithm, stable platform inertial system, position error propagation, alignment.}, volume = {14}, Number = {2}, pages = {1-15}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.2.1}, url = {http://joc.kntu.ac.ir/article-1-569-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-569-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {BasohbatNovinzadeh, Alireza and Asadimatak, Mojtab}, title = {Design of optimal central guidance of an underwater vehicle in the modeled ship wake}, abstract ={The purpose of this paper is to provide a new algorithm for guidance of an underwater vehicle to reach its target, and demonstrate its effectiveness by simulation with a computer code. The meant of target in here is to chase a ship on the surface of the water. In order to do this, one of the most effective methods is to follow the ship wake which produced behind it. Disadvantages of wake guidance can be mentioned as zigzag motion for rediscovering the wake in its path which according to the decreasing linear speed of approaching the target, sometime it doesn't reach the target and collision fails. Therefore, various ideas, with both positive and negative aspects, have been introduced to improve movement in the wake path. In this paper, a new guidance algorithm for running an underwater vehicle at the center of wake, which is named central guidance, is introduced that results an optimal path that by using geometric bases, determining the center of the wake in guidance phase like a central line. Then, using the optimal least effort method, the path to central line is presented. Also, to test this method, the wake of a ship is modeled and programmed and its code is used in the guidance program to simulate the performance of this method.}, Keywords = {Guidance, Optimal, Underwater vehicle, Wake, Central guidance.}, volume = {14}, Number = {2}, pages = {17-25}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.2.17}, url = {http://joc.kntu.ac.ir/article-1-548-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-548-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Allahverdi, Farideh and Ramezani, Amin and Forouzanfar, Mehdi}, title = {Sensor Fault Detection for a class of Uncertain Nonlinear Systems Using Sliding Mode Observers}, abstract ={This paper deals with the issues of sensor fault detection for a class of Lipschitz uncertain nonlinear system. By definition coordinate transformation matrix for system states and output system, at first the original system divided into two subsystems. The first subsystem includes uncertainties but without any sensor faults and the second subsystem has sensor faults but is free of uncertainties. Then sensor faults in second subsystem are formed as actuator faults. For the aim of fault detection (FD) two sliding mode observers are designed for two subsystems. Stability condition is obtained based on Lyapunov approach. The necessary matrices and parameters to design observers are obtained by solving linear matrix inequality (LMI) problem.  Finally, simulation example is given to illustrate the effectiveness proposed approach.}, Keywords = {fault detection, Lipschitz, nonlinear system, sliding mode observer, LMI}, volume = {14}, Number = {2}, pages = {27-33}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.2.27}, url = {http://joc.kntu.ac.ir/article-1-583-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-583-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {KeymasiKhalaji, Ali and Yazdani, Abolfazl}, title = {Backward and forward path following control of a wheeled robot}, abstract ={A wheeled mobile robot is one of the most important types of mobile robots. A subcategory of these robots is wheeled robots towing trailer(s). Motion control problem, especially in backward motion is one of the challenging research topics in this field. In this article, a control algorithm for path-following problem of a tractor-trailer system is provided, which at the same time provides the ability to control the backward and forward motions of the tractor-trailer robot. To this end, first the kinematic equations of a wheeled robot with a trailer is extracted and then reference paths for the robot are defined. Path following equations, in addition to the robot mathematical equations, also represent the robot movement with respect to the reference path. Then, by using transformations the system equations are expressed in a new space and subsequently a control algorithm is proposed for the system. The investigated control law make the system asymptotically stable around the reference path. Finally, obtained results have been presented which guarantee the designed controller.}, Keywords = {Wheeled mobile robot, Asymptotic stability, Backward motion.}, volume = {14}, Number = {2}, pages = {35-45}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.2.35}, url = {http://joc.kntu.ac.ir/article-1-572-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-572-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Medi, Bijan and BakueiKatrimi, Hami}, title = {Dynamic Simulation and Control of the Demethanizer Unit in Natural Gas Refining Plant}, abstract ={The NGL refinery of the Sirri Island has a major role in the production of high-value products. One of the most important refinery units is the demethanizer unit, comprising of a complex network of distillation towers and heat exchangers. In the first step, using the Aspen Hysys software, a proper steady state model was developed for this unit in which the simulation of the main equipment that is, distillation towers and heat exchangers were carried out. The steady state simulation results are in good agreement with the data gathered from the real plant. Then, the simulation was transferred from steady state to dynamic mode in which the main equipment such as distillation towers and control valves were sized. Here, the available controllers which are currently present in the real plant, were added to the simulation. Using the auto tuning variation (ATV) method and by considering the desired behavior namely, stability, fast response, and absence of oscillation, the overall performance of the controllers were examined under different scenarios. Based on the results, it was identified that with carefully tuning the controllers parameters, much better performance can be achieved.}, Keywords = {Dynamic simulation, Hysys, Demathanizer unit, Distillation tower, LNG heat exchanger, ATV method}, volume = {14}, Number = {2}, pages = {47-61}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.2.47}, url = {http://joc.kntu.ac.ir/article-1-525-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-525-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Motaharifar, Mohammad and Taghirad, Hamid and Mohammadi, Seyed-Farz}, title = {A Robust Controller with Online Authority Transformation for Dual User Haptic Training System}, abstract ={In this study, a force reflection control structure is developed for the surgery training haptic system. In the surgery training haptic system, the surgical operation is cooperatively performed by a trainer and a trainee. The participation of each surgeon in the operation is established through their own haptic consoles. Although the operation is primarily performed by the trainee, the trainer is able to interfere into the procedure in case of observing any deviation on the part of trainee and correct the probable mistakes. To transform the task authority between the trainer and the trainee, the hand force of the trainer is reflected to the hands of the trainee. Utilizing the haptic system, the position of the trainee is transformed to the hands of the trainer, thus the trainer has necessary information regarding the current position of the surgical operation. Stabilizing controllers are developed for each haptic console. The stability of the closed loop system is analyzed using the Input-to-State Stability (ISS) approach. The simulation results confirmed the appropriate performance of the proposed structure.}, Keywords = {Robotics, Haptic System, Surgery Training, Robust Control.}, volume = {14}, Number = {2}, pages = {63-77}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.2.63}, url = {http://joc.kntu.ac.ir/article-1-581-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-581-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Moradi, Elahe}, title = {Finite time stabilization of time-delay nonlinear systems with uncertainty and time-varying delay}, abstract ={In this paper, the problem of finite-time stability and finite-time stabilization for a specific class of dynamical systems with nonlinear functions in the presence time-varying delay and norm-bounded uncertainty terms is investigated. Nonlinear functions are considered to satisfy the Lipchitz conditions. At first, sufficient conditions to guarantee the finite-time stability for time-delay nonlinear system with uncertainties and based on the Lyapunov approach is presented. In the following, sufficient conditions to ensure finite time stabilization the considered system with state feedback are presented. In the proofs of proposed theorems are used from the appropriate Lyapunov-Krasovskii function and newton-Libniz-formula that can reduce the conservative. Also, all of the obtained conditions in this paper are delay-dependent and presented as linear matrix inequalities .Finally, the numerical examples and simulations exhibit the effectiveness of the proposed methods.}, Keywords = {Finite-time stabilization, Time-varying delay, Linear matrix inequalities, Nonlinear function}, volume = {14}, Number = {2}, pages = {79-87}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.2.79}, url = {http://joc.kntu.ac.ir/article-1-589-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-589-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Jafari, Pouria and Teshnehlab, Mohammad and Tavakoli-Kakhki, Mahs}, title = {Designing of a Control Approach for Uncertain Fractional Order Systems with Indirect Adaptive Fuzzy Controller and Frational Order Sliding Mode}, abstract ={Todays according to the noticeable growth of the fractional order calculus in engineering sciences, this field has converted to a beloved context for researchers especially Control engineers. There have been designed various fractional order control methods accordingly. Also, it has been proved that adaptive fuzzy controllers are capable of controlling uncertain systems with disturbance if necessary, conditions have been provided. For this reason, in this paper, an indirect adaptive TSK fuzzy controller with fractional order sliding mode control is introduced to control a certain class of nonlinear fractional order systems. The fractional order stability of the closed-loop system is studied and based on a fractional order Lyapunov function candidate; fractional order adaptation laws are obtained. The fractional order adaptation law is proposed to adjust the free parameters in the consequence part of the adaptive TSK system. In addition, a robust adaptive law is proposed to reduce the influence of approximation error between true system functions and TSK fuzzy controller. Hence, using the fractional order Lyapunov theorem, the Mittag-Leffler stability of the closed-loop system is guaranteed. The numerical simulation shows validity and effectiveness of the introduced control strategy for fractional order nonlinear models that perturbed by disturbance and uncertainty.}, Keywords = {Adaptive TSK Fuzzy controller, Fractional order sliding mode, and Uncertain Fractional order systems.}, volume = {14}, Number = {2}, pages = {89-99}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.2.89}, url = {http://joc.kntu.ac.ir/article-1-584-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-584-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Tolouei, Hamed and AliyariShoorehdeli, Mahdi}, title = {Design of nonlinear parity approach to fault detection and identification based on Takagi-Sugeno fuzzy model and unknown input observer in nonlinear systems}, abstract ={In this study, a novel fault detection scheme is developed for a class of nonlinear system in the presence of sensor noise. A nonlinear Takagi-Sugeno fuzzy model is implemented to create multiple models. While the T-S fuzzy model is used for only the nonlinear distribution matrix of the fault and measurement signals, a larger category of nonlinear systems is considered. Next, a mapping to decouple fault and measurement noise will be used in each fuzzy subsystems. Then, an unknown input observer is implemented to estimate the states of the subsystems subjected to measurement noise. To guarantee asymptotic stability of error dynamic, quadratic Lyapunov function using bilinear matrix inequality is introduced. Finally, the nonlinear parity approach will be used to generate residual to detect and estimate occurred fault(s) in the system. A simulation study on the train system is presented to demonstrate the efficiency of the proposed method.}, Keywords = {fault detection, nonlinear system, nonlinear matrix inequalities, unknown input observer, TS fuzzy model, mapping.}, volume = {14}, Number = {3}, pages = {1-11}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.3.1}, url = {http://joc.kntu.ac.ir/article-1-641-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-641-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {ImanpourGhiehbashi, Amir and Arvan, Mohammad Reza and Koohmaskan, Yousef}, title = {Design and Implementation of a Control System for a DC Servomechanism with an Internal Dither Created by a Limit Cycle}, abstract ={Purpose of this paper is designing of a positional angle control system for a DC servomechanism. The servomechanism system consists of a direct current (DC) motor, a motor driver, a measuring sensor, and a control board to adjust angular position. The motor in the servomechanism has a non-linear element called dead-zone. Presence of dead-zone causes the nonlinear behavior of system. Injecting a high frequency signal called dither to input of nonlinear element is a method to reduce the nonlinear effects in that system. There are two approaches of injecting dither to system, the first is generating dither and injecting independently and the second is generating dither by creating a limit cycle. In this paper, a relay and an appropriate controller are exploited to create a limit cycle with adjustable amplitude and frequency in the servomechanism system. This limit cycle generates an internal dither in the system. The frequency of limit cycle is adjustable by determining controller coefficients. Finally, according to the simulation results, the servomechanism was implemented practically and the validation is performed.}, Keywords = {Servomechanism, Dither Signal, Limit Cycle, DC Motor}, volume = {14}, Number = {3}, pages = {13-21}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.3.13}, url = {http://joc.kntu.ac.ir/article-1-596-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-596-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {HosseingholizadehAlashti, Mahdieh and HeyraniNobari, Jafar}, title = {Designing of P controller to obtain desired time domain scenario of the output}, abstract ={One of the most applicable and simple controllers, which always attracts the researcher's attention to obtain a proper closed-loop performance, is the P controller. Proper performance of a system defined in the presence of controller has been proposed with different expressions like rising time, settling time and maximum overshoot. But in the view of this paper, the proper performance of the system is the output's specific value at predefined times and it determines the controller gains at time intervals. In reality, a scenario is considered for the output which defines output's values at several times .These times make time intervals and variable gains in these intervals must be applied to the system. To ensure the existence of the P controller gains for this purpose, the output value must be in an admissible range at any specific time. In this paper, this admissible range is obtained for different cases of a system parameter and initial value. Also, controller gain in some admissible ranges wasn't unique and each choice of it has its specific properties. Since in the present paper, this work is done with initial values, we can properly switch between several P controllers in some phases to achieve a predefined scenario of the output in the time domain.}, Keywords = {scenario of system output in time domain, corresponding gain of desired output value, time variable P controller.}, volume = {14}, Number = {3}, pages = {23-41}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.3.23}, url = {http://joc.kntu.ac.ir/article-1-586-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-586-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Nekoukar, Vahab and MahdianDehkordi, Nim}, title = {Fuzzy Adaptive Control of Unmanned Aerial Vehicle for Carrying Time-Varying Cargo on Predefined Path}, abstract ={At present, the use of unmanned aerial vehicles (UAVs) has been increased dramatically. The reasons for this development are cheapness, smallness, simplicity, and diversity of missions. The simplicity of guidance and control of multi-rotor drones is that they are equipped with an autopilot system. This system is responsible for flying control. UAVs do not have a high weight and often have three-phase high-speed motors which makes a fast and complex flight dynamics. In this paper, a fuzzy adaptive PID controller is applied to control an UAV for carrying a time-varying cargo. The performance of the flight control system implemented on a quadrotor is evaluated, experimentally. A sandbox is used to model the time-varying mass. The sand passes from the beginning of the fly through some holes of the box, and after about a minute all the sand is poured. At the end of the paper, the practical results are compared with results obtained by fixed-parameter PID controller.}, Keywords = {Unmanned aerial vehicle, fuzzy adaptive PID, flight control, autopilot system.}, volume = {14}, Number = {3}, pages = {43-51}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.3.43}, url = {http://joc.kntu.ac.ir/article-1-649-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-649-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Kazemy, Ali}, title = {Synchronization analysis of complex dynamical networks with hybrid coupling with application to Chua’s circuit}, abstract ={Complex dynamic networks have been considered by researchers for their applications in modeling and analyzing many engineering issues. These networks are composed of interconnected nodes and exhibit complex behaviors that are resulted from interactions between these nodes. Synchronization, which is the concept of coordinated behavior between nodes, is the most interested behavior in these networks. This paper deals with the synchronization of complex dynamical networks with time-delays both in the states of the nodes and coupling connections between them. Moreover, constant coupling, discrete-delay coupling, and distributed-delay coupling are considered to form a hybrid coupling. Therefore, larger class and more complicated complex dynamical networks can be considered for the synchronization problem. After defining the synchronization definition, some criteria are obtained and presented in the form of linear matrix inequalities with help of the Lyapunov-Krasovskii theorem to ascertain the synchronization between each node of the network. Finally, the method is utilized for synchronization analysis of coupled Chua’s circuits which has been simulated numerically.}, Keywords = {Synchronization, Complex dynamical network, Lyapunov–Krasovskii, Time-delayed systems, Chua’s circuit}, volume = {14}, Number = {3}, pages = {53-61}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.3.53}, url = {http://joc.kntu.ac.ir/article-1-638-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-638-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Eskandarpour, Abolfazl and Dehghan, S.M. Mehdi and Karimi, Jalal}, title = {Designing a predictive guidance and control system for maneuverable ground moving target tracking in 3D space using a Hexarotor}, abstract ={In this paper, the continuity of tracking a ground moving target using a Hexarotor is considered in the presence of sudden changes in direction, deceptive movements, temporary departure from the field of view (FOV) and changes in the height of the target. In this regard, a hierarchical guidance and control system for target tracking problem in an unknown environment and disturbances is proposed. In the inner loop, a constrained model predictive controller is designed to eliminate the environmental disturbances and also to ensure the stability against the rapid movement of the target considering the constraints on the dynamic of the Hexarotor. In the outer loop of the controller, the ability of the Hexarotor in changing its height helps the Hexarotor to preserve the ground moving target despite the sudden changes in the target direction and its temporal exitance from the field of view. Also, the controller provides an optimized control effort in a situation where the target attempts to reduce the energy level and endurance of the Hexarotor. In order to ensure the performance of the proposed system, the stability of the closed-loop system is guaranteed by defining a final state penalty function. The simulation results show the effectiveness of the proposed controller in ground moving target tracking in the presence of the environmental disturbances, the variation of the target altitude, and the deceptive movement of the target.}, Keywords = {fault detection, nonlinear system, nonlinear matrix inequalities, unknown input observer, TS fuzzy model, mapping.}, volume = {14}, Number = {3}, pages = {63-74}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.3.63}, url = {http://joc.kntu.ac.ir/article-1-625-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-625-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Nobahar, Behzad and Shoaran, Maryam and KarimianKhosroshahi, Ghader}, title = {Ball Trajectory Estimation and Robot Control to Reach the Ball Using Single Camera}, abstract ={In robotics research, catching a projectile object with a robotic system is one of the challenging problems. The outcome of these researches can be used in a wide range of applications such as video surveillance systems, analysis of sports videos, monitoring programs for human activities, and human-machine interactions. In this paper, we propose a new vision-based algorithm to estimate the trajectory of a projectile, which estimates the time and the position of the projectile's collision with the robot's working space in real-time. We use sub-pixel calculations and present an improved algorithm for estimating the center of the ball. We evaluate the performance of different trajectory estimation algorithms and also provide a real-time hardware implementation of our method on a designed robot. Moreover, the combination of single-camera and gyroscope information is studied in this paper. The results show that the proposed algorithm is capable of correctly estimating the ball's trajectory and has a very good performance against the noise.}, Keywords = {Machine Vision, Trajectory Estimation, Visual Servoing, Ball Detection, Single Camera.}, volume = {14}, Number = {3}, pages = {75-87}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.3.75}, url = {http://joc.kntu.ac.ir/article-1-630-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-630-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Yousefi, Mohammad and Jafari, Reza and AbrishamiMoghadam, Hami}, title = {Employing dual frequency phase sensitive demodulation technique to improve the accuracy of voltage measurement in magnetic induction tomography and designing a labratoary prototype}, abstract ={Magnetic induction tomography (MIT) is a promising modality for noninvasive imaging due to its contactless technology. Being a non-contact safe imaging technique, MIT has been an appropriate method in compare to other electrical tomography. In this imaging method, a primary magnetic field is applied by excitation coils to induce eddy currents in the material to be studied and a secondary magnetic field is detected from these eddy currents using sensing coils. Image is then reconstructed using measurement data, initial estimstion of electrical conductivity and iterative solution of forward and inverse problems. In the developed 16-coilMIT system, dual frequency phase sensitive demodulation technique is employed to improve the receiver coil voltages measurment. In the dual frequency technique, an auxiliary frequency is used for improving the measurement accuracy and the real and imaginary parts of coil voltages measured in the two different low and high frequency, independently.}, Keywords = {magnetic induction tomography, magnetic induction imaging, phase-sensitive demodulation, magnetic measurment.}, volume = {14}, Number = {3}, pages = {89-102}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.3.89}, url = {http://joc.kntu.ac.ir/article-1-626-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-626-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Moaveni, Bijan and Shafaati, Mehrsh}, title = {Scaling, Modeling and Traffic Control of a Real Railway Network using Max-plus Algebra and Model Predictive Control}, abstract ={Delay time recovery can increase the efficiency of the railway network and increase the attractiveness of railway transport against other transportation systems. This article presents a new dynamical model of railway system. The proposed model is a discrete event systems that is defined based on the deviation of travel time and deviation of stop time of trains. Due to the existence of multiple substations along the path and the possibility of solving the control problem at an acceptable time, the realization of the real railway network of the Islamic Republic of Iran into a smaller network has been used without losing the integrity of the issue. The Max-Plus is used to model the dynamics of traffic along the route and Model Predictive Control is used to control the traffic. The goals of the control system are reduction of time delay along the route and eliminate it by reducing the train travel time between stations and change in meeting or not meeting time scheduled trains in the interface stations. In the final section of the paper, simulation results are presented to show the validity of the proposed model as well as the successful performance of the MPC system. It should be noted that in this study, modeling and simulations have been done based on actual traffic information in the main lines of the Islamic Republic of Iran Railways.}, Keywords = {Dynamic Modeling of Railway Traffic, Max-Plus Algebra, Model Predictive Control, Time Delay Recovery.}, volume = {14}, Number = {3}, pages = {103-116}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.29252/joc.14.3.103}, url = {http://joc.kntu.ac.ir/article-1-550-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-550-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2020} } @article{ author = {Jalalipoor, Alireza and KardehiMoghaddam, Reihaneh}, title = {Decentralized and Cooperative Multi-Sensor Multi-Target Tracking With Asynchronous Bearing Measurements}, abstract ={Bearings only tracking is a challenging issue with many applications in military and commercial areas. In distributed multi-sensor multi-target bearings only tracking, sensors are far from each other, but are exchanging data using telecommunication equipment. In addition to the general benefits of distributed systems, this tracking system has another important advantage: if the sensors are sufficiently spaced apart, the target state is observable and the maneuver is not necessary by sensors. In this work, Multi-sensor multi-target bearings only tracking with decentralized architecture and asynchronous measurements is newly proposed. In this study, with the help of the idea of ​​composite measurements and taking into account the time of measurements in the calculations, while overcoming the asynchronous of the measurements, the nonlinear effects in the measurement equation are also eliminated. Also, diffusive filtering is used to exploit the information of neighboring sensor agents to improve the estimates. The simulations show that the system designed in this research can well detect targets and track them with acceptable accuracy.}, Keywords = {Bearings-only Tracking, Multi-Agent Systems, Decentralized Systems, Cooperative Control, Diffusive Filters}, volume = {14}, Number = {4}, pages = {1-12}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.4.1}, url = {http://joc.kntu.ac.ir/article-1-676-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-676-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {Khoshroo, Seyed Ali and Khasteh, Seyed Hossei}, title = {Increase the speed of the DQN learning process with the Eligibility Traces}, abstract ={To accelerate the learning process in high-dimensional learning problems, the combination of TD techniques, such as Q-learning or SARSA, is usually used with the mechanism of Eligibility Traces. In the newly introduced DQN algorithm, it has been attempted to using deep neural networks in Q learning, to enable reinforcement learning algorithms to reach a greater understanding of the visual world and to address issues Spread in the past that was considered unbreakable. DQN, which is called a deep reinforcement learning algorithm, has a low learning speed. In this paper, we try to use the mechanism of Eligibility Traces, which is one of the basic methods in reinforcement learning, in combination with deep neural networks to improve the learning process speed. Also, for comparing the efficiency with the DQN algorithm, a number of Atari 2600 games were tested and the experimental results obtained showed that the proposed method significantly reduced learning time compared to the DQN algorithm and converges faster to the optimal model.}, Keywords = {Deep Neural Networks, Deep Q Networks (DQN), Eligibility Traces, Deep Reinforcement Learning.}, volume = {14}, Number = {4}, pages = {13-23}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.4.13}, url = {http://joc.kntu.ac.ir/article-1-668-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-668-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {Sabzevari, Sanaz and Vali, Ahmad Reza and Arvan, Mohammad Reza and Dehghan, Seyyed MohammadMehdi and Ferdowsi, Mohammad Hossei}, title = {Comparison Performance of Stochastic Estimators and Symmetry-Preserving Observer to Determine Nanosatellite Attitude with a Single-Sensor Magnetometer}, abstract ={Designing the estimator that can determine the attitude with a single sensor is vital due to the limited weight and volume in the nano-satellite, the problems caused by the limited lifetime of the mechanical gyroscope in the long term and the eclipse phenomenon. To compensate for data deficiency, a two-nested filter has been utilized in this paper. To this end, the attitude in the second filter is estimated using the sensor data and the magnetic field derivative estimation from the first filter by the extended Kalman filter. Two stochastic algorithms named as multiplicative extended Kalman filter and square-root unscented quaternion estimator are compared with the proposed symmetry-preserving nonlinear observer in order to obtain an appropriate accuracy for determining the attitude of the nano-satellite, which has only a three-axis magnetometer. The proposed method is based on invariant observers under the action of the Lie group. The moving frame approach has been used so that the observer's parameters can be adjusted through the invariant error dynamic equations. Simulation results confirm an acceptable accuracy in all three algorithms for both time and frequency response analyses. However, the root mean square error of the attitude error with a nonlinear observer is much less than the stochastic algorithm in case of a larger initial estimation error. Furthermore, this approach guarantees convergence by the Lyapunov stability proof owing to setting the parameters with periodic differential Riccati equations.}, Keywords = {Nano-satellite attitude determination, only magnetometer data, stochastic quaternion estimators, symmetry preserving nonlinear observe}, volume = {14}, Number = {4}, pages = {25-41}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.4.25}, url = {http://joc.kntu.ac.ir/article-1-662-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-662-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {EbrahimiBavili, Robab and Akbari, Ahmad and MahboobiEsfanjani, Rez}, title = {Bilateral Teleoperation System in the Presence of Non-passive Interaction Forces and Actuators Fault}, abstract ={This paper addresses the asymptotic stability, position and force tracking problem in the nonlinear bilateral teleoperation system in the presence of non-passive interaction forces, varying time-delay in communication channel and actuators fault occurrence. For this aim, a passive Fault Tolerant Control (FTC) law is presented which uses the joint positions and velocities of local and remote manipulators to reach control ends. Using the Lyapunov-Krasovskii theorem, sufficient conditions for asymptotic stability and position tracking are derived in terms of Linear Matrix Inequalities (LMIs), to tune controller parameters. The main contribution of the proposed method is that can compensate the bias fault and loss of effectiveness of actuators in nonlinear teleoperation system. Also the asymptotic stability of positions errors in the system with non-passive interaction forces is assured using the integral control. Simulation results of teleoperation system with 2 and 3 degree of freedom manipulators with proposed method and comparison to some rival method show the effectiveness and advantages of the proposed method.}, Keywords = {Bilateral Teleoperation system, Non-passive Interaction Forces, Actuator Fault, Asymptotic Stability and Position and Force Tracking}, volume = {14}, Number = {4}, pages = {43-54}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.4.43}, url = {http://joc.kntu.ac.ir/article-1-655-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-655-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {Nikanjam, Amin and Abdoos, Monireh and MahdaviMoghadam, Mahnoosh}, title = {Collaborative Multi-Agent Reinforcement Learning in Dynamic Environments using Knowledge Transfer for Herding Problem}, abstract ={Nowadays, collaborative multi-agent systems in which a group of agents work together to reach a common goal, are used to solve a wide range of problems. Cooperation between agents will bring benefits such as reduced operational costs, high scalability and significant adaptability. Usually, reinforcement learning is employed to achieve an optimal policy for these agents. Learning in collaborative multi-agent dynamic environments with large and stochastic state spaces has become a major challenge in many applications. These challenges include the effect of size of state space on learning time, ineffective collaboration between agents and the lack of appropriate coordination between decisions of agents. On the other hand, using reinforcement learning has challenges such as the difficulty of determination the appropriate learning goal or reward and the longtime of convergence due to the trial and error in learning. This paper, by introducing a communication framework for collaborative multi-agent systems, attempts to address some of these challenges in herding problem. To handle the problems of convergence, knowledge transfer has been utilized that can significantly increase the efficiency of reinforcement learning algorithms. Cooperation and Coordination and between the agents is carried out through the existence of a head agent in each group of agents and a coordinator agent respectively. This framework has been successfully applied to herding problem instances and experimental results have revealed a significant improvement in the performance of agents.}, Keywords = {Collaborative multi-agent system, Reinforcement learning, Knowledge transfer, Herding problem.}, volume = {14}, Number = {4}, pages = {55-66}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.4.55}, url = {http://joc.kntu.ac.ir/article-1-642-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-642-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {Rohani, Mehrdad and farsi, hassan and Zahirimamghani, Seyyed Hami}, title = {Moving object tracking in video by using fuzzy particle swarm optimization algorithm}, abstract ={Nowadays, one of the most fundamental processes for realization video of contents is the object tracking, in which the process of location the moving object is performed in each video frame. In tracking process, the target must be described by a feature. In this paper, for the purpose of describing the target and removing the appearance sensitivity, the weighted color histogram is used as a target feature in order to reduce the effect of edge pixels on the target feature. This reduces the sensitivity of the algorithm to change deformation, scale variation and rotation, as well as the occlusion on the description of target feature. In the proposed method, particle swarm optimization algorithm has been used for search process. Maximization of the similarity function and calculating the minimum Bhattacharyya distance are used to determine target location. The fuzzy control parameters are used for the particle swarm optimization algorithm, which provides a novel method, which can regulate each control parameter and update according to the different states of each particle in each generation. The improved particle swarm algorithm is evaluated with 11 benchmark functions. The obtained results by improved algorithm show that appropriate convergence in a low number of iterations. The proposed method compared to state-of-the-art methods provides high performance in the success and precision rate on the OTB50 dataset.}, Keywords = {Object tracking, Improved particle swarm optimization algorithm, Weighted color histogram feature.}, volume = {14}, Number = {4}, pages = {67-79}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.4.67}, url = {http://joc.kntu.ac.ir/article-1-672-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-672-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {Valadbeigi, Amir Parviz and KhakiSedigh, Ali and Lewis, Frank.l and MoarefianPoor, Ali}, title = {Cooperative Robust H-∞ Output Consensus in Continuous-Time Heterogeneous Multi-Agent Systems Using Integral Reinforcement Learning Method}, abstract ={: The Robust Cooperative Output Consensus (RCOC) in continuous time Heterogeneous Multi-Agent Systems with the directed graph is addressed. In the standard solution of the RCOC, the p-copy internal model method is used. This method requires dynamical equations of the agents and the leader. In the present paper, based on the equivalent auxiliary system method, a new auxiliary system is obtained. Then, the RCOC is transformed to a control problem. Moreover, a model-free algorithm is proposed to solve the Robust Algebraic Riccati Equation using the Integral Reinforcement Learning (IRL) method. It is shown that the proposed method satisfies the output regulation equations. A simulation example verifies the effectiveness of the proposed method.}, Keywords = {Robust Cooperative Output Consensus, Equivalent Auxiliary System, Control H-∞, Reinforcement Learning.}, volume = {14}, Number = {4}, pages = {81-92}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.4.81}, url = {http://joc.kntu.ac.ir/article-1-726-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-726-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {Taheri-Kalani, Jafar and Latif-Shabgahi, Gholamreza and AlyariShooredeli, Mahdi}, title = {Performance Assessment for Multivariate Alarm Systems Based on Markov Model}, abstract ={Alarm systems are essential in safe operation of industrial plants. Since many process variables are interacting with each other, so in this paper, an approximate method is introduced to design and analysis of a multivariate alarm system. In this method, the alarm system is designed base on joint indices. The Joint FAR and Joint MAR are defined for a m-variable alarm system thanks to multivariate Markov scheme. In proposed method, the alarm joint indices are defined by solving a Linear Programing (LP) optimization problem. By defining joint indices, tuning of the alarm parameters (like, threshold and etc.) can be done by these indices instead of correlation analysis. In this paper, penalty scenario and Genetic algorithm are used for alarm generation, and parameter optimization in Tennessee Eastman (TE) Process. The results of proposed method are compared with other methods.  }, Keywords = {multivariate alarm system, multivariate Markov, joint FAR, joint MAR.}, volume = {14}, Number = {4}, pages = {93-105}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.4.93}, url = {http://joc.kntu.ac.ir/article-1-624-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-624-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {Nasiri, Alireza and Baranzadeh, Ahmad and Rashidi, Farz}, title = {Robust H_∞ Output Feedback Control for T-S Fuzzy Systems: A Non-‎monotonic Approach}, abstract ={This paper proposes robust H_∞  output feedback control stabilization for uncertain Takagi–Sugeno (T-S) fuzzy systems via linear matrix inequalities (LMIs). In order to reduce the conservatism associated with T-S fuzzy system, a new form of non-monotonic Lyapunov functions is used. In the non-monotonic approach, the monotonic decrease of the Lyapunov function is relaxed which enables it to increase locally but vanish eventually. Based on the non-monotonic Lyapunov function approach, sufficient conditions for the existence of robust H_∞  output feedback control stabilization are derived. The proposed design technique is shown to be less conservative than the existing non-monotonic approach, namely, K -samples variations of Lyapunov function. The effectiveness of the proposed approach is further illustrated via numerical example.}, Keywords = {nonlinear system, T-S fuzzy model, output feedback, non-monotonic Lyapunov function, Robust H_∞ control.}, volume = {14}, Number = {4}, pages = {107-118}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.4.107}, url = {http://joc.kntu.ac.ir/article-1-652-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-652-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {Rahimi, Tohid and Alizadeh, Gholam Ali and HasanBabayiNozadia, MOHSEN}, title = {Improving the Frequency Fluctuations Attenuation of Microgrid by Determining Optimal communication System Delay and Virtual Inertia Values}, abstract ={Micro grids are regarded to be crucial due to the development of communication facilities, production equipment, power storage and high utilization of renewable energy. However, micro grids are faced with the problem of frequency fluctuations in island mode because of high fluctuations in the production power of renewable sources. In this paper, the super capacitor has been used to increase the virtual inertia of the network along with the control system for energy storage and production systems in order to overcome the challenge mentioned earlier. Meanwhile, the optimal value of communication systems delay is also considered in the frequency settings of the micro grid. The system frequency behavior is simulated against load and power generation variations to evaluate the performance of the proposed strategy. Given the increased cost of the system due to increased super capacitor capacity and the reduction of communication  delay against the improvement of micro grid frequency fluctuations, a multi-objective optimization method is used to regulate the load frequency (LFC) controllers parameters and  achieve minimum cost. The simulations of the network in question have been carried out in MATLAB / SIMULINK software. In this article, the cost reduction of operation of the microgrid due to the low capacity of the installed supercapacitor unit and communication systems with acceptable delay achievement are the most important innovational aspects of the current research. Furthermore, no battery units are required in the current paper thanks due to the presence of the supercapacitor. Batteries may cause problems for the network due to their low life and high maintenance costs. Simulation results have demonstrated that the system with optimal control parameters values, super capacitor capacity and communication s system delay has been able to overcome load and power generation disturbances, and the system frequency behavior is significantly improved in comparison with the non-optimal state.}, Keywords = {Micro grid, Multi-objective Optimization, Telecom System Delay, Virtual Inertia, Load Frequency Control}, volume = {14}, Number = {4}, pages = {119-131}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.4.119}, url = {http://joc.kntu.ac.ir/article-1-605-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-605-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {jodaei, Arash and SaffarArdabili, Jamal}, title = {Controller design for containment problem of a Class of multi-agent systems with nonlinear identical dynamics and fixed directed graph}, abstract ={This paper, studies the controller design for containment problem for a class of multi-agent systems with identical time-invariant continuous-time nonlinear dynamics and fixed directed communication graph. In this problem, the Lyapunov stability theorem, the graph theory and matrix linear inequality are used. The agents are divided into two groups of leaders and followers. In containment problem, all the followers are controlled under which will asymptotically converge to the convex hull spanned by the leaders so distributed communication protocol with fixed time delay is considered and four-step algorithm is proposed for obtaining parameters and gain matrix. The above case is proved to be sufficient condition under theorem. To illustrate the reliability and efficiency of the proposed method, numerical example with simulations are presented.}, Keywords = {Multi-Agent Systems, Containment, Leader, Follower}, volume = {14}, Number = {4}, pages = {133-141}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.4.133}, url = {http://joc.kntu.ac.ir/article-1-620-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-620-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {Shekari, Mohammad Javad and Farrokhi, Mohammad and AradKhaburi, Davoo}, title = {Speed Control and Torque Ripple Reduction of Switched Reluctance Motors based on Cascade Loops and Optimal Sliding-mode Controller}, abstract ={The ever-increasing expansion of automation has led to increasing the use of electric motors that makes the main horse power of many instruments. The Switched Reluctance Motor (SRM), as a kind of synchronous motors, has many advantages and can be used instead of other motors to eliminate their problems. However, speed control of this motor is very difficult due to nonlinearities, time variant, and uncertainties. In this article, the speed control of SRM is considered by using an optimal sliding-mode controller. Using the cascade structure, the biggest defect in the SRM (i.e., the torque ripple) is reduced. By converting the first-order sliding-mode control problem to an optimization problem, and solving it in real time using projection recurrent neural network, the proposed controller produces an optimal control signal that does not have chattering, but satisfies the sliding condition.Evaluation of The proposed controller with other controller is carried out by simulation and its effectiveness is shown.}, Keywords = {Switched Reluctance Motor, Projection Recurrent Neural Network, Optimal Sliding Mode Controlle}, volume = {14}, Number = {4}, pages = {143-154}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.4.143}, url = {http://joc.kntu.ac.ir/article-1-682-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-682-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {Karsaz, Ali}, title = {Evaluation of Lung Involvement in Patients with Coronavirus Disease from Chest CT Images Using Multi-Objective Self-Adaptive Differential Evolution Approach}, abstract ={Under the global pandemic of COVID-19 over the last year, the use of image processing techniques and the artificial intelligence algorithms to analysis chest X-ray (CXR) images is becoming important. Determining the lung involvement and percentage development of COVID-19 is one of most important requirements for the hospitalization centers. The most studies in this field belong to the articles based on the deep learning methodologies using convolution neural networks, which are usually implemented to facilitate the screening process. Only a few number of studies are about the determining the percentage of lung involvement and development of coronavirus based on CXR images. The lack of comprehensive datasets of CT images with a large amount of samples is one of the most important issues in this field. Determining of lung infection in COVID-19 patients, based on different CXR images in different days, has its own challenges such as different image sizes, illumination density, radiation dose of X-ray and angle of radiation, which makes it impossible to the implement a simple differential filter on two different images. Using an optimization self-adaptive algorithm with differential and multi-objective approach can improve the performance accuracy with a corresponding reduction in computation time.}, Keywords = {COVID-19, lung involvement, chest X-ray images, image processing, multi-objective self-adaptive differential evolution algorithm.}, volume = {14}, Number = {5}, pages = {1-14}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.5.1}, url = {http://joc.kntu.ac.ir/article-1-832-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-832-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {MohebbiNajmAbad, Javad and Alizadeh, Rasool and Mesgarpour, Mehr}, title = {Prediction of the spread of Corona-virus carrying droplets in a metro wagon - A computational based artificial intelligence approach}, abstract ={Assessing the risk of transmitting the coronavirus is essential for protecting public health under the COVID-19 epidemic. Public transportation such as buses and metro wagon is the most important COVID-19 dispersion source. In the last decade, numerical simulation plays a vital role in predicting. In this case study, a combination of numerical simulation and artificial intelligence tries to predict the droplet of the sneezing process. As a case study, the Metro wagon was considered, and droplet dispersion along the bus was studied. The result indicated that the small diameter could easily transport along with the wagon. It also shows that the large area under affected by particle deposition. In this case study, a combination of numerical simulation and artificial intelligence has a great result.}, Keywords = {COVID-19, Droplet distribution, CFD, Artificial intelligent}, volume = {14}, Number = {5}, pages = {15-22}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.5.15}, url = {http://joc.kntu.ac.ir/article-1-822-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-822-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {Bahrami, Mojgaan and Shamaei, Vi}, title = {Study of Knowledge, Attitude and Practice of citizen of Isfahan towards Using Electronic Services during the Corona Outbreak (COVID-19)}, abstract ={The present study examined the level of knowledge, attitude, and practice of the people of Isfahan in the field of using electronic services during the corona outbreak. Methods: The research was applied in terms of purpose and descriptive-correlational nature and was conducted on 384 people over 18 years old living in Isfahan. The tool was a researcher-made questionnaire consisting of 35 questions that were distributed among eligible people by snowball sampling method. . Data were analyzed by SPSS and Smart PLS software.   Results: The knowledge, attitude, and practice of the studied individuals in the field of using electronic services during the corona outbreak are significantly different from the average and is higher than the average. This rate was 3.99 for knowledge, 4.11 for attitude and 3.75 for performance. There is a difference between women and men in the level of knowledge and attitude in the use of electronic services and it is more in men, but there is no significant difference between the performance of women and men in the use of electronic services. The level of knowledge and practice does not differ based on education. The attainment of people with Ph.D. education is stronger in the field of using electronic services. Also, there is a significant difference between the variables of knowledge, attitude and practice of Isfahan people in using electronic services based on job and there is more difference in faculty members. And are in the ages of 30 to 50 years old. Conclusion: The results show that the knowledge, attitude and practice of the citizens of Isfahan in the use of electronic services are higher than average. The launch of various electronic service delivery systems in many organizations, organizations and commercial businesses and stores has enabled the citizens of Isfahan to receive various services provided by these organizations at home and through mobile or computer systems. During the COVID-19. pandemic, there is less need to be physically present in public places...}, Keywords = {Awareness in the use of electronic services, attitude in the use of electronic services, performance in the use of electronic services, COVID-19}, volume = {14}, Number = {5}, pages = {23-31}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.5.23}, url = {http://joc.kntu.ac.ir/article-1-801-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-801-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {BagheriNezhad, Sina and Abdi, Elham and Mozayani, Nasser and Mehrafza, Marzieh}, title = {Investigation of the smoking prevalence among critically ill patients with COVID-19}, abstract ={In this paper, we investigate the prevalence rate of smoking in COVID-19 patients and examine whether there is a difference in the distribution of smokers between the two statistical populations of critically ill COVID-19 patients and the entire Iranian population or not. To do this, we first prepared a sample of 300 COVID-19 patients admitted to hospitals in Tehran and Rasht. Then, through the non-parametric statistical runs test, we show that the sample was randomly selected and it is possible to generalize the result of tests on the sample to the community of hospitalized COVID-19 patients. In continuation, we examined the hypothesis that the prevalence of smoking among COVID-19 patients admitted to hospitals is equal to the prevalence rate of smoking in the whole Iranian society. For this purpose, we used the non-parametric chi-square test and it was observed that this hypothesis is rejected. The data show that there is a significant difference in the prevalence of smoking between critically ill COVID-19 patients and the whole of Iranian society. Also, it can be concluded that, the prevalence rate of smoking among COVID-19 hospitalized patients is lower than this rate in the whole Iranian society. The above results show the need for serious research in this field and confirm that while avoiding any positive or negative tendency towards smoking, the causes and factors affecting this phenomenon should be investigated and drugs can be prepared and produced accordingly.}, Keywords = {smoking, COVID-19, coronavirus, statistical hypothesis testing, runs test, chi-square test}, volume = {14}, Number = {5}, pages = {33-37}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.5.33}, url = {http://joc.kntu.ac.ir/article-1-816-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-816-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {Abidi, Mohadese and Soheilifard, Reza and HasanzadehGhasemi, Rez}, title = {The effect of temperature on the binding affinity of Remdesivir and RdRp enzyme of SARS-COV-2 virus using steered molecular dynamics simulation}, abstract ={The fatal SARS-COV-2 virus appeared in China at the end of 2019 for the first time. This virus has similar sequence with SARS-COV in 2002, but its infection is very high rate. On the other hand, SARS-COV-2 is a RNA virus and requires RNA-dependent RNA polymerase (RdRp) to transcribe its viral genome. Due to the availability of the active site of this enzyme, an effective treatment is targeting it to inhibit SARS-COV-2 reproduction. Remdesivir is an inhibitor for Hepatitis C and Ebola that is approved by Food and Drug Administration. Also, it has shown good results in inhibition of main protease and RdRp enzyme of SARS-COV-2. In this paper, the inhibitory of Remdesivir in various temperatures has been observed using steered molecular dynamics simulation. For this reason, the binding affinity of Remdesivir and RdRp were evaluated by molecular docking at four different temperatures (from 17 to 47 °C). According to the results, the rupture force and pulling work to separate the Remdesivir from RdRp decrease with increasing temperature. It is also shown that at higher temperatures, Gibbs free energy is reduced due to its relation with pulling work.}, Keywords = {SARS-COV-2, RNA-dependent RNA polymerase, Molecular Docking, Steered Molecular Dynamics Simulation, Remdesivir}, volume = {14}, Number = {5}, pages = {39-47}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.5.39}, url = {http://joc.kntu.ac.ir/article-1-815-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-815-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {Kamarzarrin, Maryam and eghbal, najmeh}, title = {Modeling of self-assessment system of COVID-19 disease diagnosis using Type-2 Sugeno fuzzy inference system}, abstract ={Due to the continuation of the pandemic of Coronavirus in the whole world, the number of deaths has reached over one million, based on the World Health Organization reports. Early diagnosis of the illness can be a great assistance in order to break the chain of disease transmission. Nowadays, COVID-19 test kits are so limited in numbers, and expensive in terms of a cost, which slows down the diagnosis procedure and makes it difficult, thus, it is necessary to diagnose the disease in the early stages, to prevent its incidence. Therefore, we decided to propose a self-assessment method for COVID-19 disease, using a type-2 Sugeno fuzzy inference system, which causes conservation in time and costs. The system is prepared based on 98 rules, according to the World Health Organization instructions, using MATLAB software to simulate and diagnose the disease. The results show that Sugeno fuzzy with better correlation coefficient R^2=0.94 and error squared RMSE = 0.045, respectively, has acceptable accuracy for estimating and identifying COVID-19 disease. The self-assessment consequences are very promising and can prevent the further spread of the disease.}, Keywords = {COVID-19, Type-2 Fuzzy Logic, Sugeno fuzzy inference system, self-assessment.}, volume = {14}, Number = {5}, pages = {49-57}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.5.49}, url = {http://joc.kntu.ac.ir/article-1-817-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-817-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {AmiriMehra, Amir Hossein and Shafieirad, Mohsen and Abbasi, Zohreh and Zamani, Iman and Aarabi, Zohreh}, title = {Fuzzy Sliding Mode Controller Design and Analysis of an SQEIAR Epidemic Model for COVID-19 to Determine the Quarantine Rate}, abstract ={According to the global prevalence of coronavirus (COVID-19) pandemic, mathematical models can predict and control the dynamic behavior of the pandemic. Therefore, in this study, a comprehensive model is considered to examine the trend of COVID-19 based on Susceptible, Exposed, Infected (Symptomatic and Asymptomatic), and Recovered individuals. In the absence of a curative treatment or vaccination campaign, the group of "quarantined people" is added to the model. Then, a positivity analysis of states is examined, and the threshold criterion (R_0) is determined. The equilibrium points (disease-free and endemic) are also calculated, and their stability is investigated using the Jacobin matrix. The quarantine rate is regulated as the only control input using the fuzzy sliding mode controller. The efficiency of the controller is also investigated in the presence of uncertainty in model parameters. Also, the impact of the infected community on other communities, considering the controller, will be examined. Finally, the performance and efficiency of the proposed controller are evaluated.}, Keywords = {COVID-19, Mathematical Modeling, Stability Analysis, Quarantine, Fuzzy Sliding Mode.}, volume = {14}, Number = {5}, pages = {59-70}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.5.59}, url = {http://joc.kntu.ac.ir/article-1-820-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-820-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {dehghandar, mohamm}, title = {Diagnosis of COVID-19 disease by fuzzy expert system designed based on input-output}, abstract ={Accurate prediction and diagnosis of COVID-19 disease is very important for everyone, especially for medical professionals. On the other hand, the use of fuzzy systems in medicine is increasing rapidly. In this study, a fuzzy system was designed using the information of 375 patients suspected of having COVID-19 disease who referred to Imam Khomeini (Tehran), Alborz (Karaj) and Kowsar(Karaj) hospitals. For this purpose, 300 people were considered to extract the rules and 75 people were considered as test data. Information on 12 important parameters of COVID-19 disease including fever, cough, headache, gastrointestinal symptoms, skin rash, sense of smell and taste, underlying disease, chest CT, blood oxygen level, lethargy, age, family history and severity of COVID-19 disease received. The fuzzy expert system was designed with 29 rules after reviewing the rules and removing similar and contradictory rules by using their degree calculation. In this system, by integrating some factors, finally 8 input variables and one output variable were considered that was used by product inference engine, singleton fuzzifier and center average defuzzifier. It was observed that the designed fuzzy expert system provides very good results, so that it detects 93% of Covid-19 disease with high accuracy and also the sensitivity of the system is more than 95% and the specificity of the designed system is more than 87%.}, Keywords = {COVID-19, fuzzy expert, input-output, diagnose.}, volume = {14}, Number = {5}, pages = {71-78}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.5.71}, url = {http://joc.kntu.ac.ir/article-1-833-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-833-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {RezaeiBahrmand, Mahdi and Khaloozadeh, Hamid and ReihaniArdabili, Parastoo}, title = {Design and implementation of a model predictive controller for the COVID-19 spread restraint in Iran}, abstract ={In this paper, a model is proposed based on the different levels of social restrictions for the COVID-19 spread restraint in Iran. Also, a Genetic Algorithm (GA) identifies parameters of model using reported main data from the Iranian Ministry of Health and simulated data based on proposed model. Whereas Model Predictive Control (MPC) is a popular method which has been widely used in process control, after the discretization of model by a common method like Euler method, then we can consider the appropriate constraints and solve online optimization problem. In this paper, we have shown that the MPC controller able to flatten infected (symptomatic) individual curve and decrease its peak by applying the different levels of social restrictions. Numerical example and simulation results, based on main data, are given to illustrate the capability of this method.}, Keywords = {Model Predictive Control, System identification, GA algorithm, COVID-19.}, volume = {14}, Number = {5}, pages = {79-88}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.5.79}, url = {http://joc.kntu.ac.ir/article-1-837-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-837-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {Zare, Zahra and Vasegh, Nastar}, title = {Modeling and analysis of the spread of the COVID-19 pandemic using the classical SIR model}, abstract ={In this paper modeling, analysis and prediction of novel epidemic of COVID-19 are concerned to identify effective spread parameters of it in Iran. For this purpose, the basic susceptible-infected-removed (SIR) model is used which has two parameters: the infection rate and remove rate. Because of several maximum points in the Iranian data and the single peak of the SIR model, it is not possible to use a model with the same parameters for all times. For this reason, the Iranian data is divided into five time periods and then the parameters of each period are obtained. In addition to adapting to the behavior of disease-related data, these time periods are consistent with the realities of society, including the timing of government decisions and the changing patterns of individuals in society. Finally, an analysis based on the obtained parameters and the trend of disease spread in the continuation of this year is presented. Since the economic, social and health consequences of this virus are catastrophic, using the results of mathematical modeling to identify the factors affecting the spread of the disease can be a step towards future actions to control the disease.}, Keywords = {COVID-19, SIR classic model, epidemic reproduction number.}, volume = {14}, Number = {5}, pages = {89-96}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.5.89}, url = {http://joc.kntu.ac.ir/article-1-821-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-821-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {Moaveni, Bij}, title = {Developed Technologies and Active Startup Companies in Dealing with COVID-19 Pandemic in Iran}, abstract ={On February 2020, Iran reported its first confirmed cases of infections COVID-19 pandemic and since than its effects have been widely spread across in Iran and worldwide. The devastating consequences of the COVID-19 pandemic showed that science and technologies play an important role in ensuring national security and social stability is such crises and we must learn from this event to better prepare for similar cases. In this paper, we will review the developed technologies in Iran to deal with the COVID-19 pandemic. We tried to gather the information of the startup companies and their presented technologies across Iran. After validating the gathered information, the startup companies have been classified based on their fields and their geographical locations.}, Keywords = {COVID-19, technology, startup company, dealing with COVID-19 pandemic.}, volume = {14}, Number = {5}, pages = {97-105}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.5.97}, url = {http://joc.kntu.ac.ir/article-1-831-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-831-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {Safaie, Nasser and ghazavi, Nafise and sarabadani, ava and NASRI, Seyed amir}, title = {Analysis of the effects of COVID-19 virus on the Import, export and labor in Iran using system dynamic approach}, abstract ={The new coronavirus (COVID-19) is caused by the acute respiratory syndrome 2. The disease was first diagnosed in December 2019 in Hubei Province, Wuhan City, China. On March 11, the World Health Organization declared the virus an epidemic. Until Mid-February, 2021, about 112 million people worldwide have been infected with the virus, of which about 2.500.000 people have lost their lives, according to the latest global statistics from the Worldometer database. The economic shock of the coronavirus outbreak has also led to negative economic impacts, including declining sales of many related businesses. In this paper, the effects of coronavirus on the Iranian economy are examined with a systems dynamics approach. First, the relationships of important variables affecting GDP in SPSS software are obtained and then the data is analyzed using Vensim software. In the following, by analyzing the sensitivity and providing recommendations, the impact of managerial insights to control the conditions of this new crisis will be examined. The results show that the correct use of the mask and the observance of social distance as well as air flow in spaces and avoidance of closed spaces have a significant effect on reducing the spread of this disease and reducing mortality.}, Keywords = {Coronavirus, Economics, Systems dynamics, GDP, Pandemic, COVID -19.}, volume = {14}, Number = {5}, pages = {107-120}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.5.107}, url = {http://joc.kntu.ac.ir/article-1-824-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-824-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {Heidari, Reza and Motaharifar, Mohammad and Taghirad, Hamidreza and Mohammadi, Seyed-Farzad and Lashay, Alirez}, title = {A Review on Applications of Haptic Systems, Virtual Reality, and Artificial Intelligence in Medical Training in COVID-19 Pandemic}, abstract ={This paper presents a survey on haptic technology, virtual reality, and artificial intelligence applications in medical training during the COVID-19 pandemic. Over the last few decades, there has been a great deal of interest in using new technologies to establish capable approaches for medical training purposes. These methods are intended to minimize surgery's adverse effects, mostly when done by an inexperienced surgeon. Due to the world's unique situation during the pandemic, which causes several cities to be locked up, these methodologies are becoming more critical. They eliminate the physical contact requirement between medical personnel and fellows, which decreases the risk of being infected with the virus. This study aims to present new applications for haptic technology, virtual reality, artificial intelligence, and new fields where they can provide a viable solution in the COVID-19 pandemic or any other similar crises.}, Keywords = {haptic systems, medical training, artificial intelligence, virtual reality, COVID-19.}, volume = {14}, Number = {5}, pages = {121-125}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.5.121}, url = {http://joc.kntu.ac.ir/article-1-819-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-819-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {maghsoudi, mohammad and siahi, mehdi}, title = {Dynamic model of COVID-19 disease and performance analysis of Iran, Germany and Turkey with experimental data}, abstract ={Covid-19 disease is caused by a new type of coronavirus, which is an infectious disease that has so far infected more than 90 million people and killed about 2 million. Hygiene programs, treatment, education, restrictions and other preventive measures are the inputs that can limit the spread of the disease, which in turn reduces the incidence of the disease. In this paper, in order to investigate some of the influential parameters, a nonlinear model is analyzed to investigate the effect of hygiene and education on the transmission dynamics of Covid-19 disease. Stability analysis and equilibrium points are examined to determine the generation number (R0), the number that determines whether the disease disappears or not. The first part of the results shows that proper education and hygiene will reduce the number of patients. Also, in the second part of the results, the experimental data of three countries, Iran, Germany and Turkey from the beginning of the outbreak until January 10th, are examined and statistically compared. Then, the performance of these three countries at the peak of the disease outbreak (November, December and January) is analyzed. The results show that Iran has performed relatively better, despite sanctions and a lack of facilities, especially in the last three months.}, Keywords = {COVID-19 (Coronavirus), Non Linear Modelling, IRAN, GERMANY, TURKEY}, volume = {14}, Number = {5}, pages = {127-129}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.5.127}, url = {http://joc.kntu.ac.ir/article-1-828-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-828-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {Mehralian, Soheil and JalaeianZaferani, Effat and Shashaani, Shahrzad and Kashefinishabouri, Farnaz and Teshnehlab, Mohammad and Sokhandan, Hosein Ali and DibajiForooshani, Zahra Sadat and Montazer, Bina and Joneidi, Zeinab and Vafapeyvand, Maryam}, title = {Rapid COVID-19 Screening Based on the Blood Test using Artificial Intelligence Methods}, abstract ={Coronavirus Disease 2019 (COVID-19) caused by the SARS-CoV-2 virus is spreading rapidly worldwide and has led to widespread deaths globally. As a result, the early diagnosis of patients with COVID-19 is vital to control this dangerous virus's release. There are two common diagnosing methods, chest computed tomography scan (CT-scan) and Reverse Transcription Polymerase Chain Reaction (RT-PCR) test. The most significant disadvantages of RT-PCR molecular tests are the high cost and the long waiting time for test results. The common weaknesses of chest CT-scan are the need for a radiologist to analyze, a misdiagnosis of flu disease due to its similarity, and risky for pregnancy and infants. This article presents a low-cost, highly available method for early detection of COVID-19 based on Artificial Intelligence (AI) systems and blood tests. In this study, 6635 patient's blood tests are used. Experiments conducted using three machine learning algorithms. The results show that the proposed method can detect COVID-19 with an accuracy of %84 and an F1-score of %83. The trained model is being used in a real-world product through an online website called CODAS.}, Keywords = {Artificial intelligence, Blood test, Fuzzy system, Neural network, Support vector machine, COVID-19, Screen}, volume = {14}, Number = {5}, pages = {131-140}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.5.131}, url = {http://joc.kntu.ac.ir/article-1-845-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-845-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} } @article{ author = {Najarzadeh, reza and dehghani, maryam and asemani, mohammad hassan and abolpour, roozbeh}, title = {Optimal Robust LPV Control Design for Novel Covid-19 Disease}, abstract ={These days almost all countries around the world are struggling with coronavirus outbreak. If the governments and public health care systems don't take any action against this outbreak, it would have severe effects on human life, now and in the future. By doing so, there are several intervention strategies that could be implemented and as the result, the societies become more secure from the casualties of this virus. In this paper, we used a mathematical model of coronavirus epidemic transmission and by use of some LMIs, a robust LPV controller is designed which helps us to choose and use the intervention methods, effectively. By use of the proposed robust controller, the robustness and stability of the model against a wide range of uncertainties are approved. The final objective of this control design is to minimize the number of exposed and infected individuals in the compartmental model. In the end, it can be seen that the control strategies which are preventive action, good medical care, and sterilization of the environment, can highly reduce the negative effects of the coronavirus.}, Keywords = {Covid-19, mathematical model, robust controller, intervention strategies, LMI, uncertainties}, volume = {14}, Number = {5}, pages = {141-153}, publisher = {Iranian Society of Instrumentation and Control Engineers}, doi = {10.52547/joc.14.5.141}, url = {http://joc.kntu.ac.ir/article-1-834-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-834-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2021} }