@article{ author = {Abasi, Seyed Mehdi and VahidianKamyad, Ali}, title = {New Approach for Numerical Solution of Distributed Parameter Systems Optimal Control Problems}, abstract ={Classical methods are not usually efficient, to solving nonlinear control problems and especially Nonlinear distributed parameter systems Optimal Control Problems (NOCP). In this paper we introduce a new approach for solving this class of problems by using NonLinear Programming Problem (NLPP). First, we transfer the original problem to a new problem in form of calculus of variations. The next step we discrete the new problem and solve it by using NLPP packages. Moreover, a NLPP is transferred to a Linear Programming Problem (LPP) which empowers us to use powerful LP software. Finally, efficiency of our approach is confirmed by some numerical examples.}, Keywords = {optimal control, distributed parameter systems, calculus of variations, nonlinear programming}, volume = {6}, Number = {1}, pages = {1-7}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-63-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-63-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {Bagheri, Mohammad Ali and Montazer, Gholamali}, title = {An Efficient Multiclass Classification Method Based on Classifier Selection Technique}, abstract ={Individual classification models have recently been challenged by ensemble of classifiers, also known as multiple classifier system, which often shows better classification accuracy. In terms of merging the outputs of an ensemble of classifiers, classifier selection has not attracted as much attention as classifier fusion in the past, mainly because of its higher computational burden. In this paper, we propose a novel technique for improving classifier selection. In our method, the simple divide-and-conquer strategy is adapted in that a complex classification problem is divided into simpler binary sub-classification problems. We conduct extensive experiments on a series of multi-class datasets from the UCI (University of California, Irvine) repository and on odor database. The experimental results demonstrate the advanced performance of the proposed method.}, Keywords = {classification, multi-class, ensemble system, classifier selection, odor recognition.}, volume = {6}, Number = {1}, pages = {9-19}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-64-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-64-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {MollaAhmadianKaseb, Hamed and Karimpour, Ali and Pariz, Naser}, title = {Direct Piecewise Affine Systems: A New Class of Hybrid Systems with Affine Dynamics and Regulable Switching Boundaries}, abstract ={For many applications, Piece-Wise Affine (PWA) systems are made from approximation of nonlinear dynamics by affine subsystems. Approximation and non-exact stability analysis are the main disadvantages of derived PWA system and as a solution, a new class of hybrid systems are introduced in this article. The proposed class is derived directly from switched model and without averaging then it is named as Direct PWA (DPWA). The new hybrid class has affine subsystems and regulable and/or constant switching boundaries. Many applications such as power electronics and process engineering can be modeled as proposed class. Some theorems are presented for stability analysis that are based on quadratic Lyapunov function. The problem of stability analysis and controller design is redounded to convex optimization in form of linear matrix inequality. The proposed model is compared with conventional hybrid models. Proposed model is used for modeling and stability analysis of a dc-dc resonant power converter.}, Keywords = {Piece-Wise Affine System, Regulable Switching Boundary, Quadratic Lyapunov Function, Linear Matrix Inequality}, volume = {6}, Number = {1}, pages = {21-29}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-65-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-65-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {Miranbeigi, Mohammad and Moshiri, Behzad and Miranbeigi, Ali}, title = {Cooperative Decentralized Receding Horizon Control of Load-Frequency in a Two- Area Power System}, abstract ={In the large scale applications, sometimes it is essential that the control theories be distributed or decentralized. In this paper, regarding large scale of power systems and advantages of model predictive control (MPC), a constraint predictive control method that is called “Receding Horizon Control (RHC)”, used for load frequency control in a two-area power system with two cooperating methods of agents. The main advantage of decentralized control is complexity reduction in computations. Moreover, in the application of centralized control, online computation of inputs (high dimensions) is complex, and non-flexible, and impractical. Finally using of simulations, centralized and decentralized control methods, cooperative methods are compared under a variety of disturbances.}, Keywords = {Power systems, Model predictive control, Receding horizon control, Decentralized control, Disturbances.}, volume = {6}, Number = {1}, pages = {31-39}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-66-en.html}, eprint = {}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {Alehasher, Seyyed Mohammad Javad and Teshnehlab, Mohamm}, title = {Implementation of Rough Neural Networks with Probabilistic Learning for Nonlinear System Identification}, abstract ={In this paper an improved rough neural network is presented for identification of chaotic system. Rough neural networks are a type of neural stractures that they are designed based on rough neurons. A rough neuron is considered as a pair of neurons that called lower boandry neuron and upper boandry neuron. Rough neuron approach, allows use of interval computing in neural networks, therefore it can be considered as a new opinion in designing neural networks. The same as multilayer perceptron, rough neural networks also can be trained using by back propagation algorithm based on gradient descending, however, this algorithm has problems such as local minima. In this paper, a new supervised learning method based on effective error of neuron is presented for training of neural networks, which it is called probabilistic learning. To evaluate this study, performance of rough neural network improved, and proposed learning algorithm have been examined in terms of error detection of chaotic time series.}, Keywords = {Rough Neural Networks, Probabilistic Learning, Nonlinear System Identification.}, volume = {6}, Number = {1}, pages = {41-50}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-67-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-67-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {Asemani, Mohammad Hassan and JohariMajd, Vahi}, title = {A Non-PDC H∞ Output Feedback Controller Design for T-S Fuzzy Systems with Unknown Premise Variables and Control Constraints via LMI}, abstract ={In this paper, non-PDC H∞ observer-based controller design for disturbed T-S fuzzy systems with unknown premise variables is addressed for the first time. Unlike the available non-PDC-based approaches, real state variables are not used in the controller equation. Moreover, using the descriptor redundancy approach, the observer and controller gains are calculated by solving some strict linear matrix inequalities (LMIs). A fuzzy Lyapunov function approach is utilized to obtain less conservative design conditions than previous methods. Furthermore, in order to satisfy an arbitrary upper bound on the absolute value of the control signal, additional design conditions are obtained which depend on the upper bounds of the initial states of the observer. The effectiveness of the proposed method is shown via a numerical simulation.}, Keywords = {H∞ observer-based control, Descriptor redundancy approach, T-S fuzzy system, fuzzy Lyapunov function, linear matrix inequality (LMI).}, volume = {6}, Number = {1}, pages = {51-60}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-68-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-68-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {MoafiMadani, Mohammad Javad and Mohammadzaman, Im}, title = {A New Stability Preserving Interpolation Method in Robust Gain Scheduling Autopilot Design}, abstract ={This paper presents a new stability preserving interpolation technique for robust gain scheduling autopilot design. The interpolation method is based on interpolation in the common stability region of local controllers and generates a gain-scheduled controller that is stabilizing at every operating point of a closed loop system. For selection of stability region of local controllers, the notion of the v-gap metric and its connection to robust loop-shaping theory is used. The proposed method facilitates the design of gain-scheduled controllers that preserves stability of the closed loop system. The simulation results given show the generality and effectivneness of the proposed control strategy in terms of the stability, performance and robustness, of the system.}, Keywords = {Robust autopilot, stable interpolation, gain scheduling controller, v-gap metric}, volume = {6}, Number = {1}, pages = {61-72}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-69-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-69-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {Rezaei, Hamed and Khosrowjerdi, Mohammad Jav}, title = {An Active Approach to Model-based Fault Tolerant Control System Design for Three Phase Induction Motors}, abstract ={In this paper, a model-based active fault tolerant control system (FTCs) is proposed forthree phase induction motor (IM) drives subjected to the mechanical faults caused by both stator and rotor failures. FTCsstructure consists of two main parts. The first part is a nominal controller based on feedback linearization for fault-free case to achieve control objectives (rotor flux and speed control). The second part is a sliding mode observer (SMO) in order to estimate additive faults which model mechanical faults in the state space modelof IM. This observer has been used not only for fault reconstruction and productionof additional control inputs for compensating their undesirable influences on performance of IM, but also for online estimation of axial fluxes in any operating conditions. The simulations results are shown to illustrate the effectiveness of the proposed approach to compensate the mechanical faults in IM.}, Keywords = {Induction Motor (IM), Mechanical Fault, Fault Tolerant Control system (FTCs), Fault Detection and Isolation (FDI), Sliding Mode Observer (SMO).}, volume = {6}, Number = {2}, pages = {1-13}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-56-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-56-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {Roshanian, Jafar and Yazdani, Shabnam and Hassani, Mehdi and Ebrahimi, Masou}, title = {Performance Analysis of Nasir 1 Star Tracker in the Presence of Systematic Errors using Monte-Carlo Method}, abstract ={Non-Dimensional star pattern recognition is a novel algorithm which an overall system error analysis in order to determine its robustness is not performed for it so far. Although the mentioned algorithm is independent of Focal length and optical offset variations, its operational usage is still bounded. In this research, algorithm’s robustness is determined using an overall error effect of bright point coordinate variations. The results demonstrate that the non-dimensional algorithm performance is pretty fragile in the presence of a common 0.1 pixel error, which makes the algorithm unable to perform onboard Nasir 1 star tracker. Eventually the algorithm was modified and the results show great improvements.}, Keywords = {Star Tracker, Star Pattern Recognition, Non-Dimensional method, K-vector search technique.}, volume = {6}, Number = {2}, pages = {15-21}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-57-en.html}, eprint = {}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {Toshani, Hamid and Farrokhi, Mohamm}, title = {Inverse Kinematics of 7 DOF Robot Manipulator under Joint Angle Limits and Obstacle in the Workspace of Robot using Neural network, Fuzzy System and Quadratic Programming Approach}, abstract ={Analysis of the inverse kinematics of redundant manipulators is one of the nesseccary tools in various robotic fields such as design, motion planning and control of these systems. Since, there is not an analytical solution for the inverse kinematics of several redundant manipulators, numerical approaches are needed to execute and investigate in this field. In this paper, combination of the neural networks, fuzzy systems and quadratic programming is used to obtain the joint variables. According to the proposed approach, seven neural networks are considered according to the each joint variable and by adaptation of the neural network’s weights, suitable configurations of the robot is determined to track a desired trajectory in the Cartesian space. Meanwhile, initial weights of the neural networks are obtained by fuzzy systems based on the vicinity of the end-effector to desired point and feasibility of the joint variables. Obstacle avoidance scheme is performed by investigation of the conditions including choosing the joint variables that involved in the equations of the arms constraints and determination of the most critical arm. In order to establish the constraints of the problem in the quadratic programming, realization of the Kun-Tucker conditions will be used. Evaluation of the proposed approach will be carried out on the PA-10 manipulator by simulation and analysis of the results.}, Keywords = {Inverse Kinematics, Redundant Manipulator, Neural Network, Quadratic Progarmming, Fuzzy System, Obstacle Avoidance.}, volume = {6}, Number = {2}, pages = {23-37}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-58-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-58-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {Salehi, Ali and Sadigh, Mohammad Jafar}, title = {Control of a Manipulator with Elastic Base Moving on Unknown Path}, abstract ={Cooperation of man and machine is one of the best solutions for moving the end-effector of a manipulator on a specific path with unknown relation. In such a solution deviation from the path is assessed by operator and necessary correcting command is generated by him based on that. This navigation command is, then, used by control algorithm of manipulator to move the end-effector on the desired path. This problem gets more difficult if the base of manipulator is moving on a platform such as a cart or a large manipulator, with inherent flexibility, to achieve a large workspace. In such cases it is impossible to use a master similar to the manipulator itself. This paper presents a fuzzy navigation algorithm for moving end-effector of a manipulator mounted on a moving base. The algorithm which is based on estimation of cross track error of end-effector, generates necessary command which is used by a proposed computed-torque method algorithm to move the end-effector on the desired path. Simulation results shows versatility of the proposed methods for navigation and control of the system even in presence of disturbances due to flexibility of base.}, Keywords = {Man and Machine Cooperation, Navigation, Unknown Path, Flexible Base Robot.}, volume = {6}, Number = {2}, pages = {39-53}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-59-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-59-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {Moosapour, Seyed Sajad and Alizadeh, Ghasem and Khanmohammadi, Sohrab}, title = {Three-Dimensional Optimal Robust Guidance Law Design for Missile Using Sliding-Mode Control and SDRE Control}, abstract ={In this paper, a new guidance law is designed for missile against maneuvering target by integrating optimal control SDRE technique and sliding-mode control. Due to the fact that autopilot dynamic has a very important role in success or unsuccess of engagement in terminal phase, and it can make delay in guidance commands execution, this dynamic is taken into account in state equations. The robustness of the designed guidance law against disturbances is proved by the second method of Lyapunov. The proposed guidance law does not need accurate target maneuver profile and just need the maximum value of the target maneuver. Coefficients in proposed guidance law are obtained using genetic algorithm. For investigating effectiveness of proposed guidance law, by considering different scenarios, three-dimensional missile-target engagement is simulated. Then results are compared with conventional augmented proportional navigation guidance (APNG) law. Simulation results show that the proposed guidance law has high robustness against target maneuver disturbances and also one can compromise between convergence speed, intercept time and control effort.}, Keywords = {Missile, guidance, optimal control, robust control, sliding-mode, genetic algorithm.}, volume = {6}, Number = {2}, pages = {55-64}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-60-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-60-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {Veisi, Gelareh and Asgharian, Rajab}, title = {A Novel Approach to Robustness Analysis for the Solutions of the Games with Approximate Payoffs}, abstract ={When using game theory for modeling real- world problems, players' payoffs are usually known approximately. Literature reveals that some authors have modeled the approximate payoffs using stochastic or fuzzy variables and some others have used robust optimization techniques to solve these games. Surprisingly little work has been done on robustness analysis of real- world's games solutions. In this paper, we propose two simple and practical measures to assess robustness degrees of Nash equilibria. These measures quantitatively show how Nash points behave in the presence of uncertainty and they can be used as refinements of Nash equilibrium. Also we propose two novel approaches to assess robustness degrees of correlated equilibria. One approach is a quantitative way to calculate robustness degrees and the other is a comparative measure to rank correlated equilibria in order of their robustness. We suggest that the decision maker may be able to find more robust solutions in the set of non- Nash correlated equilibria. Moreover, we present a method to improve robustness of Nash points. The improvement algorithm searches for more robust solutions in a neighborhood around a Nash point.We validate our methods with some numerical examples. The examples verify the efficiency of the methods.}, Keywords = {game theory, robust Nash point, robust correlated equilibrium, robustness analysis, payoff uncertainty}, volume = {6}, Number = {2}, pages = {65-76}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-61-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-61-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {Moaveni, Bijan and Gholami, Mi}, title = {Decentralized Reduced Order Observer Design for Large-Scale Plants with Unknown Inputs}, abstract ={In this paper, we propose a new method to design a decentralized reduced order observer for large scale plants with unknown inputs. In this approach, large scale plant is decomposed into several subsystems with interconnected terms, then interconnected terms will be eliminated by using the appropriate transformations in new form of dynamical equation of each subsystem. Based on this method, states estimation doesn’t require exchanging information between the subsystems. Here, if plant satisfies the existence condition for designing stable observer with unknown input (UIO), we use estimation error dynamic and negative definite to provide the observer convergence. Finally, effectiveness of the method is shown by using a numerical example and corresponding simulation.}, Keywords = {Large Scale Plant, Decentralized Observer, Reduce Order Observer, Unknown Input Observer.}, volume = {6}, Number = {2}, pages = {77-85}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-62-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-62-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {Fathinezhad, Fateme and Derhami, Vali}, title = {A Novel Supervised Fuzzy Reinforcement Learning for Robot Navigation}, abstract ={Applying supervised learning in robot navigation encounters serious challenges such as inconsistence and noisy data, difficulty to gathering training data, and high error in training data. Reinforcement Learning (RL) capabilities such as lack of need to training data, training using only a scalar evaluation of efficiency and high degree of exploration have encourage researcher to use it in robot navigation problem. However, RL algorithms are time consuming also have high failure rate in the training phase. Here, a novel idea for utilizing advantages of both above supervised and reinforcement learning algorithms is proposed. A zero order Takagi-Sugeno (T-S) fuzzy controller with some candidate actions for each rule is considered as robot controller. The aim of training is to find appropriate action for each rule. This structure is compatible with Fuzzy Sarsa Learning (FSL) which is used as a continuous RL algorithm. In the first step, the robot is moved in the environment by a supervisor and the training data is gathered. As a hard tuning, the training data is used for initializing the value of each candidate action in the fuzzy rules. Afterwards, FSL fine-tunes the parameters of conclusion parts of the fuzzy controller online. The simulation results in KiKS simulator show that the proposed approach significantly improves the learning time, the number of failures, and the quality of the robot motion.}, Keywords = {Robot navigation, Supervised learning, Reinforcement learning, Fuzzy controller}, volume = {6}, Number = {3}, pages = {1-10}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-49-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-49-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {Nasiri, Sayad and Moaveni, Bijan and Payganeh, Golamhassan and Arefiyan, Mohamm}, title = {Modeling and Analysis of the Hydraulic Antilock Brake System of Vehicle}, abstract ={Antilock brake system (ABS) is an active automobile safety system to achieve the maximum negative acceleration during the braking process. Also, ABS increases the automobile stability and reduces the stopping distance. Modeling the brake system and particularly ABS are very important, due to that ABS is the foundation of other advanced automobile control systems like EBD, ESP and ACC. In this paper, we introduce a detailed model of hydraulic ABS. Also, in this paper, we evaluate and validate the presented modeling, by comparing the results of simulations to experimental tests.}, Keywords = {Automobile Brake System, Antilock Brake System, Modeling, Simulation and Validation}, volume = {6}, Number = {3}, pages = {11-26}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-50-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-50-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {Zakeri, Hasan and Ozgoli, Saj}, title = {A Robust PI Control Design for a Class of Nonlinear Systems with Uncertainty Using Sum of Squares Decomposition}, abstract ={This paper presents a new algorithmic method to design PI controller for a class of nonlinear systems whose state space description is in the form of polynomial functions. Design procedure is taken place based on certain or uncertain nonlinear model of system and sum of squares optimization. A so called density function is employed to formulate the design problem into a convex optimization program of sum of squares optimization form. Robustness of the design is guaranteed by taking parametric uncertainty into account with an approach similar to that of generalized S-Procedure. Validity and applicability of the proposed method is certified with numerical simulation. This paper, besides presenting an innovated PI control design which is not based on local linearization and works globally, announces a new approach in formulating parametric uncertainty in nonlinear systems. Derived stability conditions do not suffer from any drawbacks seen in previous results, such as depending on a linearized model or a stable model and it can overcome most control difficulties. Furthermore, employing sum of squares techniques makes it possible to drive stability conditions with least conservatism and directly derive stability of nonlinear system.}, Keywords = {Robust PI Control, Sum of Squares Decomposition, Density Function, Nonlinear Control Synthesis, Parametric Uncertainty.}, volume = {6}, Number = {3}, pages = {27-35}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-51-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-51-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {KhaleghiKarsalar, Ali and Shafiee, Masou}, title = {Solution of Differential-Algebraic Equations in Hessenberg Form Using Sliding Mode Control}, abstract ={In this paper, a method for numerical solution of differential-algebraic equations (DAEs) in Hessenberg form is presented. In this method, a sliding surface proportional to systems index is defined that generates a complete equation to calculate algebraic variables. Since the sliding surface is stable, convergence of the distance from manifold constraint in DAE is satisfied. Finally, the proposed method is applied for some linear and nonlinear index-3 systems. Numerical solutions confirm the accuracy of the proposed technique.}, Keywords = {differential-algebraic equations, Hessenberg form, sliding mode control, constraint manifold tracking}, volume = {6}, Number = {3}, pages = {37-49}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-52-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-52-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {Shojaedini, Seyed Vahab and Parsiannejad, Armin and Farzaneh, mojtab}, title = {A Novel Method for Optimum Electrical Energy Harvesting from Wind Turbines: A Space-Time Model for Wind Farm by Neuro-Fuzzy Strategy}, abstract ={In this paper, a novel method is introduced for optimum energy harvest from wind farms. In the proposed method, wind farm is modeled by fuzzy-logic and the model is updated using a combination of wind parameters history and wind’s spatial information. Utilizing this model, the parameters for the wind blowing through each turbine in the wind farm is estimated. To evaluate the performance of the proposed method two practical wind types are simulated. In the first scenario, the wind maintains low turbulence and its parameters change slowly while in the second scenario the wind demonstrates high turbulences and its parameters undergo sudden shifts. Simulation results for the proposed method are obtained in both scenarios. For the first scenario, the comparison reveals that the proposed method improves the accuracy of wind speed estimation and the monotonousness of the obtained electrical voltage by 5.3% and 0.52 volts respectively compared to existing methods. These improvements reach 17.1% and 12.7 volts in the presence of high turbulence winds in the second scenario. Based on these corroborating simulations, it is concluded that the proposed method provides a more accurate estimate of wind parameters for the wind blowing through the wind farm.}, Keywords = {Wind Farm, Estimation of Wind Parameters, Optimum Electrical Energy, Fuzzy Modeling, Entropy}, volume = {6}, Number = {3}, pages = {51-60}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-53-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-53-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {Zohrabi, Nasibeh and Momeni, Hamid Reza and Abolmasoumi, Amir Hossei}, title = {Sliding Mode Control of Time-Delay Markovian Jump Systems with Partly Known Transition Probabilities}, abstract ={In this paper, a sliding mode controller for time-delay Markovian jump systems with partly unknown transition probability matrix in presence of disturbance is designed. The proposed method is quite general and includes both systems with completely known and completely unknown transition probability rates. At first, sufficient conditions for existence of linear switching surface are obtained in terms of linear matrix inequalities (LMIs) that guarantee the stochastic stability of sliding mode dynamics. Then, a sliding mode controller is designed such that the closed-loop system’s state trajectories reach the desired sliding surface in a finite time and maintain there for all subsequent times. As a result, the stochastic stability of closed-loop system is guaranteed by applying a specifically designed control law. All of the conditions are presented in terms of linear matrix inequalities and can be simply solved by means of numerical software tools. Finally, a numerical example is given to demonstrate the validity and effectiveness of the proposed method.}, Keywords = {Markovian Jump Systems (MJSs), Stochastic Stability, Sliding Mode Control (SMC), Time-Delay, Partly Unknown Transition Probabilities, Linear Matrix Inequalities (LMIs).}, volume = {6}, Number = {3}, pages = {61-70}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-54-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-54-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {MiripourFard, Behnam and Bagheri, Ahmad and Nariman-zadeh, Nader}, title = {Hybrid Dynamical Modeling and Control of an Under-Actuated Limit Cycle Walker Subjected to Impulsive External Disturbances}, abstract ={The motions which are achievable by Limit Cycle Walkers are energetically efficient and natural looking. But their capability in external disturbance rejection is still an unexplored field of study in comparison with ZMP based walkers. In this paper a planar, under-actuated and hybrid Limit Cycle Walker with seven degrees of freedom (DOF) is considered. During walking, it is assumed that the robot is subjected to an impulsive external disturbance. First, some maps have been obtained to relate the states of the system just before and just after the impact events. Then, the control is done based on the determination of holonomic constraints for the event-based feedback controller. Several simulations have been done considering disturbances exerted during walking. The results showed the performance of the method in recovery of disturbances occurring in the sagittal plane in both anterior and posterior directions. Moreover, the results showed that the simulated motions can be characterized in terms of strategies observed in human for balance recovery against perturbations during walking. Keywords: Limit Cycle Walker, External Disturbance}, Keywords = {Limit Cycle Walker, External Disturbance, Hybrid Event Based Model, Feedback Control.}, volume = {6}, Number = {3}, pages = {71-80}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-55-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-55-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2012} } @article{ author = {HakimiMoghaddam, mojtaba and Khaloozadeh, Hami}, title = {Extension of Concepts and Theorems for Strictly Positive Real Transfer Function Matrices}, abstract ={Nowadays almost in the all branches of control even intelligent control strictly positive real transfer functions are used to stabilize closed loop control systems. These transfer functions in a closed loop control system can help to generate a lyapunov function for guarantee the stability of closed loop system. Nevertheless, the necessary and sufficient conditions for strictly positive real transfer function matrices have been different in the literature for many years. Recently, it is shown that there are inconsistencies between definition and theorems of strict positive realness. In this paper, we present and prove an important difference between positive real and strictly positive real transfer function matrices. Moreover, we introduce more complete and simpler necessary and sufficient conditions for strictly positive real transfer function matrices. An important advantage of present work is usage of Markov parameters of multivariable systems. We know these parameters are easily calculated in both frequency and time domains, so using these parameters can make a similar framework in both frequency and time domains. Presenting some examples, we show the advantages of our new results in comparison to before works.}, Keywords = {Matrix Transfer Functions, Strictly Positive Real (SPR) Transfer Functions, Markov Parameter of Systems, Laurent Series Expansion.}, volume = {6}, Number = {4}, pages = {1-9}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-43-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-43-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2013} } @article{ author = {MousaviMashhadi, Seyed Kamal-e-ddin and Yadollahi, Hami}, title = {Design and Manufacture of TDS Measurement and Control System for Water Purification in Reverse Osmosis by Classic PID with the Ability to Compensate Effects of Temperature on Measurement}, abstract ={Measurement and control of TDS (Total Dissolved Solids) of water has significant importance for industry, agriculture, livestock and health.  The system designed and manufactured in this paper measures, displays and controls TDS of water by installing on domestic and industrial purification systems. Technology of manufacturing TDS measurement system is such that it can compensate for the adverse effect of temperature on measurement. Meanwhile, calibration of the measurement system will be explained by discussing several examinations conducted in Research Institute for Food Science and Technology. In order to control TDS, mathematical model for domestic water purification devices of reverse osmosis (RO) is obtained by running practical experiments. Then, system controller is designed by Ziegler-Nichols oscillation method with the most appropriate controller being implemented. Operation of controlling TDS is done through real time and continuous controlling of a mix valve. This valve is closed parallel with a membrane filter or RO, so one can control TDS by adding or reducing inlet water into outlet water of this filter. The system developed by this research is produced in pilot by receiving scientific approvals from relevant authorities and has found numerous applications in industry.}, Keywords = {temperature turbulence, TDS measurement, TDS control, electrical conductivity, PID}, volume = {6}, Number = {4}, pages = {11-21}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-44-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-44-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2013} } @article{ author = {A.Khosravi, Mohammad and Taghirad, Hamid Rez}, title = {Stability Analysis and Robust PID Control of Parallel Cable Robots with Positive Tensions}, abstract ={In this paper dynamic analysis and robust PID control of‎‎fully-constrained parallel cable driven manipulators are studied in‎‎detail‎. ‎Since in this class of manipulators‎, ‎cables should remain in‎‎tension for all maneuvers in their workspace‎, ‎feedback control of‎‎such robots becomes more challenging than ‎that of ‎conventional parallel‎‎robots and research on this topic especially on robust stability analysis is limited‎. In this paper, structured and unstructured uncertainties are considered in the dynamic model and Jacobian of the robot, and a robust PID controller is proposed for the cable driven parallel robot. To ensure that all the cables are in‎‎tension‎, ‎a corrective term is used in the‎‎proposed PID controlbased on the internal force concept. Then, robust stability of the closed-loop system is analysed through Lyapunov’s second method and it is shown that by suitable selection of the controller gains, the closed-loop system would be robustly stable. ‎‎Finally‎, ‎the effectiveness of the‎‎proposed PID algorithm is examined through experiments on a planar‎‎cable driven robot and it is shown that the proposed control‎‎structure is able to provide suitable performance in practice‎.}, Keywords = {Parallel cable robots, PID control, Internal force, Stability analysis, UUB stability.}, volume = {6}, Number = {4}, pages = {23-33}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-45-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-45-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2013} } @article{ author = {BahjatPanah, Abdolhamid and HeyraniNobari, Jafar and HosseingholizadehAlashti, Mahdieh}, title = {New Approach to Determine 6DOF Position and Orientation of an Object Using its Image}, abstract ={In this paper, a new method for determining the position and orientation of the object in respect to the camera coordinate using the image is presented. True picture of the camera is obtained by a nonlinear mapping between the three-dimensional world and two-dimensional image. Some researchers assumed linear mapping to make approximation of position and orientation easier, but restrictions were imposed on the object size. Also the use of nonlinear mapping and geometric relationships between object and its image is so challenging and difficult task, but increase the accuracy and do not raises the limit on the size of the object. The case in which an object is placed in front of the camera can become different according to the orientation type and its distance from the main axis of the camera. In this paper, to determine 6DOF position and orientation of an object using its image, a system of nonlinear equations with ten equations and 5 unknowns is extracted. In solving nonlinear equations, it is important to choose an appropriate algorithm to minimize the error and needs little time. With regard to the non-exact values in practical test, the kind of optimization algorithm is proposed and. Then a way for selecting initial guess is proposed to always have a solution and reduce the run time. Accuracy of extracted equations is shown by determining 6 DOF position and orientation of one theodolite.}, Keywords = {Position and orientation determining, object coordinates, camera mathematical and geometrical equation, determining orientation matrix.}, volume = {6}, Number = {4}, pages = {35-47}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-46-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-46-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2013} } @article{ author = {Abiri, aghil and Mahzoun, Mohammad Rez}, title = {Adaptive Kernel Radius in Estimating the Position of Moving Target Tracking based on Resampling Particle Filter Algorithm}, abstract ={In this paper, we perform adaptive radius of the kernel by an edge detection method with tracking algorithm based on kernel density and provides a robust tracking algorithm, in combination with the resampling particle filter algorithm. In the first frame, by suitable kernel density estimation, is obtained the weighted histogram of the target model and by adding random noise variance at this place, are predicted the position of candidate particles in the next step. The weighted histogram of this candidate particles are compared with the same density kernel by the target model and are weighted the candidate particles by Bhattacharyya distance. The resampling algorithm, estimates the target position in the next frame. Finally, radius of the kernel is consistent with the target model changes. If needed, the target model is updated according to the best model of particle similar to the target model, adaptively.}, Keywords = {Resampling, Kernel Radius, Target Model, Particle Filter, Weighted Histogram.}, volume = {6}, Number = {4}, pages = {49-60}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-47-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-47-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2013} } @article{ author = {MoghtadaeiRad, Amir and HeyraniNobar, Jafar and Nikkhah, Amir Ali}, title = {Error Analysis and Compensation of inertial navigation System height channel in high Altitudes Aiding Star Tracker}, abstract ={Inthispaper, usingtheinformationobtained in thestartracker, strap down inertial navigationsystempositioningerror in suborbital flightisreduced. In this regard, the position error equations of different channel in inertial navigation are modeled and error share of each sensor in position and attitude determination drifts are investigated. In continue celestial navigation and utilizing star tracker in attitude determination and positioning on different frames are considered. Then new equation of inertial navigation aiding by attitude determined with star tracker are introduced. According to the new equations, attitude and position in navigation and inertial frame were calculated again and comparing with the parameters obtained by inertial navigation, considerable reducing position error, especially in the height channel, is shown.}, Keywords = {Inertial navigation, Celestial Navigation, Star Tracker, Attitude Determination, Navigation Error, Error Analysis}, volume = {6}, Number = {4}, pages = {61-76}, publisher = {Iranian Society of Instrumentation and Control Engineers}, url = {http://joc.kntu.ac.ir/article-1-48-en.html}, eprint = {http://joc.kntu.ac.ir/article-1-48-en.pdf}, journal = {Journal of Control}, issn = {2008-8345}, eissn = {2538-3752}, year = {2013} }