In this paper, block-oriented systems with linear parts based on Laguerre functions is used to
approximation of a cone crusher dynamics. Adaptive recursive least squares algorithm is used to
identification of Laguerre model. Various structures of Hammerstein, Wiener, Hammerstein-Wiener models
are tested and the MATLAB simulation results are compared. The mean square error is used for models
validation.It has been found that Hammerstein-Wiener with orthonormal basis functions improves the
quality of approximation plant dynamics. The mean square error for this model is 11% on average
throughout the considered range of the external disturbances amplitude. The analysis also showed that
Wiener model cannot provide sufficient approximation accuracy of the cone crusher dynamics. During the
process it is unstable due to the high sensitivity to disturbances on the output.The Hammerstein-Wiener
model will be used to the design nonlinear model predictive control application.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
SYSTEM IDENTIFICATION AND MODELING FOR INTERACTING AND NON-INTERACTING TANK S...ijistjournal
System identification from the experimental data plays a vital role for model based controller design. Derivation of process model from first principles is often difficult due to its complexity. The first stage in the development of any control and monitoring system is the identification and modeling of the system. Each model is developed within the context of a specific control problem. Thus, the need for a general system identification framework is warranted. The proposed framework should be able to adapt and emphasize different properties based on the control objective and the nature of the behavior of the system. Therefore, system identification has been a valuable tool in identifying the model of the system based on the input and output data for the design of the controller. The present work is concerned with the identification of transfer function models using statistical model identification, process reaction curve method, ARX model, genetic algorithm and modeling using neural network and fuzzy logic for interacting and non interacting tank process. The identification technique and modeling used is prone to parameter change & disturbance. The proposed methods are used for identifying the mathematical model and intelligent model of interacting and non interacting process from the real time experimental data.
Classification of mathematical modeling,
Classification based on Variation of Independent Variables,
Static Model,
Dynamic Model,
Rigid or Deterministic Models,
Stochastic or Probabilistic Models,
Comparison Between Rigid and Stochastic Models
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
SYSTEM IDENTIFICATION AND MODELING FOR INTERACTING AND NON-INTERACTING TANK S...ijistjournal
System identification from the experimental data plays a vital role for model based controller design. Derivation of process model from first principles is often difficult due to its complexity. The first stage in the development of any control and monitoring system is the identification and modeling of the system. Each model is developed within the context of a specific control problem. Thus, the need for a general system identification framework is warranted. The proposed framework should be able to adapt and emphasize different properties based on the control objective and the nature of the behavior of the system. Therefore, system identification has been a valuable tool in identifying the model of the system based on the input and output data for the design of the controller. The present work is concerned with the identification of transfer function models using statistical model identification, process reaction curve method, ARX model, genetic algorithm and modeling using neural network and fuzzy logic for interacting and non interacting tank process. The identification technique and modeling used is prone to parameter change & disturbance. The proposed methods are used for identifying the mathematical model and intelligent model of interacting and non interacting process from the real time experimental data.
Classification of mathematical modeling,
Classification based on Variation of Independent Variables,
Static Model,
Dynamic Model,
Rigid or Deterministic Models,
Stochastic or Probabilistic Models,
Comparison Between Rigid and Stochastic Models
Fault detection based on novel fuzzy modelling csijjournal
The Fault detection which is based on fuzzy modeling is investigated. Takagi-Sugeno (TS) fuzzy model can
be derived by structure and parameter identification, where only the input-output data of the identified system are available. In the structure identification step, Gustafson-Kessel clustering algorithm (GKCA) is used to detect clusters of different geometrical shapes in the data set and to obtain the point-wise membership function of the premise. In the parameter identification step, Unscented Kalman filter (UKF) is
used to estimate the parameters of the premise’s membership function. In the consequence part, Kalman filter (KF) algorithm is applied as a linear regression to estimate parameters of the TS model using the input-output data set. Then, the obtained fuzzy model is used to detect the fault. Simulations are provided to demonstrate the effectiveness of the theoretical results.
Structural Dynamic Reanalysis of Beam Elements Using Regression MethodIOSR Journals
This paper concerns with the reanalysis of Structural modification of a beam element based on
natural frequencies using polynomial regression method. This method deals with the characteristics of
frequency of a vibrating system and the procedures that are available for the modification of physical
parameters of vibrating structural system. The method is applied on a simple cantilever beam structure and Tstructure
for approximate structural dynamic reanalysis. Results obtained from the assumed conditions of the
problem indicates the high quality approximation of natural frequencies using finite element method and
regression method.
Scilab Finite element solver for stationary and incompressible navier-stokes ...Scilab
In this paper we show how Scilab can be used to solve Navier-stokes equations, for the incompressible and stationary planar flow. Three examples have been presented and some comparisons with reference solutions are provided.
The International Journal of Engineering and Science (The IJES)theijes
The International Journal of Engineering & Science is aimed at providing a platform for researchers, engineers, scientists, or educators to publish their original research results, to exchange new ideas, to disseminate information in innovative designs, engineering experiences and technological skills. It is also the Journal's objective to promote engineering and technology education. All papers submitted to the Journal will be blind peer-reviewed. Only original articles will be published.
State Estimation of Power System with Interline Power Flow ControllerIDES Editor
Now-a-days Flexible A.C. Transmission
System (FACTS) controllers are incorporated into the
power system network to control the power flow and
enhance system stability. Traditional state estimation
methods without integrating FACTS devices will not be
suitable for power systems embedded with FACTS
controller. Based on the conventional power system state
estimation model, a new method is proposed wherein an
IPFC based power injection model is incorporated in the
state estimation algorithm. Interline power flow controller
(IPFC) is one of the versatile FACTS device. The
proposed method is tested on Anderson and Fouad 9-bus
test system and the results are presented.
M.G.Goman, A.V.Khramtsovsky (1997) - Global Stability Analysis of Nonlinear A...Project KRIT
М.Г.Гоман, А.В.Храмцовский "Анализ устойчивости "в большом" в нелинейных задачах динамики", доклад на конференции AIAA Guidance, Navigation, and Control Conf., AIAA Paper 97-3721, 1997 г.
В статье описываются численные методы анализа устойчивости "в большом". Представлены результаты расчетов областей устойчивости стационарных установившихся режимов движения для различных нелинейных задач динамики пол\"ета, таких как инерционное вращение, сваливание, штопор и др.
M.G.Goman, A.V.Khramtsovsky "Global Stability Analysis of Nonlinear Aircraft Dynamics", presented at AIAA Guidance, Navigation, and Control Conf., AIAA Paper 97-3721, 1997.
Global stability analysis of dynamical system implies determination of all the system's attractors and their regions of asymptotic stability. Numerical methods necessary for global stability analysis are outlined: SSNE algorithm for systematic search of all the solutions of nonlinear system of equations, and two algorithms for computing cross-sections of asymptotic stability region boundaries. Results obtained during investigation of aircraft roll-coupling problem are presented as an example of global stability analysis.
A short introduction presentation about the Basics of Finite Element Analysis. This presentation mainly represents the applications of FEA in the real time world.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
THE LEFT AND RIGHT BLOCK POLE PLACEMENT COMPARISON STUDY: APPLICATION TO FLIG...ieijjournal
It is known that if a linear-time-invariant MIMO system described by a state space equation has a number of states divisible by the number of inputs and it can be transformed to block controller form, we can design a state feedback controller using block pole placement technique by assigning a set of desired Block poles. These may be left or right block poles. The idea is to compare both in terms of system’s response.
EFFECT OF TWO EXOSYSTEM STRUCTURES ON OUTPUT REGULATION OF THE RTAC SYSTEMijctcm
This paper presents results on the output regulation of a single-input multi-output (SIMO) rotationaltranslational actuator (RTAC) system. The results focus primarily on stability and robustness, which are
studied in light of the presence of externally generated exogenous input signals. Two exosystem types were
investigated and tested. Obtained results answers the question of asymptotic stabilization and tracking of a
desired trajectory in the presence of a dynamic exosystem. The results confirmed the working theory of
robust stabilization using output feedback techniques, borne out of differential-geometric observer design
principles. The utilized design showed good stability results which compares favourably with existing
works on RTAC stabilization.
Finite Element Analysis is a widely used computational method in most of the engineering domains. But still, its considered as a difficult topic by most students. This presentation is an effort to introduce the very basics of FEA so as to build an intuitive feel for the method. Enjoy !
Model predictive control (MPC) is an advanced contr
ol algorithm that has been very successful in the
control industries due to its capability of handlin
g multi input multi output (MIMO) systems with phys
ical
constraints. In MPC, the control action are obtaine
d by solving a constrained optimization problem at
every sample interval to minimize the difference be
tween the predicted outputs and the reference value
through the using of minimum control energy and sat
isfying the constraints of the physical system.
Quadratic programing (QP) problem is solved using Q
PKWIK method which improves the active set
method. The system architecture and design for the
implementation of online MPC on the FPGA is taken
into consideration in this paper to control a DC mo
tor. This implementation is completed using Spartan
6
Nexys3 FPGA chip using simulation environment (EDK
tool) and the comparison between MPC and PID
controller is also established.
Comparison between pid controllers for gryphon robot optimized with neuro fuz...ijctcm
In this paper three intelligent evolutionary optimization approaches to design PID controller for a
Gryphon Robot are presented and compared to the results of a neuro-fuzzy system applied. The three
applied approaches are artificial bee colony, shuffled frog leaping algorithm and particle swarm
optimization. The design goal is to minimize the integral absolute error and reduce transient response by
minimizing overshoot, settling time and rise time of step response. An Objective function of these indexes is
defined and minimized applying the four optimization methods mentioned above. After optimization of the
objective function, the optimal parameters for the PID controller are adjusted. Simulation results show that
FNN has a remarkable effect on decreasing the amount of settling time and rise-time and eliminating of
steady-state error while the SFL algorithm performs better on steady-state error and the ABC algorithm is
better on decreasing of overshoot. On the other hand PSO sounds to perform well on steady-state error
only. In steady state manner all of the methods react robustly to the disturbance, but FNN shows more
stability in transient response.
ANTI-SYNCHRONIZATION OF HYPERCHAOTIC PANG AND HYPERCHAOTIC WANG-CHEN SYSTEMS ...ijctcm
Hyperchaotic systems are chaotic systems having more than one positive Lyapunov exponent and they have
important applications in secure data transmission and communication. This paper applies active control
method for the synchronization of identical and different hyperchaotic Pang systems (2011) and
hyperchaotic Wang-Chen systems (2008). Main results are proved with the stability theorems of Lypuanov
stability theory and numerical simulations are plotted using MATLAB to show the synchronization of
hyperchaotic systems addressed in this paper.
Fault detection based on novel fuzzy modelling csijjournal
The Fault detection which is based on fuzzy modeling is investigated. Takagi-Sugeno (TS) fuzzy model can
be derived by structure and parameter identification, where only the input-output data of the identified system are available. In the structure identification step, Gustafson-Kessel clustering algorithm (GKCA) is used to detect clusters of different geometrical shapes in the data set and to obtain the point-wise membership function of the premise. In the parameter identification step, Unscented Kalman filter (UKF) is
used to estimate the parameters of the premise’s membership function. In the consequence part, Kalman filter (KF) algorithm is applied as a linear regression to estimate parameters of the TS model using the input-output data set. Then, the obtained fuzzy model is used to detect the fault. Simulations are provided to demonstrate the effectiveness of the theoretical results.
Structural Dynamic Reanalysis of Beam Elements Using Regression MethodIOSR Journals
This paper concerns with the reanalysis of Structural modification of a beam element based on
natural frequencies using polynomial regression method. This method deals with the characteristics of
frequency of a vibrating system and the procedures that are available for the modification of physical
parameters of vibrating structural system. The method is applied on a simple cantilever beam structure and Tstructure
for approximate structural dynamic reanalysis. Results obtained from the assumed conditions of the
problem indicates the high quality approximation of natural frequencies using finite element method and
regression method.
Scilab Finite element solver for stationary and incompressible navier-stokes ...Scilab
In this paper we show how Scilab can be used to solve Navier-stokes equations, for the incompressible and stationary planar flow. Three examples have been presented and some comparisons with reference solutions are provided.
The International Journal of Engineering and Science (The IJES)theijes
The International Journal of Engineering & Science is aimed at providing a platform for researchers, engineers, scientists, or educators to publish their original research results, to exchange new ideas, to disseminate information in innovative designs, engineering experiences and technological skills. It is also the Journal's objective to promote engineering and technology education. All papers submitted to the Journal will be blind peer-reviewed. Only original articles will be published.
State Estimation of Power System with Interline Power Flow ControllerIDES Editor
Now-a-days Flexible A.C. Transmission
System (FACTS) controllers are incorporated into the
power system network to control the power flow and
enhance system stability. Traditional state estimation
methods without integrating FACTS devices will not be
suitable for power systems embedded with FACTS
controller. Based on the conventional power system state
estimation model, a new method is proposed wherein an
IPFC based power injection model is incorporated in the
state estimation algorithm. Interline power flow controller
(IPFC) is one of the versatile FACTS device. The
proposed method is tested on Anderson and Fouad 9-bus
test system and the results are presented.
M.G.Goman, A.V.Khramtsovsky (1997) - Global Stability Analysis of Nonlinear A...Project KRIT
М.Г.Гоман, А.В.Храмцовский "Анализ устойчивости "в большом" в нелинейных задачах динамики", доклад на конференции AIAA Guidance, Navigation, and Control Conf., AIAA Paper 97-3721, 1997 г.
В статье описываются численные методы анализа устойчивости "в большом". Представлены результаты расчетов областей устойчивости стационарных установившихся режимов движения для различных нелинейных задач динамики пол\"ета, таких как инерционное вращение, сваливание, штопор и др.
M.G.Goman, A.V.Khramtsovsky "Global Stability Analysis of Nonlinear Aircraft Dynamics", presented at AIAA Guidance, Navigation, and Control Conf., AIAA Paper 97-3721, 1997.
Global stability analysis of dynamical system implies determination of all the system's attractors and their regions of asymptotic stability. Numerical methods necessary for global stability analysis are outlined: SSNE algorithm for systematic search of all the solutions of nonlinear system of equations, and two algorithms for computing cross-sections of asymptotic stability region boundaries. Results obtained during investigation of aircraft roll-coupling problem are presented as an example of global stability analysis.
A short introduction presentation about the Basics of Finite Element Analysis. This presentation mainly represents the applications of FEA in the real time world.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
THE LEFT AND RIGHT BLOCK POLE PLACEMENT COMPARISON STUDY: APPLICATION TO FLIG...ieijjournal
It is known that if a linear-time-invariant MIMO system described by a state space equation has a number of states divisible by the number of inputs and it can be transformed to block controller form, we can design a state feedback controller using block pole placement technique by assigning a set of desired Block poles. These may be left or right block poles. The idea is to compare both in terms of system’s response.
EFFECT OF TWO EXOSYSTEM STRUCTURES ON OUTPUT REGULATION OF THE RTAC SYSTEMijctcm
This paper presents results on the output regulation of a single-input multi-output (SIMO) rotationaltranslational actuator (RTAC) system. The results focus primarily on stability and robustness, which are
studied in light of the presence of externally generated exogenous input signals. Two exosystem types were
investigated and tested. Obtained results answers the question of asymptotic stabilization and tracking of a
desired trajectory in the presence of a dynamic exosystem. The results confirmed the working theory of
robust stabilization using output feedback techniques, borne out of differential-geometric observer design
principles. The utilized design showed good stability results which compares favourably with existing
works on RTAC stabilization.
Finite Element Analysis is a widely used computational method in most of the engineering domains. But still, its considered as a difficult topic by most students. This presentation is an effort to introduce the very basics of FEA so as to build an intuitive feel for the method. Enjoy !
Model predictive control (MPC) is an advanced contr
ol algorithm that has been very successful in the
control industries due to its capability of handlin
g multi input multi output (MIMO) systems with phys
ical
constraints. In MPC, the control action are obtaine
d by solving a constrained optimization problem at
every sample interval to minimize the difference be
tween the predicted outputs and the reference value
through the using of minimum control energy and sat
isfying the constraints of the physical system.
Quadratic programing (QP) problem is solved using Q
PKWIK method which improves the active set
method. The system architecture and design for the
implementation of online MPC on the FPGA is taken
into consideration in this paper to control a DC mo
tor. This implementation is completed using Spartan
6
Nexys3 FPGA chip using simulation environment (EDK
tool) and the comparison between MPC and PID
controller is also established.
Comparison between pid controllers for gryphon robot optimized with neuro fuz...ijctcm
In this paper three intelligent evolutionary optimization approaches to design PID controller for a
Gryphon Robot are presented and compared to the results of a neuro-fuzzy system applied. The three
applied approaches are artificial bee colony, shuffled frog leaping algorithm and particle swarm
optimization. The design goal is to minimize the integral absolute error and reduce transient response by
minimizing overshoot, settling time and rise time of step response. An Objective function of these indexes is
defined and minimized applying the four optimization methods mentioned above. After optimization of the
objective function, the optimal parameters for the PID controller are adjusted. Simulation results show that
FNN has a remarkable effect on decreasing the amount of settling time and rise-time and eliminating of
steady-state error while the SFL algorithm performs better on steady-state error and the ABC algorithm is
better on decreasing of overshoot. On the other hand PSO sounds to perform well on steady-state error
only. In steady state manner all of the methods react robustly to the disturbance, but FNN shows more
stability in transient response.
ANTI-SYNCHRONIZATION OF HYPERCHAOTIC PANG AND HYPERCHAOTIC WANG-CHEN SYSTEMS ...ijctcm
Hyperchaotic systems are chaotic systems having more than one positive Lyapunov exponent and they have
important applications in secure data transmission and communication. This paper applies active control
method for the synchronization of identical and different hyperchaotic Pang systems (2011) and
hyperchaotic Wang-Chen systems (2008). Main results are proved with the stability theorems of Lypuanov
stability theory and numerical simulations are plotted using MATLAB to show the synchronization of
hyperchaotic systems addressed in this paper.
From simulated model by bio pepa to narrative language through sbmlijctcm
Many theoretical works and tools on epidemiological field reflect the emphasis on decision-making tools
by both public health and the scientific community, which continues to increase.
Indeed, in the epidemiological field, modeling tools are proving a very important way in helping to make
decision. However, the variety, the large volume of data and the nature of epidemics lead us to seek
solutions to alleviate the heavy burden imposed on both experts and developers.
Among the important steps of modeling and simulation: model validation. It refers to the process of
determining how well a model corresponds to the system that it intended to represent. So the question is:
what happens if the model is invalid? Do we need to reproduce another one, or just optimize the existing
one?
An efficient implementation for key management technique using smart card and...ijctcm
A Elliptic curve cryptosystem are become popular because of the reduced number of keys bits required in
Comparision to other cryptosystem. In existing work ECC technique are used to describe the encryption
data to provide a security over a network. ECC satisfy the Smart cards requirements in term of memory,
processing and cost. In existing work ECC cryptographic Algorithm work with a smart card technique.
Many existing approaches work with smart card with various Technique and produce a better efficient
result. In these review paper, we Define a smart card technique using a ECIES cryptographic algorithm. So
These Technique key management using smart card and ECIES.ECC basically based on a discrete
logarithm over appoint on an elliptic curve. The ECIES is standard elliptic curve that is totally based on
encryption algorithm. Smart Card using ECIES technique in key management technique.
Mechanization and error analysis of aiding systems in civilian and military v...ijctcm
In present scenario GPS is widely used to provide extremely accurate position information for navigation.
From, where the GPS does not give continuous localization in environments where signal blockages are
present, Inertial Navigation System comes into action. Because of sensors present in INS and time
integration process, errors get accumulated over time. Henceforth, an aiding system is integrated with INS.
The aim of this paper is to model VMS and RADAR and aid it with INS in order to overcome its errors. VMS
is aided to INS to achieve acceptable accuracy and ease of implementation, much needed in civilian
navigation. Different trajectories are generated to offer solutions in a practical scenario. Whereas, for
highly accurate positioning in military navigation a reliable aiding system, Radar has been opted. The
Kalman filter is designed and modeled as the integrating element in INS/RADAR, to provide an optimal
estimate of navigation solutions. An error analysis has been done for both INS aided VMS and INS aided
Radar systems. The navigation performance of VMS and Radar aiding system is compared and their merits
have been brought out. We besides give the readers a more honest insight of the demand for an aiding
system in different environments based on various simulation results
P AINTING T OOL C ONTROL AND S CENARIO FOR G ONDOLA - TYPED F ACADE M A...ijctcm
We have researched a gondola-typed building façade
maintenance robot system. Its main goal is to paint
reinforced concrete walls as fast and wide as possi
ble. We applied a horizontal array of painting spray nozzles which have uniform heights. In order to apply them to the gondola robot, a painting scenario is designed. Basically, when the gondola robot goes from the bottom to the top of the wall, wall shape
recognition is executed. While it goes down, the no
zzles are turned on and off in accordance with the
wallshape
Automatic classification of bengali sentences based on sense definitions pres...ijctcm
Based on the sense definition of words available in the Bengali WordNet, an attempt is made to classify the
Bengali sentences automatically into different groups in accordance with their underlying senses. The input
sentences are collected from 50 different categories of the Bengali text corpus developed in the TDIL
project of the Govt. of India, while information about the different senses of particular ambiguous lexical
item is collected from Bengali WordNet. In an experimental basis we have used Naive Bayes probabilistic
model as a useful classifier of sentences. We have applied the algorithm over 1747 sentences that contain a
particular Bengali lexical item which, because of its ambiguous nature, is able to trigger different senses
that render sentences in different meanings. In our experiment we have achieved around 84% accurate
result on the sense classification over the total input sentences. We have analyzed those residual sentences
that did not comply with our experiment and did affect the results to note that in many cases, wrong
syntactic structures and less semantic information are the main hurdles in semantic classification of
sentences. The applicational relevance of this study is attested in automatic text classification, machine
learning, information extraction, and word sense disambiguation
In this paper, we made a survey on Word Sense Disambiguation (WSD). Near about in all major languages
around the world, research in WSD has been conducted upto different extents. In this paper, we have gone
through a survey regarding the different approaches adopted in different research works, the State of the
Art in the performance in this domain, recent works in different Indian languages and finally a survey in
Bengali language. We have made a survey on different competitions in this field and the bench mark
results, obtained from those competitions.
Dynamic modelling and optimal controlscheme of wheel inverted pendulum for mo...ijctcm
Unstable wheel inverted pendulum is modelled and controlled deploying Kane’s method and optimal
partial-state PID control scheme. A correct derivation of nonlinear mathematical model of a wheel inverted
pendulum is obtained using a proper definition of the geometric context of active and inertia forces. Then
the model is decoupled to two linear subsystems namely balancing and heading subsystems. Afterward
partial-state PID controller is proposed and formulated to quadratic optimal regulation tuning method. It
enables partial-state PID to be optimally tuned and guarantees a satisfactory level of states error and a
realistic utilization of torque energy. Simulation and numerical analyses are carried out to analyse
system’s stability and to determine the performance of the proposed controller for mobile wheel inverted
pendulum application.
An Approach To Automatic Text Summarization Using Simplified Lesk Algorithm A...ijctcm
Text Summarization is a way to produce a text, which contains the significant portion of information of the
original text(s). Different methodologies are developed till now depending upon several parameters to find
the summary as the position, format and type of the sentences in an input text, formats of different words,
frequency of a particular word in a text etc. But according to different languages and input sources, these
parameters are varied. As result the performance of the algorithm is greatly affected. The proposed
approach summarizes a text without depending upon those parameters. Here, the relevance of the
sentences within the text is derived by Simplified Lesk algorithm and WordNet, an online dictionary. This
approach is not only independent of the format of the text and position of a sentence in a text, as the
sentences are arranged at first according to their relevance before the summarization process, the
percentage of summarization can be varied according to needs. The proposed approach gives around 80%
accurate results on 50% summarization of the original text with respect to the manually summarized result,
performed on 50 different types and lengths of texts. We have achieved satisfactory results even upto 25%
summarization of the original text.
Robust second order sliding mode control for a quadrotor considering motor dy...ijctcm
In this paper, a robust second order sliding mode control (SMC) for controlling a quadrotor with uncertain
parameters presented based on high order sliding mode control (HOSMC). A controller based on the
HOSMC technique is designed for trajectory tracking of a quadrotor helicopter with considering motor
dynamics. The main subsystems of quadrotor (i.e. position and attitude) stabilized using HOSMC method.
The performance and effectiveness of the proposed controller are tested in a simulation study taking into
account external disturbances with consider to motor dynamics. Simulation results show that the proposed
controller eliminates the disturbance effect on the position and attitude subsystems efficiency that can be
used in real time applications.
Wall shape recognition using limit switch moduleijctcm
We have researched a gondola typed robot system for building façade maintenance. Its main application is
to paint on building façade. To apply a robot system to the painting tool, recognition of building wall shape
should be preceded. In this paper, we proposed a limit switch module as a mechanical sensor method. As
experiments, we applied the proposed module to window and obstacle on wall with attitude reference
sensor (ARS) and laser height sensor (distance sensor).
Shakti Mining Equipments Pvt. Ltd. are manufacturer of SMAN brand Gyratory Hydraulic Cone Crusher based in India.
SMAN SHCC Gyratory Hydraulic Cone Crushers are the ultimate solution for the secondary crushing to achieve uniform product size of hard rocks, ores and minerals.
SMAN SHCC Cone Crushers are supplied inclusive of Hydro-Lube power pack, electrical control panel with motor and soft starter for instant installation.
Features:
1)Quick Installation. NO RCC foundation required
2)Optional Mobile attachment for quick inter site movement
3)Heavy duty skid with discharge conveyor
4)High crushing capacities
5)Tramp release accumulator
6)Compact hydro-lube power pack with inbuilt safety features
7)Uniformly in output product
8)Heavy duty cast steel shell
9)Electronically synchronized hydraulic & lubrication system
10)Well equipped electrical panel with soft starter
Symons Cone Crusher is a kind of Crusher, Stone Crusher, Rock Crusher, Crushing Machine, Crushing Plant, Rock Crusher Models which is also called Gyratory Crusher.
Features of Symons Cone Crusher :
Comparing with other kinds crusher, Symons cone crusher have excellences for fine crushing, high productions and low maintenance. The long force arm designed into the Symons cone provides greater crushing force.
And the spring release system generates more opposing force than other cone crushers. So use in mine industry widely.
Standard Symons Cone Crusher Technique paramete:
Type:CSB75,CSB110,CSB160,CSB240,CSB315,
Dia. of cone mm (inch): 900 (3'),1200 (4'),1295
(4 1/4'),1650 (5 1/2'),2134 (7')
Countershaf (r/min):580,485,485,485,435
Power (kw):75,110,160,240,315
Weight (ton): 15,20,27,55,110
Overall dimension (mm):2821x1880x2164,2821*1974*2651,2800x
2342x2668,3911x2870x3771,4613x3251x4732
Power System State Estimation Using Weighted Least Squares (WLS) and Regulari...IJERA Editor
In this paper, a new formulation for power system state estimation is proposed. The formulation is based on
regularized least squares method which uses the principle of Thikonov’s regularization to overcome the
limitations of conventional state estimation methods. In this approach, the mathematical unfeasibility which
results from the lack of measurements in case of ill-posed problems is eliminated. This paper also deals with
comparison of conventional method of state estimation and proposed formulation. A test procedure based n the
variance of the estimated linearized power flows is proposed to identify the observable islands of the system.
The obtained results are compared with the results obtained by conventional WLS method
Direct digital control scheme for controlling hybrid dynamic systems using AN...XiaoLaui
An Estimator Based Inverse Dynamics Controller (EBIDC), which utilizes an Artificial Neural Network (ANN) based state estimation scheme for nonlinear autonomous hybrid systems which are subjected to state disturbances and measurement noises that are stochastic in nature, is proposed in this paper. A salient feature of the proposed scheme is that it offers better state estimates and hence a better control of non-measurable state variables with a non linear approach in correcting the a priori estimates by avoiding statistical linearization involved in existing approaches based on derivative free estimation methods. Simulation results guarantees significant reduction in Integral Square Error (ISE) and standard deviation (σ) of error, between the controlled variable and set point and control signal computation time when compared with best existing related work based on Unscented Kalman Filter (UKF) and Ensembeled Kalman Filter (EnKF). Detailed analysis of the experimental results on real plant under different operating conditions such as servo and regulatory operations, initial condition mismatch, and different types of faults in the system, confirms robustness of proposed approach in these conditions and support the simulation results obtained. The main advantage of the proposed controller is that the control signal computation time is very much less than the selected sampling time of the process, so direct control of the plant is possible with this approach.
2-DOF BLOCK POLE PLACEMENT CONTROL APPLICATION TO:HAVE-DASH-IIBTT MISSILEZac Darcy
In a multivariable servomechanism design, it is required that the output vector tracks a certain reference
vector while satisfying some desired transient specifications, for this purpose a 2DOF control law
consisting of state feedback gain and feedforward scaling gain is proposed. The control law is designed
using block pole placement technique by assigning a set of desired Block poles in different canonical forms.
The resulting control is simulated for linearized model of the HAVE DASH II BTT missile; numerical
results are analyzed and compared in terms of transient response, gain magnitude, performance
robustness, stability robustness and tracking. The suitable structure for this case study is then selected.
2-DOF Block Pole Placement Control Application To: Have-DASH-IIBITT MissileZac Darcy
In a multivariable servomechanism design, it is required that the output vector tracks a certain reference
vector while satisfying some desired transient specifications, for this purpose a 2DOF control law
consisting of state feedback gain and feedforward scaling gain is proposed. The control law is designed
using block pole placement technique by assigning a set of desired Block poles in different canonical forms.
The resulting control is simulated for linearized model of the HAVE DASH II BTT missile; numerical
results are analyzed and compared in terms of transient response, gain magnitude, performance
robustness, stability robustness and tracking. The suitable structure for this case study is then selected.
2-DOF Block Pole Placement Control Application To: Have-DASH-IIBITT MissileZac Darcy
In a multivariable servomechanism design, it is required that the output vector tracks a certain reference
vector while satisfying some desired transient specifications, for this purpose a 2DOF control law
consisting of state feedback gain and feedforward scaling gain is proposed. The control law is designed
using block pole placement technique by assigning a set of desired Block poles in different canonical forms.
The resulting control is simulated for linearized model of the HAVE DASH II BTT missile; numerical
results are analyzed and compared in terms of transient response, gain magnitude, performance
robustness, stability robustness and tracking. The suitable structure for this case study is then selected.
Evaluation of Vibrational Behavior for A System With TwoDegree-of-Freedom Und...IJERA Editor
Analysis of the vibrational behavior of a system is extremely important, both for the evaluation of operating conditions, as performance and safety reason. The studies on vibration concentrate their efforts on understanding the natural phenomena and the development of mathematical theories to describe the vibration of physical systems. The purpose of this study is to evaluate an undamped system with two-degrees-of-freedom and demonstrate by comparing the results obtained in the experimental, numerical and analytical modeling the characteristics that describe a structure in terms of its natural characteristics. The experiment was conducted in PUC-MG where the data were acquired to determine the natural frequency of the system. We also developed an experimental test bed for vibrations studies for graduate and undergraduate students. In analytical modeling were represented all the important aspects of the system. In order, to obtain the mathematical equations is used MATLAB to solve the equations that describe the characteristics of system behavior. For the simulation and numerical solution of the system, we use a computational tool ABAQUS. The comparison between the results obtained in the experiment and the numerical was considered satisfactory using the exact solutions. This study demonstrates that calculation of the adopted conditions on a system with two-degrees-of-freedom can be applied to complex systems with many degrees of freedom and proved to be an excellent learning tool for determining the modal analysis of a system. One of the goals is to use the developed platform to be used as a didactical experiment system for vibration and modal analysis classes at PUC Minas. The idea is to give the students an opportunity to test, play, calculate and confirm the results in vibration and modal analysis in a low-cost platform
State Estimation based Inverse Dynamic Controller for Hybrid system using Art...XiaoLaui
Authors have proposed State Estimation Based Inverse Dynamics Controller (SEBIDC), which utilizes an Artificial Neural Network (ANN) based state estimation scheme for nonlinear autonomous hybrid systems which are subjected to state disturbances and measurement noises that are stochastic in nature. A salient feature of the proposed scheme is that it offers better state estimates and hence a better control of non-measurable state variables with a non linear approach in correcting the a priori estimates by avoiding statistical linearization involved in existing approaches based on derivative free estimation methods. Simulation results guarantees significant reduction in Integral Square Error (ISE) and standard deviation (σ) of error, between the controlled variable and set point and control signal computation time when compared with best existing related work based on Unscented Kalman Filter (UKF) and Ensemble Kalman Filter (EnKF). Detailed analysis of the experimental results on real plant under different operating conditions such as servo and regulatory operations, initial condition mismatch, and different types of faults in the system, confirms robustness of proposed approach in these conditions and support the simulation results obtained. The main advantage of the proposed controller is that the control signal computation time is very much less than the selected sampling time of the process, so direct control of the plant is possible with this approach.
Analytical Evaluation of Generalized Predictive Control Algorithms Using a Fu...inventy
Research Inventy : International Journal of Engineering and Science is published by the group of young academic and industrial researchers with 12 Issues per year. It is an online as well as print version open access journal that provides rapid publication (monthly) of articles in all areas of the subject such as: civil, mechanical, chemical, electronic and computer engineering as well as production and information technology. The Journal welcomes the submission of manuscripts that meet the general criteria of significance and scientific excellence. Papers will be published by rapid process within 20 days after acceptance and peer review process takes only 7 days. All articles published in Research Inventy will be peer-reviewed.
DAMPING INTER-AREA OSCILLATIONS IN POWER SYSTEMS USING A CDM-BASED PID CONTRO...Power System Operation
The interconnected energy transport system is the
mechanism that provides the stability of energy, or
the balance, between the centers of production and
consumption throughout the country. The
interconnected system adapts energy production to
changes in consumption. For many years, because of
long transmission lines or high-value power
transmission in weak-connected power systems, one
of the problems encountered is the existence of lowfrequency
oscillations between generator groups [1,
2]. These inter-area oscillations are a significant
issue in power system stability and control areas.
Modern power systems possess three main
properties: (1) the measure of interconnected system
is getting larger; (2) there is a closer operating point
to the power system stability limit because of
environmental and economic conditions; (3) being
composed of new elements and keeping pace with
technological developments unfortunately cause new
uncertainties in the stability of power systems. These
properties increase the risk of formation of lowfrequency
oscillations [3].
Stability and stabilization of discrete-time systems with time-delay via Lyap...IJERA Editor
The stability and stabilization problems for discrete systems with time-delay are discussed .The stability and
stabilization criterion are expressed in the form of linear matrix inequalities (LMI). An effective method
allowing us transforming a bilinear matrix Inequality (BMI) to a linear matrix Inequality (LMI) is developed.
Based on these conditions, a state feedback controller with gain is designed. An illustrative numerical example
is provided to show the effectiveness of the proposed method and the reliability of the results.
Effect of stability indices on robustness and system response in coefficient ...eSAT Journals
Abstract
In Control systems, designing a robust controller such that a desired system response is obtained despite plant parameter
variations is ubiquitous problem. In this context, Coefficient diagram method is an effective method and one of the recent design
methods based on the polynomial approach introduced by Shunji Manabe. In CDM, stability indices, stability limits and time
constant are the main design parameters. The stability indices and stability limits are indicative of stability and equivalent time
constant is indicative of speed of system response. A semi-log diagram known as coefficient diagram is the design tool using
which one can analyse the important features of a design such as stability, speed of response and robustness, all in one diagram.
The right choice of the stability indices is of paramount importance in the controller design. This paper deals with the effect of
variation in the stability indices upon the system response and robustness. A type 2 fourth order plant has been considered as an
example to analyse the effects of stability indices. The stability indices are varied one by one relative to the standard Manabe form
and in each case response is observed. The transient response of the system is sensitive to lower order indices. Also, robustness in
the design is analysed by coefficient diagrams of the perturbed plant.
Keywords: Coefficient Diagram Method (CDM), robustness; Stability Indices, Coefficient Diagram
Investigation of Parameter Behaviors in Stationarity of Autoregressive and Mo...BRNSS Publication Hub
The most important assumption about time series and econometrics data is stationarity. Therefore, this study focuses on behaviors of some parameters in stationarity of autoregressive (AR) and moving average (MA) models. Simulation studies were conducted using R statistical software to investigate the parameter values at different orders (p) of AR and (q) of MA models, and different sample sizes. The stationary status of the p and q are, respectively, determined, parameters such as mean, variance, autocorrelation function (ACF), and partial autocorrelation function (PACF) were determined. The study concluded that the absolute values of ACF and PACF of AR and MA models increase as the parameter values increase but decrease with increase of their orders which as a result, tends to zero at higher lag orders. This is clearly observed in large sample size (n = 300). However, their values decline as sample size increases when compared by orders across the sample sizes. Furthermore, it was observed that the means values of the AR and MA models of first order increased with increased in parameter but decreased when sample sizes were decreased, which tend to zero at large sample sizes, so also the variances
Smart TV Buyer Insights Survey 2024 by 91mobiles.pdf91mobiles
91mobiles recently conducted a Smart TV Buyer Insights Survey in which we asked over 3,000 respondents about the TV they own, aspects they look at on a new TV, and their TV buying preferences.
Key Trends Shaping the Future of Infrastructure.pdfCheryl Hung
Keynote at DIGIT West Expo, Glasgow on 29 May 2024.
Cheryl Hung, ochery.com
Sr Director, Infrastructure Ecosystem, Arm.
The key trends across hardware, cloud and open-source; exploring how these areas are likely to mature and develop over the short and long-term, and then considering how organisations can position themselves to adapt and thrive.
GDG Cloud Southlake #33: Boule & Rebala: Effective AppSec in SDLC using Deplo...James Anderson
Effective Application Security in Software Delivery lifecycle using Deployment Firewall and DBOM
The modern software delivery process (or the CI/CD process) includes many tools, distributed teams, open-source code, and cloud platforms. Constant focus on speed to release software to market, along with the traditional slow and manual security checks has caused gaps in continuous security as an important piece in the software supply chain. Today organizations feel more susceptible to external and internal cyber threats due to the vast attack surface in their applications supply chain and the lack of end-to-end governance and risk management.
The software team must secure its software delivery process to avoid vulnerability and security breaches. This needs to be achieved with existing tool chains and without extensive rework of the delivery processes. This talk will present strategies and techniques for providing visibility into the true risk of the existing vulnerabilities, preventing the introduction of security issues in the software, resolving vulnerabilities in production environments quickly, and capturing the deployment bill of materials (DBOM).
Speakers:
Bob Boule
Robert Boule is a technology enthusiast with PASSION for technology and making things work along with a knack for helping others understand how things work. He comes with around 20 years of solution engineering experience in application security, software continuous delivery, and SaaS platforms. He is known for his dynamic presentations in CI/CD and application security integrated in software delivery lifecycle.
Gopinath Rebala
Gopinath Rebala is the CTO of OpsMx, where he has overall responsibility for the machine learning and data processing architectures for Secure Software Delivery. Gopi also has a strong connection with our customers, leading design and architecture for strategic implementations. Gopi is a frequent speaker and well-known leader in continuous delivery and integrating security into software delivery.
State of ICS and IoT Cyber Threat Landscape Report 2024 previewPrayukth K V
The IoT and OT threat landscape report has been prepared by the Threat Research Team at Sectrio using data from Sectrio, cyber threat intelligence farming facilities spread across over 85 cities around the world. In addition, Sectrio also runs AI-based advanced threat and payload engagement facilities that serve as sinks to attract and engage sophisticated threat actors, and newer malware including new variants and latent threats that are at an earlier stage of development.
The latest edition of the OT/ICS and IoT security Threat Landscape Report 2024 also covers:
State of global ICS asset and network exposure
Sectoral targets and attacks as well as the cost of ransom
Global APT activity, AI usage, actor and tactic profiles, and implications
Rise in volumes of AI-powered cyberattacks
Major cyber events in 2024
Malware and malicious payload trends
Cyberattack types and targets
Vulnerability exploit attempts on CVEs
Attacks on counties – USA
Expansion of bot farms – how, where, and why
In-depth analysis of the cyber threat landscape across North America, South America, Europe, APAC, and the Middle East
Why are attacks on smart factories rising?
Cyber risk predictions
Axis of attacks – Europe
Systemic attacks in the Middle East
Download the full report from here:
https://sectrio.com/resources/ot-threat-landscape-reports/sectrio-releases-ot-ics-and-iot-security-threat-landscape-report-2024/
GraphRAG is All You need? LLM & Knowledge GraphGuy Korland
Guy Korland, CEO and Co-founder of FalkorDB, will review two articles on the integration of language models with knowledge graphs.
1. Unifying Large Language Models and Knowledge Graphs: A Roadmap.
https://arxiv.org/abs/2306.08302
2. Microsoft Research's GraphRAG paper and a review paper on various uses of knowledge graphs:
https://www.microsoft.com/en-us/research/blog/graphrag-unlocking-llm-discovery-on-narrative-private-data/
Observability Concepts EVERY Developer Should Know -- DeveloperWeek Europe.pdfPaige Cruz
Monitoring and observability aren’t traditionally found in software curriculums and many of us cobble this knowledge together from whatever vendor or ecosystem we were first introduced to and whatever is a part of your current company’s observability stack.
While the dev and ops silo continues to crumble….many organizations still relegate monitoring & observability as the purview of ops, infra and SRE teams. This is a mistake - achieving a highly observable system requires collaboration up and down the stack.
I, a former op, would like to extend an invitation to all application developers to join the observability party will share these foundational concepts to build on:
Encryption in Microsoft 365 - ExpertsLive Netherlands 2024Albert Hoitingh
In this session I delve into the encryption technology used in Microsoft 365 and Microsoft Purview. Including the concepts of Customer Key and Double Key Encryption.
Elevating Tactical DDD Patterns Through Object CalisthenicsDorra BARTAGUIZ
After immersing yourself in the blue book and its red counterpart, attending DDD-focused conferences, and applying tactical patterns, you're left with a crucial question: How do I ensure my design is effective? Tactical patterns within Domain-Driven Design (DDD) serve as guiding principles for creating clear and manageable domain models. However, achieving success with these patterns requires additional guidance. Interestingly, we've observed that a set of constraints initially designed for training purposes remarkably aligns with effective pattern implementation, offering a more ‘mechanical’ approach. Let's explore together how Object Calisthenics can elevate the design of your tactical DDD patterns, offering concrete help for those venturing into DDD for the first time!
Generative AI Deep Dive: Advancing from Proof of Concept to ProductionAggregage
Join Maher Hanafi, VP of Engineering at Betterworks, in this new session where he'll share a practical framework to transform Gen AI prototypes into impactful products! He'll delve into the complexities of data collection and management, model selection and optimization, and ensuring security, scalability, and responsible use.
Dev Dives: Train smarter, not harder – active learning and UiPath LLMs for do...UiPathCommunity
💥 Speed, accuracy, and scaling – discover the superpowers of GenAI in action with UiPath Document Understanding and Communications Mining™:
See how to accelerate model training and optimize model performance with active learning
Learn about the latest enhancements to out-of-the-box document processing – with little to no training required
Get an exclusive demo of the new family of UiPath LLMs – GenAI models specialized for processing different types of documents and messages
This is a hands-on session specifically designed for automation developers and AI enthusiasts seeking to enhance their knowledge in leveraging the latest intelligent document processing capabilities offered by UiPath.
Speakers:
👨🏫 Andras Palfi, Senior Product Manager, UiPath
👩🏫 Lenka Dulovicova, Product Program Manager, UiPath
Builder.ai Founder Sachin Dev Duggal's Strategic Approach to Create an Innova...Ramesh Iyer
In today's fast-changing business world, Companies that adapt and embrace new ideas often need help to keep up with the competition. However, fostering a culture of innovation takes much work. It takes vision, leadership and willingness to take risks in the right proportion. Sachin Dev Duggal, co-founder of Builder.ai, has perfected the art of this balance, creating a company culture where creativity and growth are nurtured at each stage.
Builder.ai Founder Sachin Dev Duggal's Strategic Approach to Create an Innova...
Cone crusher model identification using
1. International Journal of Control Theory and Computer Modeling (IJCTCM) Vol.4, No.3, July 2014
DOI : 10.5121/ijctcm.2014.4301 1
CONE CRUSHER MODEL IDENTIFICATION USING
BLOCK-ORIENTED SYSTEMSWITH ORTHONORMAL
BASIS FUNCTIONS
Oleksii Mykhailenko1
1
Department of Power Supply and Energy Management, State institution of higher
education «KryvyiRih National University», KryvyiRih, Ukraine
ABSTRACT
In this paper, block-oriented systems with linear parts based on Laguerre functions is used to
approximation of a cone crusher dynamics. Adaptive recursive least squares algorithm is used to
identification of Laguerre model. Various structures of Hammerstein, Wiener, Hammerstein-Wiener models
are tested and the MATLAB simulation results are compared. The mean square error is used for models
validation.It has been found that Hammerstein-Wiener with orthonormal basis functions improves the
quality of approximation plant dynamics. The mean square error for this model is 11% on average
throughout the considered range of the external disturbances amplitude. The analysis also showed that
Wiener model cannot provide sufficient approximation accuracy of the cone crusher dynamics. During the
process it is unstable due to the high sensitivity to disturbances on the output.The Hammerstein-Wiener
model will be used to the design nonlinear model predictive control application.
KEYWORDS
Nonlinear Systems Identification, Block-Oriented Models, Laguerre Functions, Cone Crusher.
1. INTRODUCTION
In order to create technological unit control systems of ore dressing production it is necessary to
have the mathematical model of the unit, accurately describing its characteristics. Taking into
account the nonlinear properties of technological processes [1] of ore dressing and ore
preparation, it is impossible to use linear dynamic models, which are studied well enough and
have wide mathematical tool.
Approximation of nonlinear system characteristics is carried out using models based on the
Volterra series, neuro-fuzzy models or block-oriented models (Hammerstein, Wiener and
Hammerstein-Wiener). In terms of control the preference is given to use of latest models that
represent the series of nonlinear blocks in a certain order, described by static functions, and linear
block that displays the dynamics of the plant [2, 3]. Such model configuration determines
simplicity of its practical implementation.
In this work as a linear block the model that is based on the Laguerre orthonormal
functions[4,5 , 6] is used. Such a choice is connected with some features,which the specified
model has. For example, in case of model parametrical identification there is no need for aprior
information about time delays and time constants. Due to the orthogonality property the sufficient
2. International Journal of Control Theory and Computer Modeling (IJCTCM) Vol.4, No.3, July 2014
2
alignment with plant characteristics is achieved at the small model order. Thus, coefficients of
model are estimated by methods of the regression analysis.
This article consists of four sections. The second section provides a mathematical description of
block-oriented systems taking into account the representation of their linear part by orthonormal
functions. The third section is concerned with the efficiency analysis of the nonlinear model
parametric identification by performing the computational experiment in MATLAB software
package.
2. NONLINEAR MODELS
The plant dynamics can be described by the model built on the basis of Laguerre orthonormal
functions, which indiscrete-time state-space form is stated as follows:
[ 1] [ ]k [ ],
y[ ] C [ ],T
L k L k u k
k L k
+ = Φ + Γ
=
(1)
Where p is a model order; 1 2[ ] [ ] [ ] [ ]
T
pL k l k l k l k = L is a state vector, consisting of
Laguerre functions; Φ is(p × p) lower triangle matrix; Γ is (p × 1)column vector:
2 3
0 0 0
0 0
,
0
( ) ( )p p
ψ
ϑ ψ
ψϑ ϑ ψ
ψ ϑ ψ ϑ ϑ ψ− −
Φ = −
− −
L
O
O M
M M O
L
2
1
1
,
( )p
ψ
ϑ ψ
ψ −
−
Γ =
−
M
(2)
1 2 ,
T
pC c c c = L (3)
whereψisascaling factor that should be in the range of 0 ≤ ψ < 1 to ensure system stability.
The task of Laguerre network parametrical identification of the order p is reduced to
determinationcomponents of vector C (3) and scaling factor ψ.
Taking into account that discrete-time model (1) is used as the linear part of block-oriented
models, it is necessary to adapt traditional structures taking into account this feature.
Modified Hammerstein model, which includes a static nonlinearity in the part describing the
effect of input actions on the state vector value, can be represented in the following form:
( )[ 1] [ ] [ ] ,
[ ] [ ],T
L k L k u k
y k C L k
+ = Φ + ΓΞ
=
(4)
where ( ) ( ) ( )1 1[ ] [ ] [ ] [ ]
T
mk g u k g u k g u kΞ = L – : m
ig → is a nonlinear static functions;
[ ] n
L k ∈ is a Laguerre model state vector; [ ] m
u k ∈ is an input vector.
3. International Journal of Control Theory and Computer Modeling (IJCTCM) Vol.4, No.3, July 2014
3
Wiener model is stated in a similar way:
( )
[ 1] [ ] [ ],
[ ] [ ] ,T
L k L k u k
y k C L k
+ = Φ + Γ
= Ψ
(5)
where ( ) : n
Ψ ⋅ → – static nonlinear function that connects the vector of Laguerre net state
with output ofblock-oriented model.
As a result of combining of the two previous models (4) and (5) we receive Hammerstein-
Wienermodel in state-space form:
[ 1] [ ] ( [ ]),
[ ] ( [ ]).T
L k L k u k
y k C L k
+ = Φ + ΓΞ
= Ψ
(6)
To evaluate the quality of the solution to the identification problem mean square error (MSE) is
used in the following form:
( )
2
1
1 ˆ ,
N
i i
i
MSE Y Y
N =
= −∑ (7)
whereYi–output values vector of the plant; Ŷi –output values vector of the model, N –the length of
the set.
3. SIMULATION RESULTS
For the formulation of the cone crusher nonlinear dynamic model and its further parametric
identification, the results of theMATLAB computational experiment based on plant
modelformulated as distributed parameter system [1], were used as input and output data. The
capacity of the cone crusher for ore size classes-9.1+6.7 mm and below is accepted as output. The
input is represented by the change closed size setting (CSS). Taking into account the significant
persistence of the process, the sampling interval was accepted to be equal to 1 second, as a result
test set amounted to 2000 samples.
The identification of Laguerre model (1) was made with using of recursive least squares
(RLS)algorithm [7]. Based on received parameters, the vector of coefficients was chosen, which
provides a better approximation of experimental data in terms of MSE. The compassion of
reactions of the model and the plant to identical input effect is shown in Fig. 1. The graphs show
that Laguerre model well follows the dynamics of the system, but cannot adequately display the
nonlinear amplification coefficient.
4. International Journal of Control Theory and Computer Modeling (IJCTCM) Vol.4, No.3, July 2014
4
Figure 1. The comparison of the approximation efficiency of the cone crusher dynamics while
usingLaguerre model with an adaptive algorithm of the parameter identification
Using the mathematical description of the block-oriented models (4-6), the dynamic
characteristics approximation of the cone crusher was made by means of MATLAB. The
evaluation of static nonlinearities on the input and output of models is made with using of the
piecewise linear functions. At this the additive noise is applied on the plant output to simulate the
impact of uncontrolled external disturbances, this noise is made by the sequence of random
variables with a normal distribution that has the standard deviation σ.
Table 1. The comparison of the approximation efficiency of the dynamic characteristics of the plant at
various amplitudes of disturbances
The standard
deviation, σ
MSE
Hammerstein
model
Wiener
model
Hammerstein-
Wienermodel
Hammerstein-
Wienermodel
with ARX
0.01 20.72 87.89 7.06 15.12
0.05 20.73 93.33 7.13 15.44
0.1 20.78 58.24 7.25 16.36
0.25 20.81 61.15 7.43 18.23
0.5 20.98 86.61 8.89 23.97
1 20.77 75.18 10.65 29.68
5 44.84 100.6 30.61 45.07
The results given in Table 1 show, that the most accurate identification is achieved with the usage
of Hammerstein-Wiener model with specification of parameter vector of Laguerre model with the
adaptive RLS algorithm. Hammerstein model with analog algorithm of linear part parameters
identification and Hammerstein-Wiener model with the linear block in the form of autoregressive
(ARX) structure have worse, but acceptable readings. It should be noted that first two mentioned
non-linear models show high stability of the identification process at the change of amplitudes of
disturbances within range of { }| 0.01 1σ σ∈ ≤ ≤ . The mean square deviation of the MSE
5. International Journal of Control Theory and Computer Modeling (IJCTCM) Vol.4, No.3, July 2014
5
criterion from the mean value for them is 0.0867 and 1.31. And for Hammerstein-Wiener model
with ARX, this reading amounts to 3.4. The series of numerical experiments allowed to establish
the instability of the latest model to the effects of uncontrolled high amplitude disturbances
{ }| 1σ σ∈ > . At this the values of MSE vary within wide range from 45.81 to 468.23.
Comparative analysis showed that Wiener model cannot provide sufficient approximation
accuracy of the dynamic characteristics of the plant. During the process it is unstable due to the
high sensitivity to disturbances on the output. This feature is primarily related to the structural
implementation of the model. Therefore, Wiener model is useful only in the control systems,
which have additional devices to eliminate noise.
Figure 2. Comparison of identification efficiency of nonlinear models of cone crushers of different structure
(σ = 0.5)
Figure 3. Comparison of identification efficiency of nonlinear models of cone crushers of different structure
σ = 0.5 (enlarged fragment)
6. International Journal of Control Theory and Computer Modeling (IJCTCM) Vol.4, No.3, July 2014
6
The temporal characteristics of the original plant and nonlinear models obtained in the result of
identification are shown in Figures 2-6. For descriptive reasons the real output of the plant and
output with the applied external additive disturbances are showed on enlarged graphs (Figures 3,
5, and 6).
Figure 4. Comparison of identification efficiency of nonlinear models of cone crushers of different structure
σ = 5
Figure 5. Comparison of identification efficiency of nonlinear models of cone crushers of different structure
σ = 5 (enlarged fragment)
7. International Journal of Control Theory and Computer Modeling (IJCTCM) Vol.4, No.3, July 2014
7
Figure 6. Comparison of identification efficiency of nonlinear models of cone crushers of different structure
σ = 5 (enlarged fragment)
The obtained results confirm high quality of approximation at using of Hammerstein-Wiener
model with RLS algorithm of determination of the linear block parameters vector, the results also
show instability of Wiener model.
Another significant advantage of using of the structure, which showed the best quality of
identification is that it functions as a digital filter with a high level of reconstruction of the
original signal without noise.
4. CONCLUSIONS
The studies of using of Laguerre model with an adaptive recursive least squares algorithm
identification of its parameters as linear part of Hammerstein, Wiener and Hammerstein-Wiener
models showed that Hammerstein-Wiener model has the best approximation of temporal
characteristics of the model to plant dynamics under effect of uncontrolled disturbances. Its
accuracy is by 64.3% better than the accuracy of Hammerstein model and is by 59.24%better than
the one of Hammerstein-Wiener model with a linear block based on autoregressive structure
(ARX) at change of the amplitude ofadditivedisturbances within { }| 0.01 1σ σ∈ ≤ ≤
.
Wiener
model is unsuitable for operation in the conditions of disturbances of random amplitude due to its
sensitivity to the value of the plant output. Hammerstein-Wiener model with ARX loses its
stability at { }| 1σ σ∈ > .
REFERENCES
[1] Johansson, Andreas (2009) “Modeling and Simulation of Cone Crushers”. In Proceedings of the
IFACMMM 2009, Viña del Mar, Chile, 14-16 October, 2009, pp. 13-18.
[2] Wills, Adrian, Schön, Thomas, Ljung, Lennart&Ninness, Brett (2013) “Identification of
Hammerstein-Wiener models”, Automatica, (49), 1, 2013, pp. 70-81.
8. International Journal of Control Theory and Computer Modeling (IJCTCM) Vol.4, No.3, July 2014
8
[3] Dasgupta, Dwaipayan&Patwardhan, Sachin C. (2010) “NMPC of a Continuous Fermenter Using
Wiener-Hammerstein Model Developed from Irregularly Sampled Multi-rate Data”. In Proceedings of
the 9th International Symposium on Dynamics and Control of Process Systems (DYCOPS 2010),
Leuven, Belgium, July 5-7, 2010, pp. 623-628.
[4] Wang, Liuping (2009) Model Predictive Control System Design and Implementation Using
MATLAB, Advances in Industrial Control, Springer.
[5] Gomez, Juan C. &Baeyens, Enrique (2001) “Identification of Nonlinear Systems using Orthonormal
Bases”.
[6] Mahmoodi, Sanaz, Poshtan, Javad, Jahed-Motlagh, Mohammad Reza&Montazeri, Allahyar (2009)
“Nonlinear Model Predictive Control of a pH Neutralization Process Based on Wiener–Laguerre
Model”, Chemical Engineering Journal, Vol. 146, 2009, pp. 328–337.
[7] José Antonio Apolinário Jr. (2009) QRD-RLS Adaptive Filtering, New York, Springer Science, 2009.
Authors
MykhailenkoOleksii Received a master's degree inelectromechanics at KrivyyRih technical
University, KrivyyRih, Ukraine, in 2008. Current research interests include the development
of identification algorithms for non-linear models, digital filtering, predictive control of
technological processes, development of digital control systems.