Fakulta elektrotechniky a informatiky / Faculty of Electrical Engineering and Informatics
Stálý URI pro tuto komunituhttps://hdl.handle.net/10195/3847
Práce obhájené před rokem 2008 jsou uloženy pouze v kolekci Vysokoškolské kvalifikační práce
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Článekpeer-reviewedpostprint Otevřený přístup Desired Terminal State Concept in Model Predictive Control: A Case Study(Hindawi limited, 2019) Dušek, František; Honc, DanielThe paper deals with an online optimization control method for dynamical processes called Model Predictive Control (MPC). It is a popular control method in industry and frequently treated in academic areas as well. The standard predictive controllers usually do not guarantee stability especially for the case of short horizons and large control error penalization. Terminal state is one way to ensure stability or at least increase the controller robustness. In the paper, deviation of the predicted terminal state from the desired terminal state is considered as one term of the cost function. Effect of the stability and control quality is demonstrated in the simulated experiments. The application area for online optimization methods is very broad including various logistics and transport problems. If the dynamics of the controlled processes cannot be neglected, the optimization problem must be solved not only for steady state but also for transient behaviour, e.g., by MPC.Konferenční objektpeer-reviewedpostprint Omezený přístup Static Compensator for Decentralized Control of Nonsquare Systems(Springer Nature Switzerland AG, 2019) Dušek, František; Honc, Daniel; Merta, JanThe paper deals with the decentralized control problem for linear multivariable systems with the number of manipulated variables equal or greater than the number of controlled variables. Proposed static compensator ensures automatic creation of input/output pairs for individual control loops. The compensator provides steady state autonomy and unit gain for the control loops. Steady state gain matrix of the controlled system and vector of offsets are sufficient infor-mation for the compensator design. Estimation of the gain matrix and offsets from the measured data is also proposed in the paper.Konferenční objektpeer-reviewedpostprint Otevřený přístup Software for Thermogravimeter(IEEE (Institute of Electrical and Electronics Engineers), 2019) Dušek, František; Honc, Daniel; Havlíček, Libor; Merta, JanSoftware for thermogravimeter constructed at the Department of Inorganic Technology, University of Pardubice is presented in the paper. Used hardware and design of the experiment is described briefly. Main part of the paper focusses to the software solution in MATLAB environment. Except control, plotting and data exporting tasks it was necessary to communicate with Eurotherm nanodac Recorder / Controller through the TCP/IP Modbus protocol and with Sartorius weigh cell through the serial USB ASCII-based protocol. Simple example of Constant Rate Thermal Analysis experiment is given at the end of the paper.Konferenční objektpeer-reviewedpostprint Otevřený přístup Modelling of Ball and Plate System Based on First Principle Model and Optimal Control(IEEE (Institute of Electrical and Electronics Engineers), 2017) Dušek, František; Honc, Daniel; Kizhakke Illom, Rahul SharmaThis paper presents modelling of ball and plate systems based on first principles by considering balance of forces and torques. A non-linear model is derived considering the dynamics of motors, gears, ball and plate. The non-linear model is linearized near the operating region to obtain a standard state space model. This linear model is used for discrete optimal control of the ball and plate system - the trajectory of the ball is controlled by control voltages to the motor.Konferenční objektpeer-reviewedpostprint Otevřený přístup Comparitive study of predictive controllers for trajectory tracking of non-holonomic mobile robot(IEEE (Institute of Electrical and Electronics Engineers), 2017) Kizhakke Illom, Rahul Sharma; Dušek, František; Honc, DanielThe paper deals with predictive control of non-holonomic mobile robot. The basic nonlinear kinematic equation is linearized into two different linear time varying models based on frame of reference-world coordinates and local coordinate of mobile robot. The non-linear model predictive control is applied to the trajectory tracking problem of a non-holonomic mobile robot with these models. The control law is derived from a cost function which penalizes the state tracking error, control effort and terminal state deviation error. Various simulation experiments are conducted and a comparative analysis has been made with respect to state-of-the-art approaches.Konferenční objektpeer-reviewedpostprint Otevřený přístup Optimal control with disturbance estimation(Nottingham Trent University, 2017) Dušek, František; Honc, Daniel; Kizhakke Illom, Rahul SharmaThe paper deals with a very common situation in many control systems and this is the fact that, for zero control action, the controlled variable is nonzero. This is often caused by the existence of another process input which is uncontrolled. Classic controllers do not take into account the second input, so deviation variables are considered or some feedforward controller is used to compensate the variable. The authors propose a solution, that the process is considered as a system with two inputs and single output (TISO). Here, the uncontrolled input is estimated with the state observer and the controller is designed as the multivariable controller. A Linear-quadratic (LQ) state-feedback control and model predictive control (MPC) of simple thermal process simulations are provided to demonstrate the proposed control strategy.