http://www.ifac-papersonline.net/ en Copyright 01:21 AM Sunday 19, 2013 IFAC-PapersOnline http://www.ifacpapersonline.com 01:21 AM Sunday 19, 2013 01:21 AM Sunday 19, 2013 ET webmaster@ifac-papersonline.net webmaster@ifac-papersonline.net http://www.ifac-papersonline.net/Detailed/52793.html 04:00 PM Wednesday 31, 1969 http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52795.html 04:00 PM Wednesday 31, 1969 In this paper we emphasize importance of such e-learning tool as an electronic collection. We present the collection devoted to Alexander Lyapunov an outstanding mathematician, and stability theory founder. The structure and a brief content of the collection are described in this paper. A special attention is given to Lyapunov’s life in Nizhny Novgorod: the information about that period of his life is little-known. Here, we present a lot of unique photos and videos of the places where Lyapunov had been living for a long time. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52797.html 04:00 PM Wednesday 31, 1969 Academician V.M.Matrosov's scientific contribution to the development of A.M. Lyapunov stability theory is considered. His research results and teaching activity on stability, nonlinear dynamics and control in aerospace systems are shortly presented. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52799.html 04:00 PM Wednesday 31, 1969 Corresponding member of USSR Academy of Sciences Aleksander Mikhailovich Letov's life, his contribution to the control theory and its application, international operation, teaching activity and his important contribution to international research cooperation are considered. This paper dedicated to 100th anniversary of his birthday celebration. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52801.html 04:00 PM Wednesday 31, 1969 This year the EECI-HYCON Graduate School on Control celebrates its 10th anniversary. This note aims at analyzing the evolution of this yearly event. We start by giving a historical perspective of the Graduate School since its creation and by recalling the major scientific areas covered by the lecturers. We then provide a detailed description of the organization of this event, including financial issues. As the Graduate School is part of a larger European initiative that aims at reinforcing European excellence in the wide field of the control of complex networked systems, we also present related activities. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52803.html 04:00 PM Wednesday 31, 1969 The experience in organizing and holding the Conferences of Young Scientists on Navigation and Motion Control is analyzed. The specific features of their organization are discussed; some results are summarized. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52805.html 04:00 PM Wednesday 31, 1969 An overview of the author's journey of education and research experience in Control System Engineering (CSE) from 1965 at Indian Institute of Technology (IIT), Kharagpur to 2012 at Idaho State University (ISU) is presented. A Master of Technology or Science (MTech/MS) program in CSE within the Department of Electrical Engineering at IIT started in 1958 is perhaps one of the oldest graduate programs in CSE anywhere in the world. Over the past nearly 50 years, the author had the fortune of working in various institutions around the world in the areas of theory and applications of Control Systems to a wide spectrum of fields in science and engineering such as aerospace, electrical, and biomedical engineering, and welding, ecology, and biological sciences. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52807.html 04:00 PM Wednesday 31, 1969 It is well known that competence in mathematics is essential for control engineering modules and yet many students do not have the required competence. This paper gives an overview and evaluation of strategies in Sheffield for helping students engage with and learn mathematics. Evidence of the efficacy of the approach is also included. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52809.html 04:00 PM Wednesday 31, 1969 Presented is an innovative method for science studies, which applies multimedia training systems with dynamic visualization software. The paper considers methodical aspects and experience in creation and application of multimedia computer technologies to lectures, practical courses, and express-testing as applied to theoretical mechanics and theory of gyroscopes. The main principles and features of the innovative method are described. The contents of lectures and practical courses is presented in a form of MS PowerPoint presentations and embedded dynamic visualization software. Computer simulation and dynamic visualization is provided for equations and operating principles for main types of gyroscopes, for kinematics and dynamics of various systems and well as for the phenomena of mechanical motion. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52811.html 04:00 PM Wednesday 31, 1969 Questions of history, the theory, applications and tradition of use the slow integral manifolds in graduate educational programs are considered in given article with reference to universities of Samara. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52813.html 04:00 PM Wednesday 31, 1969 The learning methods for identification and optimization of stochastic systems, which based on Internet technologies and were developed in Department "Applied Mathematics and Informatics" of Tupolev National Research Kazan State Technical University, are presented. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52815.html 04:00 PM Wednesday 31, 1969 In this paper the family of fractional Brownian motions are described and some of the wide variety of physical applications of these processes are noted. Some control models for systems driven by fractional Brownian motions are given. The graduate education value for these processes is also noted. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52817.html 04:00 PM Wednesday 31, 1969 In addition to study of the standard statistical methods, ones of the interval analysis have been introduced into engineering lecture courses joined with digital processing information, parameter and state estimation of corrupted data. The paper introduces materials of the lecture course devoted to robust parameter and state estimation techniques in a bounded-error context in the presence of outliers. Several examples illustrating the course content are given. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52819.html 04:00 PM Wednesday 31, 1969 An on-going project is being developed to obtain a suite of interactive learning objects composed by graphical interactive applications plus simple learning cards to cover the complete contents of an introductory control system course. This paper deals with one set of interactive tools belonging to that suite devoted to facilitate the learning of concepts related to linearization and control of nonlinear systems (from nonlinear physical models to linear models)using a tank system as case study. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52821.html 04:00 PM Wednesday 31, 1969 This paper presents part of material concerning decentralized control, taught in graduate course Control of Complex Systems. We present some basic aspects of decentralized control design concerning stability and performance and illustrate them on a case study: virtual model of a quadruple tank process. Control structure selection based on performance relative gain array (PRGA, Hovd, Skogestad, 1992) is used and its ability to evaluate the achievable performance is discussed. Robust stability condition for decentralized control is considered, which provides the upper level on subsystems, thus limiting the performance. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52823.html 04:00 PM Wednesday 31, 1969 The paper presents a simple interactive software tool for computer aided state space control design developed in Matlab-Simulink for education in Master degree study programs Applied Mechatronics, Cybernetics and Robotics. Efficient task solving is supported by a Grafical User Interface providing a usef-friendly interactive environment. The core of the software tool are control algorithms programmed as separate functions. The developed interactive tool has a modular structure and can be further extended. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52825.html 04:00 PM Wednesday 31, 1969 The paper addresses the problem to recognize a level of robust controller design in our Institute and show the difficulties of implementation to student courses. In the first part of paper we introduce the survey of robust controller design for SISO systems with generalization design procedure for structured and unstructured uncertainties. The second part of paper is devoted to MIMO systems. In the frequency domain robust controller design procedure we reduce to independent design of SISO subsystems and in time domain the LMI or BMI approaches with polytopic system description are favorable. Copyright IFAC 2012 http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52827.html 04:00 PM Wednesday 31, 1969 The paper presents an original Nyquist-based frequency domain robust decentralized controller design technique called Equivalent Subsystems Method (ESM) being developed at the Institute of Control and Industrial Informatics (ICII), and shows how it is included in education of control engineers in Cybernetics within laboratory project-based learning on real-world laboratory plants. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52829.html 04:00 PM Wednesday 31, 1969 We formulate the discrete-time controller design problem where the desired accuracy of controlled variables in the mean-square sense is guaranteed in the presence of bounded polyharmonic disturbances with a priori unknown number of harmonics, amplitudes, and frequencies. The amplitudes of the harmonics must satisfy a condition that results in the boundedness of the power of each polyharmonic component. The concept of mean-square radius of the steady state of the closed-loop system is introduced which accounts for the bounds on the mean-square values of both the controlled variables and control inputs (for each controlled and control variable). The attainment of the desired accuracy of the control system is formulated as the problem of ensuring the required mean-square radius of the steady state. The solution is based on the discrete-time H∞-optimization procedure by properly choosing the corresponding weighting matrices of the minimax cost criterion. Keywords: linear multivariable systems, bounded disturbances, discrete-time systems, state feedback, H-infinity optimization, Riccati equation. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52831.html 04:00 PM Wednesday 31, 1969 Nowadays scientific community faces challenging problem on how to make science popular among young people and attract students' attention to applied and fundamental research. In this article we share our personal experience of organization of the student research and development laboratory in the field of automatic control for robotics. Paper describes how Lego Mindstorms NXT technology can be used to engage students in the research process. Examples of students' research projects embodying results obtained by elder colleagues at the Control Systems and Informatics Department of St. Petersburg National Research University ITMO are described here. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52833.html 04:00 PM Wednesday 31, 1969 In educational purposes the control problem of the mobile robot like a bike based on Lego Mindstorms NXT is considered. The controller providing stable motion of the robot in vertical position at the horizontal plane is designed that allows regulation distantly the route as well. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52835.html 04:00 PM Wednesday 31, 1969 A set of software development tools for building real-time control systems on a simple robotics platform is described in the paper. The tools are being used in a real-time systems course as a basis for student projects. The development platform is a low-cost PC running GNU/Linux, and the target system is LEGO MINDSTORMS NXT, thus keeping the cost of the laboratory low. Real-time control software is developed using a mixed paradigm. Functional code for control algorithms is automatically generated in C from Simulink models. This code is then integrated into a concurrent, real-time software architecture based on a set of components written in Ada. This approach enables the students to take advantage of the high-level, model-oriented features that Simulink oers for designing control algorithms, and the comprehensive support for concurrency and real-time constructs provided by Ada. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52837.html 04:00 PM Wednesday 31, 1969 The joint project of St.Petersburg State University and St.Petersburg Phys&Math Lyceum 239 «Cyberphysical laboratory» has started in 2008. As a result of the project the technique of teaching the elements of the control theory at school has been developed. Using the simple devices on the basis of Lego Mindstorms NXT, students of elementary school have started to master a science currently accessible only to high school or university students. In the paper some ideas and recent findings of the project are described. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52839.html 04:00 PM Wednesday 31, 1969 In the paper two robotic set-ups illustrating pursuing problems are presented. Both set ups are made of LEGO Mindstorms NXT set and use advance programming tools. Using the presented set ups allows teachers to include low cost robotic projects into science and engineering education. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/52841.html 04:00 PM Wednesday 31, 1969 Iterative Learning Controller (ILC) built on top of conventional controls helps the plant to effectively track its reference signals under repetitive conditions. Research devoted to this has been an extensive topic in last decade and so were the practical applications, that cover manufacturing systems, chemical processes, robotics, etc. In this paper we deal with learning experience of ILC algorithms. It covers how solving real problems in lab provide the students with a holistic approach to understanding control engineering. For this purpose, we have chosen a tracking robot as our plant. We performed a set of experiments on the real platform, a LEGO based robot, which allowed us to show the significant improvement for tracking performance when ILC complements a non-ILC controller in an entertaining and less expensive way. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif