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Abstract: This paper presents a process and control simulator for industrial helium cryogenic plants controlled by Programmable Logic Controllers (PLC). This simulator can be used for different purposes such as operator training, test of the PLC programs or the optimization of the plant. The different component models used in the simulator are detailed and explained. Various large scale cryogenic plants used for the particle accelerator LHC (Large Hadron Collider) at CERN have been modeled and simulated. The good agreement between the simulation results and the dynamic behavior of real plants is demonstrated with experimental results. Various discussions complete the presentation. [Copyright &y& Elsevier]

Abstract: This paper addresses the implementation of a predictive control strategy for Unmanned Air Vehicles in the presence of bounded disturbances. The goal is to prove the feasibility of such a real-time optimization-based control design and to demonstrate its tracking capabilities for the nonlinear dynamics with respect to a reference trajectory which is pre-specified via differential flatness. In order to benefit from the computational advantages of the linear predictive control formulations, an off-line linearization strategy of the nonlinear model of the vehicle along the flat trajectory is employed. The proposed method exhibits effective performance validated through software-in-the-loop simulations and real flight tests on different Unmanned Aerial Vehicles (UAVs). [Copyright &y& Elsevier]

Abstract: In this paper, a PD controller design for haptic systems under delayed feedback is considered. More precisely, a complete stability analysis of a haptic system where local dynamics are described by some second-order mechanical dynamics is presented. Next, using two optimization techniques ( and stability, margin optimization) an optimal choice for the controller gains is proposed. The derived results are tested on a three degree-of-freedom real-time experimental platform to illustrate the theoretical results. [Copyright &y& Elsevier]