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Research in the field of underactuated systems shows that control algorithms which take the natural dynamics of the system’s underactuated part into account are more energy-efficient than those utilizing fully-actuated systems. The purpose of this paper to apply the two-degrees-of-freedom (feedforward/feedback) control structure to design a swing-up manoeuver that involves tracking the desired trajectories so as to achieve and maintain the unstable equilibrium position of the pendulum on the cart system. The desired trajectories are obtained by solving the boundary value problem of the internal system dynamics, while the optimal state-feedback controller ensures that the desired trajectory is tracked with minimal deviations. The proposed algorithm is verified on the simulation model of the available laboratory model actuated by a linear synchronous motor, and the resulting program implementation is used to enhance the custom Simulink library Inverted Pendula Modeling and Control, developed by the authors of this paper.

This paper presents the development of a new Aerodynamic Ball Levitation Laboratory Plant at the Center of Modern Control Techniques and Industrial Informatics (CMCT&amp, II). The entire design process of the plant is described, including the component selection process, the physical construction of the plant, the design of a printed circuit board (PCB) powered by a microcontroller, and the implementation of its firmware. A parametric mathematical model of the laboratory plant is created, whose parameters are then estimated using a nonlinear least-squares method based on acquired experimental data. The Kalman filter and the optimal state-space feedback control are designed based on the obtained mathematical model. The designed controller is then validated using the physical plant.

This paper introduces a methodology for one of the challenges regarding cyber-physical systems, ie modelling and control design them as hybrid systems. The proposed methodology comprises modules with specific steps to accomplish the tasks. Specifically, the paper aims to utilize hybrid systems framework onto the chosen hydraulic hybrid system with complex dynamics to showcase different aspects of hybrid systems. The mathematical model was derived using hybrid automata framework and then transformed into the linear form either using Jacobi matrices or using linear approximations without Jacobi matrices. After that the system was validated and analysed and the control design utilizing piecewise linear-quadratic regulator optimal control was proposed. Furthermore, parameters of control algorithm were tuned using particle swarm optimization algorithm. The whole logic, system dynamics and constrains are implemented within MATLAB/Simulink simulation environment using s -functions. The proposed methodology can be implemented on the various types of cyber-physical systems as far as they can be described as hybrid systems.

A substantial part of Distributed Control Systems are SCADA systems that require connection to low level electronics through standard industrial interfaces and protocols. When implementing Distributed Control Systems for physics experiments, it is often necessary to use custom made electronics that do not have the ability to communicate using standard protocols, but instead use custom communication protocols. This paper describes the new Front End Device (FRED) framework, which provides the possibility of connecting custom electronics to standard SCADA systems, thus filling the gap in the implementation of Distributed Control Systems that deploy custom electronics. The FRED framework also serves as a translation layer, which provides translation of raw values acquired from electronics to real physical quantities and vice versa. At the same time, it is easy to use, since there is no need for additional programming when used in the simple mode, and its entire functionality can be configured in several configuration files. In case of the need to perform more complex operations over electronics, it is possible to use the provided API for the implementation of additional program functionalities. Tests of the FRED framework have shown that it is fast and scalable enough for use within the Distributed Control Systems of large physics experiments. Based on experience with the implementation of the FRED framework in real-world systems of physics experiments, it can be stated that it meets all requirements for data processing throughput.

This paper presents the application of an inverse neural models used as controllers in comparison to classical PI controllers for velocity tracking control task used in two-wheel, differentially driven mobile robot. The PI controller synthesis is based on linear approximation of actuators with equivalent load. In order to obtain relevant datasets for training of feed-forward multi-layer perceptron based neural network used as neural model, the mathematical model of mobile robot, that combines its kinematic and dynamic properties such as chassis dimensions, center of gravity offset, friction and actuator parameters is used. Neural models are trained off-line to act as an inverse dynamics of DC motors with particular load using data collected in simulation experiment for motor input voltage step changes within bounded operating area. The performances of PI controllers versus inverse neural models in mobile robot internal velocity control loops are demonstrated and compared in simulation experiment of navigation control task for line segment motion in plane.

The purpose of this paper is to present the Single inverted pendulum laboratory model with LSM as a cyber-physical system (CPS). The implementation of the model application into the Distributed Control System infrastructure at the DCAI, FEEI, TU is first described. Pre-prepared program modules from the custom Simulink library Inverted Pendula Modeling and Control, developed by the authors of this paper, are used in subsequent modeling and control design. The contribution to the simulation model level of the DCS infrastructure is described in detail - the nonlinear mathematical model obtained from the library is modified to include the velocity loop, and the necessary parameters are obtained via experimental identification. Finally, a control strategy based on a hybrid control structure is designed and swing-up/stabilizing control algorithms are verified on the laboratory model.

This paper presents design of the predictive control algorithms, which are verified using the simulation and laboratory model of the Intelligent Positionig Plate. The results of the predictive control algorithm verification are presented also in this article. The created tool called the IPPtools is based on the designed predictive control algorithms and it is shortly presented. A part of the paper is dedicated to the concept of the diagnosis system, which is designed and implemented into the 5-level Distributed Control System of the Department of the Cybernetics and Artificial Intelligence. Possibility how to modify the predictive control algorithms using diagnosis system is also stated in the last section of this paper.

This paper deals with hybrid modelling and control of cyber-physical systems, which are part of a recently introduced phenomenon Industry 4.0. As a case study we look at a hydraulic system with hybrid dynamics represented by coupled tanks. The dynamical system contains two discrete modes, specifically with and without interaction. The nonlinear hybrid system was modelled using s-functions and then its linear description was created in the discrete PWA representation with the help of HYSDEL modelling framework. Both s-functions and HYSDEL are part of MATLAB/Simulink environment. After validation of the discrete PWA representation in comparison with the nonlinear hybrid system, LQR synthesis with reference trajectory tracking was designed for both discrete modes. Subsequently optimal control designed on the linear hybrid system in the discrete PWA representation was verified on the nonlinear hybrid system.

One of the research activities of the Center of Modern Control Techniques and Industrial Informatics (CMCT&II) is the Center for Nondestructive Diagnostics of Technological Processes (CNDTP) implemented as part of the TECHNICOM project at the Technical University of Kosice in accordance with the project's intention to improve conditions for transferring research results into practice. The focus of the Center's research is on nondestructive, contactless diagnostics of technological processes relying on image recognition systems where images are scanned by means of contact-free characteristics scanning through grayscale, color or thermovision cameras. This equipment is integrated into the control systems of technological processes and interconnected with the mechatronic parts of technological devices or production lines such as servo systems, mobile and manipulator robots. Our project therefore involves a wide range of technical, programming and networking resources which allow the development, experimental verification and adjustment of solutions related to monitoring, diagnostics and control of technological processes.

PurposeThe aim of the paper is to present the theory and algorithms based on the methods of systems optimal control for a numerical solution of a defined mathematical model of a system as well as that of a mathematical model of game theory.Design/methodology/approachThe paper brings a formulation of the mathematical model of a problem of systems optimal control with distributed parameters in Hilbert space. The mathematical model of the optimal control problem includes equations that also occur in the defined mathematical model of the theory of a two player zero‐sum game. Optimization problems of game theory have been defined for the purpose of finding a saddle point of a functional satisfying task constraints ε>0.FindingsIn order to find a saddle point of a functional and that one of a functional with a limitation, a designed algorithm of an iterative gradient method is presented. Furthermore, the paper contains a concept of algorithms designing that can be applied to a numerical solution of the defined problem of game theory. These algorithms can be realized on the basis of the methods of systems optimal control. After an adjoint state of the system is defined, a saddle point of a functional will be characterized by equations and inequalities.Originality/valueThe contribution of the paper lies in the formulation of the theorems which express the necessary and sufficient conditions of optimality for saddle points of a functional. Furthermore, it has been proved that algorithms of methods of systems optimal control with distributed parameters can be used for the solution of a mathematical model of game theory. The paper contains original results achieved by the authors within scientific projects.

The papers presents an implementation of the predictive state space control algorithm, called Model Predictive Control (MPC). This control algorithm is verified on the Ball and Plate laboratory model, called B&P_KYB, for the reference trajectory tracking. The control algorithm is first verified using the derived nonlinear simulation model in Matlab/Simulink. Since simulation results are acceptable, an experiment is realized on the real laboratory model. The results of the experiment are demonstrated as the time response of the ball position and the voltage.

This paper presents using the theory of optimal control and linear-quadratic approach to the deterministic controller design for nonlinear dynamical system (robot -manipulator). In the first stage are determined the optimal programme trajectories that serve as the required inputs for the feedback tracking control of robot; whereby the feedback is determined from the linearized robot model. The results of this clasical approach are used to design optimal tracking neuro-controller (OTNC) with quadratic cost function. The proposed OTNC scheme will be demonstrated on a typical nonlinear plant (two-link) manipulator.The computer simulation of control is done by the simulation language MATLAB and the presented results are analyzed.

The aim of this paper is to design of control algorithm for the Magnetic levitation system using an exact input — output feedback linearization method. In this paper is given nonlinear simulation model of the Magnetic levitation based on mathematical model of the Magnetic levitation system. Designed control algorithm together with simulation model of the Magnetic levitation is implemented into control structure with purpose of control on steady state defined by a reference trajectory, which is verified in Matlab/Simulink language.

This article deals with experimental identification and control of laboratory helicopter model CE 150 manufactured by company Humusoft. Structure of the identified system was approximated by linear black-box models. Discrete Input/Output Auto-Regressive Moving Average model with eXternal input (ARMAX) and its state space equivalent were used. Parameters of the models were estimated by regression techniques using System Identification Toolbox for Matlab. Acquired models were validated using simulations, residual analysis and real-time control. Input/output data necessary for identification were obtained by measurements from laboratory model and were processed using Real-Time Toolbox for Matlab. Based on acquired mathematical models input/output and state space controllers were designed (input/output pole placement with integration, state space pole placement with integration and observer). Designed controllers were implemented in Matlab environment using the Real Time Toolbox and their performance was verified by real-time control of the helicopter model.

The paper deals with the design of optimization predictive control algorithms, which are based on the input-output ARX and CARIMA models of the dynamic systems. The paper also deals with the simulation verification of predictive control algorithms on a nonlinear hydraulic system with different settings of various control algorithms parameters, with a system subject to noise, or disturbance. There is mentioned a brief theoretical derivation and the particular formulas for concrete predictive control methods in the paper. The paper includes a flow chart diagram for predictive control methods programming and the control structure, where predictive control algorithms were used in nonlinear hydraulic system control. Nonlinear differential equations, which express hydraulic system’s dynamic are presented, too. The results of generalized predictive control algorithms comparison are expressed by the control action and the hydraulic system’s output in a graphs form.

This paper introduces a solution to the reference t rajectory tracking problem done by a differential wh eeled mobile robot Khepera II. The paper includes a kinematic part and a dynamic part of the mathematical model of mobile robot. In this paper two approaches of the artificial intelligence are used i.e. genetic algorithm approach from evolutionary ctechniques and theory of neural networks. Genetic algorithm is used for pa rameters optimizing PID controller and K parameter s o-called parameter speed of rotation at the tracking reference trajectory in to defined control structure. For the creation forw ard and inverse neural model by the approach of neural networks are used forward neu ral networks of MLP type. The neural models are ver ified using Neural Network Toolbox. The forward neural model of the mobil e robot is implemented into the IMC control structur e together with the inverse neural model, which is used as a nonparamet ric neural controller. The purpose of the designed control structure is tracking the defined trajectory of the mobile robot using ap proaches of the artificial intelligence, which are v erified by the simulations in the language Matlab/Simulink.

The paper provides two approaches for design of generalized predictive control (GPC) algorithm for nonlinear and time-variant dynamic system. In classical approach of GPC strategy is considered method of instantaneous linearization for calculating of linearized model parameters from known analytic description of nonlinear system. The other purpose of this paper is to show an intelligent approach in which a feed-forward neural network (multi layer perceptron-MLP) is used for modeling and predictive control of the non-linear system. The possibility of an on-line estimation of actual parameters from off-line trained neural model of the non-linear system using the gain matrix is considered in the algorithm of GPC. The neural model is linearized by means method of instantaneous linearization in each sample and an estimated parameters from neural NARX model of the non-linear system are used for design of GPC algorithm. The validity of classical and neural GPC strategy is tested by computer simulations in Matlab/Simulink language using architecture of S-functions of the library PredicLib.

The contribution deals with the created algorithm for numeric solution of problems of optimal control with terminal criterion. Optimal control theorem and philosophy of gradient method is used for computation of increment of an objective function. It is showed, that the presented algorithm may be applied for seeking coefficients of system of differential equations, if this problem of coefficient identification is transformed into the task of optimal control with terminal criterion.

ALICE Controls data produced by commercial SCADA system WINCCOA is stored in ORACLE database on the private experiment network. The SCADA system allows for basic access and processing of the historical data. More advanced analysis requires tools like ROOT and needs therefore a separate access method to the archives. The present scenario expects that detector experts create simple WINCCOA scripts, which retrieves and stores data in a form usable for further studies. This relatively simple procedure generates a lot of administrative overhead - users have to request the data, experts needed to run the script, the results have to be exported outside of the experiment network. The new mechanism profits from database replica, which is running on the CERN campus network. Access to this database is not restricted and there is no risk of generating a heavy load affecting the operation of the experiment. The developed tools presented in this paper allow for access to this data. The users can use web-based tools to generate the requests, consisting of the data identifiers and period of time of interest. The administrators maintain full control over the data - an authorization and authentication mechanism helps to assign privileges to selected users and restrict access to certain groups of data. Advanced caching mechanism allows the user to profit from the presence of already processed data sets. This feature significantly reduces the time required for debugging as the retrieval of raw data can last tens of minutes. A highly configurable client allows for information retrieval bypassing the interactive interface. This method is for example used by ALICE Offline to extract operational conditions after a run is completed. Last but not least, the software can be easily adopted to any underlying database structure and is therefore not limited to WINCCOA.