Power generation using wind turbines is a highly researched control field. Many control designs have been proposed based on continuous-time models like PI-control, or state observers with state feedback but without special regard to robustness to model uncertainties. The aim of this thesis was to design a robust digital controller for a wind turbine. The design was based on a discrete-time mode...

This paper presents an approach to PID controller tuning based on a simple plant model description; First Order plus Time Delay (FOPTD). The approach is based on the formulation of an optimal approximation problem in the frequency domain for the Sensitivity transfer function of the closed loop. The inclusion of the Sensitivity function allows for a disturbance attenuation specification. The sol...

The goal of this laboratory activity is to introduce some improvements to the speed PI control system designed in the laboratory activity 2. The improvements consist in the implementation of an anti– windup scheme to reduce the large overshoot occurring in the step response when the controller output saturates, and a friction plus inertia feedforward compensator, which allows to enhance both th...

Experience with infinite-horizon state-space model predictive control confirms that the algorithm offers several advantages over the more conventional finite-horizon step-response based model predictive control algorithms, particularly in the specification of sample time and handling a wide range of process time constants. Examples illustrate our use of state space based model predictive contro...

This paper investigates the dynamic selection of an appropriate threshold for basic Send-on-Delta (SoD) sampling strategies, given an available transmission rate to reduce the signal tracking-error. The paper formulates the error-reduction principle and proposes an algorithm that calculates, in real time, the amplitude threshold value (also called delta value) for a desired mean transmission ra...

This paper presents a practical experiment on the use of visual servoing for robotic tracking and manipulation of objects moving on a plane. In this work, the image is acquired from the camera mounted on the end-effector of a 6 DOF industrial robot, and processed on a standard PC-based vision system in order to close the Visual Servoing loop with a PID based controller. The PID has been impleme...

We further study the incidence relations that arise from the various subtowers, known as Baby Monsters, which exist within the R-Monster Tower. This allows us to complete the RV T class spelling rules. We also present a method of calculating the various Baby Monsters that appear within the Monster Tower. MSC Primary: 58A30 Secondary: 58A17, 58K50.

SN 2002kg is a type IIn supernova, detected in October 2002 in the nearby spiral galaxy NGC 2403. We show that the position of SN 2002kg agrees within the errors with the position of the LBV V37. Ground based and HST ACS images however show that V37 is still present after the SN 2002kg event. We compiled a lightcurve of V37 which underlines the variablity of the object, and shows that SN 2002kg...

We investigate the possibility to detect giant planets that are still embedded in young circumstellar disks. Based on models with different stellar, planetary, and disk masses, and different radial positions of the planet we analyze the resulting submillimeter appearance of these systems. We find that the influence of the planet on the spectral energy distribution could not be distinguished fro...

This paper addresses the problem of designing nite precision one-dimensional (1-D) innnite impulse response (IIR) digital lters for video processing. The design algorithm is based on simultaneous minimization of magnitude, phase and stability errors in a discrete space of solutions using simulated annealing. It is demonstrated that the approach results in lters characterized by a substantially ...