In this paper we describe the design of a fuzzy logic controller for the ball and beam system using a modified Ant Colony Optimization (ACO) method for optimizing the type of membership functions, the parameters of the membership functions and the fuzzy rules. This is achieved by applying a systematic and hierarchical optimization approach modifying the conventional ACO algorithm using an ant s...

Asymptotic tracking is studied for systems in which the relative degree is not well deened, meaning that the control law derived from exact input-output linearization has singularities in the state space. We propose a tracking control law which switches between approximate tracking 1] close to the singularities, and exact tracking away from the singularities, and we study the applicability of t...

Presents a recurrent neural network for solving the Sylvester equation with time-varying coefficient matrices. The recurrent neural network with implicit dynamics is deliberately developed in the way that its trajectory is guaranteed to converge exponentially to the time-varying solution of a given Sylvester equation. Theoretical results of convergence and sensitivity analysis are presented to ...

Based on a power-series approximation method, recurrent neural networks (RNN) are proposed for real-time synthesis and auto-tuning of feedback controllers for nonlinear output regulation systems. The proposed neurocontrol approach represents a novel application of recurrent neural networks to the nonlinear output regulation problem. The proposed approach completely inherits the stability and as...

In this paper, Java programming with applets for internet-based control education of two mechanical systems are presented. First, a new multi-objective optimization method is applied to obtain the Pareto frontiers of some non-commensurable objective functions in the design of linear state feedback controllers for an inverted pendulum and a ball–beam system. Second, the simulations of the proble...

In this paper, the design and real time implementation of a Nonlinear Minimum Variance (NMV) estimator is presented using a laboratory based ball and beam system. The real time implementation employs a LabVIEW based tool. The novelty of this work lies in the design steps and the practical implementation of the NMV estimation technique which up till now only investigated using simulation studies...

Embedded microcontrollers are often programmed in plain C and lack support for multithreading and real-time scheduling. This can make it very cumbersome to implement multirate feedback control applications. We have developed the TINYREALTIME kernel for the Atmel ATmega8L AVR to show that it is feasible to use high-precision, deadline-based scheduling even in a tiny 8-bit processor with 1 KB of ...

Asymptotic tracking is studied for systems which are not regular, that is th.e relative degree is not well defined. Hence the control law derived from exact inputoutput linearization has singularities in the state space. We propose a tracking control law which switches between an approximate tracking law [l] close to the singularities, and an exact tracking law away from the singularities, and ...