Multivariable plants under input constraints such as actuator saturation are liable to performance deterioration due to problems of control windup and directional change in control action. In this paper, we propose a two-stage internal model control (IMC) antiwindup design which guarantees optimal closed loop performance both at transient and at steady state. The two-stage IMC is based on the s...

Multiscale optimization is an attractive research field recently. For the most of optimization tools, design parameters should be updated during a close loop. Therefore, a simple Python code is programmed to obtain effective properties of Representative Volume Element (RVE) under Periodic Boundary Conditions (PBCs). It can compute the mechanical properties of a composite with a periodic structu...

in this paper, a new analytical method to find a near-optimal high gain controller for the non-minimum phase affine nonlinear systems is introduced. this controller is derived based on the closed form solution of the hamilton-jacobi-bellman (hjb) equation associated with the cheap control problem. this methodology employs an algebraic equation with parametric coefficients for the systems with s...

The achievement of safe sanitation access is about 7.42 % in 2018, that indicates high risk faecal contamination from unmanaged onsite system and has not been fully supported by sludge service. This paper described the study characteristic for review potential integrating handling with improved communal wastewater treatment. Faecal quality were observed pit latrines septic tank, then analysis m...

Loop optimization plays an important role in compiler optimization and program transformation. Many sophisticated techniques such as loop-invariance code motion, loop restructuring and loop fusion have been developed. This paper introduces a novel technique called loop quasi-invariance code motion. It is a generalization of standard loop-invariance code motion, but based on loop quasi-invarianc...

This deliverable describes the task-level optimization libraries designed for the ACOTES tool chain. Based on the polyhedral model of compilation, these libraries support automatic parallelization and adaptation of thread-level parallelism to a target. The libraries can also be applied to loop nest optimization of single-threaded code. Early experimental validation is described in the document,...

The performance of current C compilers for DSP is almost unacceptable. One of the most important reasons is the lack of implementing software pipelining. This paper presents a remedy called source-level loop optimization. DSP programmers can use source-level loop optimization first then input its result to the DSP compiler to obtain better assembly code. The implementation of source-level loop ...

in this study, the roll, yaw and depth fuzzy control of an au- tonomous underwater vehicle (auv) are addressed. yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. the discussed auv has four aps at the rear of the vehicle as actuators. two rule bases...