Abstract The two degree of freedom ball balancing table (BBT) is a well-known didactic tool used to evaluate the effectiveness and performances many control algorithms for dynamic systems. present paper proposes position BBT system via linear feedback controller based on functional observer. parameters observer are determined by applying direct method which requires neither Sylvester equation r...

This thesis was set to tackle the gas coning problem in oil-rim reservoirs with horizontal wells. The focus was short term production planning in the sub-critical phase only. Different controllers were developed and assessed based on the objective of netpresent-value (NPV) of oil produced in the sub-critical phase. The reservoir model is a 1-D partial differential equation describing the dynami...

Abst raet Visual servo system is (I robot control system which incorporates the vision sensor i n the feedback loop. Since the robot controller is also i n the visual servo loop, compensation of the robot dynamics is important f o r high speed tasks. Moreover estimation of the object motion is necessary for real time tracking because the visual information includes considerable delay. T h i s p...

This paper proposes an observer-based indirect adaptive fuzzy sliding mode controller with state variable filters for a certain class of unknown nonlinear dynamic systems in which not all the states are available for measurement. To design the proposed controller, we first construct the fuzzy models to describe the input/output behavior of the nonlinear dynamic system.Then, an observer is emplo...

In this paper, a disturbance observer based controller is proposed for the compensation of nonlinear friction in a servodrive system. The designed nonlinear controller uses the estimated system states (position, velocity) and disturbance to enhance tracking performance of the servodrive using high stiff gains for the compensation of the effects of nonlinear friction. The effectiveness of this d...

in this paper, a nonlinear model of the underactuated six degrees of freedom (6 dof) quadrotor helicopter was derived based on the newton-euler formalism. a new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. the proposed control structure consist of a sliding mode control base...

This paper presents an ESO-based iPI control for common rail pressure. First, a detailed mathematical model of High Pressure Common Rail Injection System (HPCRIS) is built. The mathematical model is validated by the software Matlab and commercial software AMESim. For the considered HPCRIS, an effective model free controller which is called Extended State Observer based intelligent Proportional ...

In this paper, based on feedback linearization control method and using a special PI (propotational integrator) regulator (IP) in combination with a feed-forward controller, a three-phase induction servo-drive is speed controlled. First, an observer is employed to estimate the rotor d and q axis flux components. Then, two input-output state variables are introduced to control the dynamics of to...