In this paper, a novel compensator based on Magnetically Controlled Reactor with Fixed Capacitor banks (FC-MCR) is introduced and then power system stability in presence of this compensator is studied using an intelligent control method. The problem of robust FC-MCR-based damping controller design is formulated as a multi-objective optimization problem. The multi-objective problem is concocted ...

We report on the design and analysis of a controller that can achieve dynamical self-righting of our hexapedal robot, RHex. Motivated by the initial success of an empirically tuned controller, we present a feedback controller based on a saggital plane model of the robot. We also extend this controller to develop a hybrid pumping strategy that overcomes actuator torque limitations, resulting in ...

In this paper, we present an Adaptive Posicast Controller that deals with parametric uncertainties in linear systems with delays. It is assumed that the plant has no right half plane zeros and the delay is known. The adaptive controller is based on the Smith Predictor and Finite-Spectrum Assignment with time-varying parameters adjusted online. A novel Lyapunov-Krasovskii functional is used to s...

Izvorni znanstveni rad In this work are compared performances of five different robot control algorithms. The following controllers under consideration are: PD controller, PID controller, analytical fuzzy controller, classical adaptive controller and adaptive controller based on neural network. The mentioned controllers are used to control two different robot configurations with two rotational ...

This paper examines the fundamental limitations imposed by unstable (right half plane; RHP) zeros and poles in multivariable feedback systems. We generalize previously known controller-independent lower bounds on the H1norm of closed-loop transfer functions WXV , where X is input or output sensitivity or complementary sensitivity. The weights W and V may be unstable and non-minimum phase and ma...

In this article, the issue of attitude control and active vibration suppression of a nonlinear flexible spacecraft is assessed through piezoelectric patches as actuator and sensors. Two controller loops are applied: the inner loop, to make the panel vibration damped through piezoelectric patches; and the outer loop, to perform spacecraft maneuver using the reaction wheel acting on the hub. An o...

The Infrared Astronomy Group (Department of and Astrophysics) at Tata Institute Fundamental Research (TIFR) is presently developing controllers for the Teledyne HxRG Focal Plane Arrays (FPAs) to be used on board Spectroscopic Imaging Survey (IRSIS) satellite payload. In this paper, we discuss results our tests with different FPA such as Astronomical Cameras (ARC) controller, Teledyne’s SIDECAR ...

This article proposes a new active power flow controller for dc–dc multiactive bridge (MAB) converters with minimum current point tracking (MCPT) to minimize conductive losses. Unlike recent efforts in this area, the proposed does not require look-up table implementation nor complex nonlinear converter modeling and is circuit parameter dependent. The control scheme also generalized MAB any numb...