2018 13th APCA International Conference on Control and Soft Computing (CONTROLO)

4-6 June 2018

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  • Front Cover

    Publication Year: 2018, Page(s): 1
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  • Proceedings of the 2018 13th APCA International Conference on Automatic Control and Soft Computing (CONTROLO)

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  • 2018 13th APCA International Conference on Automatic Control and Soft Computing (CONTROLO)

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  • Committees

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  • Paper Reviewers

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  • Invited Speakers

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  • Message from the General Chair

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  • General Information

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  • Conference Topics

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  • Author Index

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  • Table of Contents

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  • Controllability of the Kinematic Equations Describing Pure Rolling of Grassmannians

    Publication Year: 2018, Page(s):1 - 6
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (232 KB) | HTML iconHTML

    This paper studies the controllability properties of certain nonholonomic control systems, describing the rolling motion of Grassmann manifolds over the affine tangent space at a point. The control functions correspond to the freedom of choosing the rolling curve. The nonholonomic constraints are imposed by the no-slip and no-twist conditions on the rolling. These systems are proved to be controll... View full abstract»

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  • Controllability of Rolling Symmetric Spaces

    Publication Year: 2018, Page(s):7 - 12
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (854 KB) | HTML iconHTML

    We show that the system of rolling a symmetric space upon an affine tangent space is controllable, under some mild assumptions. View full abstract»

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  • Real Stiefel Manifolds: An Extrinsic Point of View

    Publication Year: 2018, Page(s):13 - 18
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (236 KB) | HTML iconHTML

    In this paper we derive formulas for parallel transport and geodesics for real Stiefel manifolds with the Euclidean metric induced by the canonical embedding into matrix space. Our derivation is based on the differential geometric framework of considering isometrically embedded submanifolds as rigid bodies rolling without twist or slip along an affine tangent space. The rolling map considered as a... View full abstract»

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  • Constructive Proof for Complete Controllability of a Rolling Pseudo-Hyperbolic Space

    Publication Year: 2018, Page(s):19 - 24
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (336 KB) | HTML iconHTML

    We present a constructive proof for complete controllability of the rolling motion of a 2-dimensional pseudo-hyperbolic space, with index zero, over the affine space associated with the tangent space at a point. This motion is assumed to have the constraints of no-twist and no-slip (pure rolling). It is already known that, under mild conditions, this system is controllable, which means that any ad... View full abstract»

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  • Description of a New Servo Motor Optimized for Educational Robotic Applications

    Publication Year: 2018, Page(s):25 - 30
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (5698 KB) | HTML iconHTML

    In this paper it is described a new Servo Motor Optimised for Educational Robotic Applications (SMORA), which comprises several sensors and higher level addressing/communication capabilities. Even though servos have excellent qualities when used in the field of robotics, several properties can still be enhanced. These devices are known to have nonlinear properties and dynamic factors such as dead-... View full abstract»

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  • FTsim: A 3D Tool for Teaching Automation Concepts

    Publication Year: 2018, Page(s):31 - 36
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1566 KB) | HTML iconHTML

    To improve efficiency and reduce costs, industry rapidly adopts the concepts promoted by Industry 4.0 paradigm. For the future engineers it is important to meet these concepts already during their study. To better prepare them for their careers, we have included some of the new concepts in the Process automation course. With a small group of students, we have developed a 3D visualization and simul... View full abstract»

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  • Flexy: An Open-Source Device for Control Education

    Publication Year: 2018, Page(s):37 - 42
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (654 KB) | HTML iconHTML

    This paper presents a new open-source device Flexy for laboratory exercising in control education. This device is a simple dynamical system with one actuator and one sensor. The actuator is a compact fan with variable speed, and the sensor is a flexible resistor that is bending as an effect of air flow produced by the fan. Flexy also provides an additional potentiometer knob that acts as a second ... View full abstract»

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  • The Secrets of Segway Revealed to Students: Revisiting the Inverted Pendulum

    Publication Year: 2018, Page(s):43 - 48
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (477 KB) | HTML iconHTML

    This article revisits the inverted pendulum-in particular, analyses a simplified model of a Segway, with a view to exploring its capabilities in Control Systems Engineering education. The integration between the theoretic and practical side is achieved through simulation, and in particular by using MathWorks software. We also present a structure for the work to be done in the Laboratory class and ... View full abstract»

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  • On Unknown-Input Observer Design for Linear Discrete-Time Positive Systems

    Publication Year: 2018, Page(s):49 - 54
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (299 KB) | HTML iconHTML

    The objective of this paper is to outline some problems in solving the unknown-input observer design task for linear discrete-time positive systems. Exploiting the set of linear matrix inequalities, warranting the strictly positive structure of the observer system matrix, the conditions are specified to construct such an observer for positive system states and outputs. Because the principle of mat... View full abstract»

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  • Robust Control of a Thermal Unstable PDE System

    Publication Year: 2018, Page(s):55 - 60
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (330 KB) | HTML iconHTML

    Some distributed parameter systems with irrational transfer function can be written into an infinite factorized quotient for dynamic analysis and control design purposes. Hence, high accuracy approximate time solutions and frequency uncertainty bounds can be computed exactly, enabling early lumping in robust controller design. In this paper the focus is on finding a block factorization for a therm... View full abstract»

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  • Optimization Conditions for Some Fractional Problems

    Publication Year: 2018, Page(s):61 - 66
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (249 KB) | HTML iconHTML

    The purpose of this study is to present necessary conditions for calculus of variations problems, where the Lagrange function involves a Caputo fractional derivative with nonconstant order. The fractional operator depends on another function, and for particular choices of that function, we obtain some well-known fractional derivatives. Several necessary conditions of optimality are proven, namely ... View full abstract»

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  • On the State-Space Realization of 2-Periodic Image Behaviors

    Publication Year: 2018, Page(s):67 - 72
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (260 KB) | HTML iconHTML

    In this paper we study the realization of periodically time-varying behavioral systems by means of periodic state-space models. In particular, we focus on the case of period two and investigate under which conditions a given behavior with periodic representation obtained by alternating two time-invariant image representations can be realized by a periodic state-space system. We first show that, in... View full abstract»

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  • A Novel Control Strategy Based on Predictive Control for a Bidirectional Interleaved Three-Phase Converter

    Publication Year: 2018, Page(s):73 - 78
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1584 KB) | HTML iconHTML

    An experimental confirmation of predictive control applied to a bidirectional interleaved three-phase (BIT) converter is presented. The BIT converter is a powerful solution for numerous applications, mainly, renewables interface, motor drivers, active rectifiers, and active power filters. However, a precise and robust digital control strategy is required, maintaining a low computational effort. In... View full abstract»

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  • A Short Survey on Measure-Driven Optimal Control Problems

    Publication Year: 2018, Page(s):79 - 84
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (227 KB) | HTML iconHTML

    In the middle of the last century, space exploration raised the need to solve rocket space navigation and control problems in which the jumps of state variables naturally arose. Then, alongside the development of control theory, the discontinuous arcs-solutions to calculus of variations problems began to attract increasing attention from researchers. Gradually, they started to be considered and in... View full abstract»

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