Nenad Muškinja

FPID controller: real time application

This paper presents a neuro-fuzzy structure of a fuzzy PID controller. The main advantage here is... more This paper presents a neuro-fuzzy structure of a fuzzy PID controller. The main advantage here is that the equation of clasical PID control low is used as Sugeno function in the fuzzy rules. Hence designed fuzzy PID controller can be viewed as a natural similarity to the conventional PID controller. An implementation of the controller in Matlab and Simulink environment

Swinging up and stabilization of a real inverted pendulum

IEEE Transactions on Industrial Electronics, Apr 1, 2006

The basic aim of the present work was to swing up a real pendulum from the pending position and t... more The basic aim of the present work was to swing up a real pendulum from the pending position and to balance stably the pendulum at the upright position and further move the pendulum cart to a specified position on the pendulum rail in the shortest time. Different control strategies are compared and tested in simulations and in real-time experiments, where maximum acceleration of the pendulum pivot and length of the pendulum rail are limited. A comparison of fuzzy swinging algorithm with energy-based swinging strategies shows advantages of using fuzzy control theory in nonlinear real-time applications. An adaptive state controller was developed for a stabile, and in the same time optimal balancing of an inverted pendulum and a switching mechanism between swinging and balancing algorithm is proposed.

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Use of TCP/IP protocol in industrial environment

ABSTRACT The transmission control protocol (TCP) and internet protocol (IP) are forever linked to... more ABSTRACT The transmission control protocol (TCP) and internet protocol (IP) are forever linked to Ethernet in the business and consumer worlds. This linkage does not solve all communication problems and must be supplemented by application-layer protocols suitable for the industrial environment. Moving popular industrial protocols to Ethernet TCP/IP gives benefits that can include low product development costs, ease of integration and use, and multi-vendor interoperability. This paper presents a brief overview of the TCP/IP protocol and how industrial protocols are being accommodated to Ethernet.

Design of the discrete supervisory controller for real-time fuzzy control systems

Proceedings of IEEE 5th International Fuzzy Systems, Dec 24, 2002

The task of a supervisory controller is to stabilise system states within a bounded region define... more The task of a supervisory controller is to stabilise system states within a bounded region defined by the designer. We prove that the fuzzy control system equipped with the discrete supervisory controller is globally stable in the Lyapunov sense. A discrete approach to the solution of the stable fuzzy control system was presented and applied to the balance control system.

Parameter identification of nonlinear systems

Identification of a single-input, single-output (SISO) discrete Hammerstein system and a system w... more Identification of a single-input, single-output (SISO) discrete Hammerstein system and a system with distributed parameters is presented. The system consists of a nonlinear subsystem, followed by a dynamic linear system. Parameter identification in nonlinear systems using the method of distributed parameters is presented. The Hammerstein method and the proposed method are compared and evaluated

How to design a discrete supervisory controller for real-time fuzzy control systems

IEEE Transactions on Fuzzy Systems, May 1, 1997

The task of the supervisory controller is to stabilize the systems states within a bounded region... more The task of the supervisory controller is to stabilize the systems states within a bounded region defined by designer. In this paper, a discrete approach to the solution of the stable fuzzy control system is presented. It is proved that the fuzzy control system equipped with the discrete supervisory controller is globally stable in the Lyapunov sense. Finally, a fuzzy controller with a discrete supervisory controller is applied to the balance control system, both in simulations and in the real-time implementation.

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Design of the discrete supervisory controller for real-time fuzzy control systems

Proceedings of IEEE 5th International Fuzzy Systems

The task of a supervisory controller is to stabilise system states within a bounded region define... more The task of a supervisory controller is to stabilise system states within a bounded region defined by the designer. We prove that the fuzzy control system equipped with the discrete supervisory controller is globally stable in the Lyapunov sense. A discrete approach to the solution of the stable fuzzy control system was presented and applied to the balance control system.

FPID controller: real time application

2004 2nd International IEEE Conference on 'Intelligent Systems'. Proceedings (IEEE Cat. No.04EX791)

This paper presents a neuro-fuzzy structure of a fuzzy PID controller. The main advantage here is... more This paper presents a neuro-fuzzy structure of a fuzzy PID controller. The main advantage here is that the equation of clasical PID control low is used as Sugeno function in the fuzzy rules. Hence designed fuzzy PID controller can be viewed as a natural similarity to the conventional PID controller. An implementation of the controller in Matlab and Simulink environment

Use of TCP/IP protocol in industrial environment

IEEE International Conference on Industrial Technology, 2003

ABSTRACT The transmission control protocol (TCP) and internet protocol (IP) are forever linked to... more ABSTRACT The transmission control protocol (TCP) and internet protocol (IP) are forever linked to Ethernet in the business and consumer worlds. This linkage does not solve all communication problems and must be supplemented by application-layer protocols suitable for the industrial environment. Moving popular industrial protocols to Ethernet TCP/IP gives benefits that can include low product development costs, ease of integration and use, and multi-vendor interoperability. This paper presents a brief overview of the TCP/IP protocol and how industrial protocols are being accommodated to Ethernet.

Parameter identification of nonlinear systems

[1991 Proceedings] 6th Mediterranean Electrotechnical Conference

Identification of a single-input, single-output (SISO) discrete Hammerstein system and a system w... more Identification of a single-input, single-output (SISO) discrete Hammerstein system and a system with distributed parameters is presented. The system consists of a nonlinear subsystem, followed by a dynamic linear system. Parameter identification in nonlinear systems using the method of distributed parameters is presented. The Hammerstein method and the proposed method are compared and evaluated

Intelligent control valve

Proceedings. VLSI and Computer Peripherals. COMPEURO 89

A control valve is a very expensive part of a control loop; its implementation requires a high le... more A control valve is a very expensive part of a control loop; its implementation requires a high level of mechanical treatment. The authors indicate how computer technology simplifies and reduces in price the expensive classic realizations (implementations) of the control valve. They indicate the possibilities and some kinds of solutions and present experimental results and practical implementations for some of

Recurrent auto-associative artificial neural network model of Biomass Steam Boiler System

IFAC Proceedings Volumes, 2009

Abstract In the paper a recurrent auto-associative artificial neural network structure is used to... more Abstract In the paper a recurrent auto-associative artificial neural network structure is used to obtain a dynamic model of Biomass steam boiler system. Upon offline real process data a model was derived and results were compared to model derived by classic identification method. A good dynamic model was needed for design, testing and tuning of the Fuzzy controller, which resulted in optimization of steam production. By using recurrent auto-associative neural network instead of locally adequate state space model, more general model with a better fit to the wide range of process data was achieved. Implementation of such complex neural network was tested on typical industrial PLC and compared to Matlab simulation results.

Swinging up and stabilization of a real inverted pendulum

IEEE Transactions on Industrial Electronics, 2006

The basic aim of the present work was to swing up a real pendulum from the pending position and t... more The basic aim of the present work was to swing up a real pendulum from the pending position and to balance stably the pendulum at the upright position and further move the pendulum cart to a specified position on the pendulum rail in the shortest time. Different control strategies are compared and tested in simulations and in real-time experiments, where maximum acceleration of the pendulum pivot and length of the pendulum rail are limited. A comparison of fuzzy swinging algorithm with energy-based swinging strategies shows advantages of using fuzzy control theory in nonlinear real-time applications. An adaptive state controller was developed for a stabile, and in the same time optimal balancing of an inverted pendulum and a switching mechanism between swinging and balancing algorithm is proposed.

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How to design a discrete supervisory controller for real-time fuzzy control systems

IEEE Transactions on Fuzzy Systems, 1997

The task of the supervisory controller is to stabilize the systems states within a bounded region... more The task of the supervisory controller is to stabilize the systems states within a bounded region defined by designer. In this paper, a discrete approach to the solution of the stable fuzzy control system is presented. It is proved that the fuzzy control system equipped with the discrete supervisory controller is globally stable in the Lyapunov sense. Finally, a fuzzy controller with a discrete supervisory controller is applied to the balance control system, both in simulations and in the real-time implementation.

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Intelligent control valve

A control valve is a very expensive part of a control loop; its implementation requires a high le... more A control valve is a very expensive part of a control loop; its implementation requires a high level of mechanical treatment. The authors indicate how computer technology simplifies and reduces in price the expensive classic realizations (implementations) of the control valve. They indicate the possibilities and some kinds of solutions and present experimental results and practical implementations for some of

Optimized Fuzzy Logic Control System for Diver’s Automatic Buoyancy Control Device

Mathematics

In this article, the design of a fuzzy logic control system (FLCS) in combination with multi-obje... more In this article, the design of a fuzzy logic control system (FLCS) in combination with multi-objective optimization for diver’s buoyancy control device (BCD) is presented. To either change or maintain the depth, the diver manually controls two pneumatic valves that are mounted on the inflatable diving jacket. This task can be very difficult, especially in specific diving circumstances such as poor visibility, safety stop procedures or critical life functions of the diver. The implemented BCD hardware automatically controls the diver’s depth by inflating or deflating the diver’s jacket with two electro-pneumatic valves. The FLCS in combination with the multi-objective optimization was used to minimize control error and simultaneously ensure minimal air supply consumption of the BCD. The diver’s vertical velocity is also critical, especially while the diver is ascending during the decompression procedure; therefore, a combination of depth and vertical velocity control was configured a...

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Intelligent automated system based on a fuzzy logic system for plant protection product control in orchards

International Journal of Agricultural and Biological Engineering, 2019

The spraying of plant protection product (PPP) in orchards is a very hazardous working procedure,... more The spraying of plant protection product (PPP) in orchards is a very hazardous working procedure, owing to the spray drift caused by the uneven operation of conventional axial boom sprayers. This research describes an intelligent automated system for precise (PPP) distribution in real-time. It is based on an intelligent decision-making model using ultrasonic measurements of leaf area density under laboratory conditions, which serve to trigger electromagnetic valves (EMV) on the axial boom sprayer. A fuzzy logic algorithm was an integrated part of the intelligent system for controlling the PPP by generating the pulse width modulation signal and applying it through the EMV of the prototype boom sprayer. The results showed that by using an intelligent decision-making model, the same efficiency as with conventional methods could be achieved, but with reduced usage of plant protection products. Thus, the intelligent automated system used 4.8 times less spray mixture than the conventional one.

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Supervisory Control of the Real-Time Fuzzy Control Systems

Systems Analysis Modelling Simulation, 2003

In real-time applications a discrete supervisory controller should stabilise the fuzzy control sy... more In real-time applications a discrete supervisory controller should stabilise the fuzzy control system. For this reason a discrete supervisory controller was developed and applied together with the fuzzy controller. The discrete supervisory controller performs like a continuous one. The main difference is in the sign function of the appended controller. We have proved that the fuzzy control system equipped with the discrete supervisory controller is globally stable only if we can predict the sign of supervisory action. On the other hand, discrete supervisory controllers require the knowledge of the bounds of the non-linear functions in the system, same as continuous one. Application to a balance control system was successful, both in simulations and in real-time control.

Fuzzy supervisory controller tuning and analysis for optimal steam distribution in industry

Eurocon 2013, 2013

ABSTRACT Distribution of high-pressure steam in industry must be adequately synchronised to produ... more ABSTRACT Distribution of high-pressure steam in industry must be adequately synchronised to production cycles and their dynamic consumption demands. In many cases high-pressure steam plants have also steam turbine installation, which demands stable input/output operating conditions to produce and maintain nominal electrical energy production. The paper presents an offline concept of Fuzzy supervisory control scheme development, tuning and implementation, in order to avoid unnecessary interference of production cycles. Fuzzy rule database is developed upon process measurements and verified by data-driven process model (auto-associative neural network), and implemented into PLC (commercial platform that supports Fuzzy implementation). Initial set up of Fuzzy input/output scaling factors (gains) is defined by cooperative global optimization algorithm, to avoid implementation issues. The use of Fuzzy supervisory controller resulted in more stable and increased production of electrical energy, where efficiency of the steam turbine output has been raised for approximately 5%.

Supervisory control of the real-time fuzzy control systems

Systems Analysis Modelling Simulation, 2003

In real-time applications a discrete supervisory controller should stabilise the fuzzy control sy... more In real-time applications a discrete supervisory controller should stabilise the fuzzy control system. For this reason a discrete supervisory controller was developed and applied together with the fuzzy controller. The discrete supervisory controller performs like a continuous one. The main difference is in the sign function of the appended controller. We have proved that the fuzzy control system equipped with the discrete supervisory controller is globally stable only if we can predict the sign of supervisory action. On the other hand, discrete supervisory controllers require the knowledge of the bounds of the non-linear functions in the system, same as continuous one. Application to a balance control system was successful, both in simulations and in real-time control.

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