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The demand of modern technology is highly required by humans. The Linear motor, one of the most significant inventions, has been playing a vital role in driving component. The Structure of the gantry is the main design and the requirement of high bandwidth and rigidity. Twin-linear motors coupled and paralleled with machining beam are to realize one degree-movement. To prevent the marching beam from deformation, the synchronized motion control becomes an important technology for this machine. This thesis solves the problem of the mechanism coupling by using of the synchronized master command approach which integrates the decouple control and internal model control and taking the mechanism beam as an uncertainty. Both system uncertainties and unknown disturbances occurring in actual implementation need to be carefully considered. And the synchronized motion control of the two linear servo systems with mechanism will be investigated. Better synchronization performance for two motors can therefore be anticipated.

Most practical control problems must deal with constraints imposed by equipment limitations, safety considerations or environmental regulations. While it is often beneficial to maintain operation close to the limits in order to maximize profit or meet stringent product specifications, the violation of actuator constraints during normal operation can result in serious performance degradation (sometimes instability) and economic losses. This thesis is concerned with the development of control strategies for multivariable systems which systematically account for actuator constraints while guaranteeing closed-loop stability as well as graceful degradation of non-linear performance. A novel anti-windup structure is proposed which combines the efficiency of conventional anti-windup schemes with the optimality of model predictive control (MPC) algorithms. In particular, the classical internal model control (IMC) law is enhanced for optimal performance by incorporating an on-line optimization. The resulting control scheme offers both stability and performance guarantees with moderate computational expense. The proposed optimizing scheme has prospects for industrial applications as it can be implemented easily and efficiently on programmable logic controllers (PLC).

This thesis develops techniques for the design and analysis of controllers to achieve sub-micron accuracy on the position of electron beams for the optimal performance of synchrotrons. The techniques have been applied to Diamond Light Source, the UK's national synchrotron facility. Electron beam motion in synchrotrons is considered as a large-scale, two-dimensional process and by using basis functions, controllable modes of the process are identified which are independent and allow the design to be approached in terms of a family of single-input, single-output transfer functions. This thesis develops techniques for the design and analysis of controllers to achieve sub-micron accuracy on the position of electron beams for the optimal performance of synchrotrons. The techniques have been applied to Diamond Light Source, the UK's national synchrotron facility. Electron beam motion in synchrotrons is considered as a large-scale, two-dimensional process and by using basis functions, controllable modes of the process are identified which are independent and allow the design to be approached in terms of a family of single-input, single-output transfer functions. In this thesis, loop shaping concepts for dynamical systems are applied to the two-dimensional frequency domain to meet closed loop specifications. Spatial uncertainties are modelled by complex Fourier matrices and the closed loop robust stability, in the presence of spatial uncertainties is analysed within an Integral Quadratic Constraint framework. Two extensions to the unconstrained, single-actuator array controller design are considered. The first being anti-windup augmentation to give satisfactory performance when rate limit constraints are imposed on the actuators and the second being a strategy to account for two arrays of actuators with different dynamics. The resulting control schemes offer both stability and performance guarantees within structures that are feasible for online computation in real time.

A stall-regulated wind turbine with fixed-speed operation provides a configuration which is one of the cheapest and simplest forms of wind generation and configurations. This type of turbine, however, is non-optimal at low winds, stresses the component structure and gives rise to significant power peaks during early stall conditions at high wind speeds. These problems can be overcome by having a properly designed generator speed control. Therefore, to track the maximum power locus curve at low winds, suppress the power peaks at medium winds, limit the power at a rated level at high winds and obtain a satisfactory power-wind speed curve performance (that closely resembles the ideal power-wind speed curve) with minimum stress torque simultaneously over the whole range of the wind speed variations, the availability of active control is vital. The main purpose of this study is to develop an internal model control (IMC) design for the squirrel-cage induction generator (SCIG), coupled with a full-rated power converter of a small (25 kW), stall-regulated, variable-speed wind-turbine (SRVSWT) system, which is subject to variations in the generator speed, electromagnetic torque and rotor flux. The study was done using simulations only. The objective of the controller was to optimise the generator speed to maximise the active power generated during the partial load region and maintain or restrict the generator speed to reduce/control the torque stress and the power-peaking between the partial and full load regions, before power was limited at the rated value of 25 kW at the full load region. The considered investigation involved estimating the proportional-integral (PI) and integral-proportional (IP) controllers parameter values used to track the stator-current producing torque, the rotor flux and the angular mechanical generator speed, before being used in the indirect vector control (IVC) and the sensorless indirect vector control (SLIVC) model algorithms of the SCIG system. The design of the PI and IP controllers was based on the fourth-order model of the SCIG, which is directly coupled to the full-rated power converter through the machine stator, whereas the machine rotor is connected to the turbine rotor via a gearbox. Both step and realistic wind speed profiles were considered. The IMC-based PI and IP controllers (IMC-PI-IP) tuning rule was proven to have smoothened the power curve and shown to give better estimation results compared to the IMC-based PI controllers (IMC-PI), Ziegler-Nichols (ZN) and Tyreus-Luyben (ZN) tuning rules. The findings also showed that for the SRVSWT system that employed the IVC model algorithm with the IMC-PI-IP tuning rule, considering the application of a maintained/constant speed (CS) strategy at the intermediate load region is more profitable than utilizing SRVSWT with the modified power tracking (MoPT) strategy. Besides that, the finding also suggested that, for the IMC-PI-IP approach, the IVC does provide better power tracking performance than the SLIVC model algorithm.

Gun and gun turret systems are the primary units of the weapon systems of an aircraft. They are required to hit targets accurately during operations. That is why a complete, high precision control of weapon systems is required. This function is provided by accurate modeling of the system and the design of a suitable controller. This study presents the modeling of and controller design for the gun and turret system for an aircraft. For the controller design purpose, first the mathematical model of the system is constructed. Then the controller is designed to position the turret system as the target comes into sight. The reference input to the controller will either be obtained from a FLIR (Forward Looking Infrared) unit or from a HCU (Hand Control Unit). The basic specification for the controller is to hold theerror signal within the 5.5&deg / positioning envelope. This specification is satisfied by designing Linear Quadratic Gaussian and Internal Model Control type controllers. The performance of the overall system has been examined both by simulation studies and on the real physical system. Results have shown that the designed system is well over being sufficient.

High blood pressure, also called hypertension is one of the most common worldwide diseases afflicting humans and is a major risk factor for stroke, myocardial infarction, vascular disease, and chronic kidney disease. If blood pressure is controlled and oscillations in the hemodynamic variables are reduced, patients experience fewer complications after surgery. In clinical practice, this is usually achieved using manual drug delivery. Given that different patients have different sensitivity and reaction time to drugs, determining manually the right drug infusion rates may be difficult. This is a problem where automatic drug delivery can provide a solution, especially if it is designed to adapt to variations in the patient’s conditions. This research work presents an investigation into the development of abnormal blood pressure (hypertension) controllers for postoperative patients. Control of the drugs infusion rates is used to simultaneously regulate the hemodynamic variables such as the Mean Arterial Pressure (MAP) and the Cardiac Output (CO) at the desired level. The implementation of optimal control system is very essential to improve the quality of patient care and also to reduce the workload of healthcare staff and costs. Many researchers have conducted studies earlier on modelling and/or control of abnormal blood pressure for postoperative patients. However, there are still many concerns about smooth transition of blood pressure without any side effect. The blood pressure is classified in two categories: high blood pressure (Hypertension) and low blood pressure (Hypotension). The hypertension often occurred after cardiac surgery, and the hypotension occurred during cardiac surgery. To achieve the optimal control solution for these abnormal blood pressures, many methods are proposed, one of the common methods is infusing the drug related to blood pressure to maintain it at the desired level. There are several kinds of vasodilating drugs such as Sodium Nitroprusside (SNP), Dopamine (DPM), Nitro-glycerine (NTG), and so on, which can be used to treat postoperative patients, also used for hypertensive emergencies to keep the blood pressure at safety level. A comparative performance of two types of algorithms has been presented in chapter four. These include the Internal Model Control (IMC), and Proportional-Integral-Derivative (PID) controller. The resulting controllers are implemented, tested and verified for three sensitivity patient response. SNP is used for all three patients’ situation in order to reduce the pressure smoothly and maintain it at the desire level. A Genetic Algorithms (GAs) optimization technique has been implemented to optimise the controllers’ parameters. A set of experiments are presented to demonstrate the merits and capabilities of the control algorithms. The simulation results in chapter four have demonstrated that the performance criteria are satisfied with the IMC, and PID controllers. On the other hand, the settling time for the PID control of all three patients’ response is shorter than the settling time with IMC controller. Using multiple interacting drugs to control both the MAP and CO of patients with different sensitivity to drugs is a challenging task. A Multivariable Model Reference Adaptive Control (MMRAC) algorithm is developed using a two-input, two-output patient model. Because of the difference in patient’s sensitivity to the drug, and in order to cover the wide ranges of patients, Model Reference Adaptive Control (MRAC) has been implemented to obtain the optimal infusion rates of DPM and SNP. This is developed in chapters five and six. Computer simulations were carried out to investigate the performance of this controller. The results show that the proposed adaptive scheme is robust with respect to disturbances and variations in model parameters, the simulation results have demonstrated that this algorithm cannot cover the wide range of patient’s sensitivity to drugs, due to that shortcoming, a PID controller using a Neural Network that tunes the controller parameters was designed and implemented. The parameters of the PID controller were optimised offline using Matlab genetic algorithm. The proposed Neuro-PID controller has been tested and validated to demonstrate its merits and capabilities compared to the existing approaches to cover wide range of patients.

High blood pressure, also called hypertension is one of the most common worldwide diseases afflicting humans and is a major risk factor for stroke, myocardial infarction, vascular disease, and chronic kidney disease. If blood pressure is controlled and oscillations in the hemodynamic variables are reduced, patients experience fewer complications after surgery. In clinical practice, this is usually achieved using manual drug delivery. Given that different patients have different sensitivity and reaction time to drugs, determining manually the right drug infusion rates may be difficult. This is a problem where automatic drug delivery can provide a solution, especially if it is designed to adapt to variations in the patient’s conditions. This research work presents an investigation into the development of abnormal blood pressure (hypertension) controllers for postoperative patients. Control of the drugs infusion rates is used to simultaneously regulate the hemodynamic variables such as the Mean Arterial Pressure (MAP) and the Cardiac Output (CO) at the desired level. The implementation of optimal control system is very essential to improve the quality of patient care and also to reduce the workload of healthcare staff and costs. Many researchers have conducted studies earlier on modelling and/or control of abnormal blood pressure for postoperative patients. However, there are still many concerns about smooth transition of blood pressure without any side effect. The blood pressure is classified in two categories: high blood pressure (Hypertension) and low blood pressure (Hypotension). The hypertension often occurred after cardiac surgery, and the hypotension occurred during cardiac surgery. To achieve the optimal control solution for these abnormal blood pressures, many methods are proposed, one of the common methods is infusing the drug related to blood pressure to maintain it at the desired level. There are several kinds of vasodilating drugs such as Sodium Nitroprusside (SNP), Dopamine (DPM), Nitro-glycerine (NTG), and so on, which can be used to treat postoperative patients, also used for hypertensive emergencies to keep the blood pressure at safety level. A comparative performance of two types of algorithms has been presented in chapter four. These include the Internal Model Control (IMC), and Proportional-Integral-Derivative (PID) controller. The resulting controllers are implemented, tested and verified for three sensitivity patient response. SNP is used for all three patients’ situation in order to reduce the pressure smoothly and maintain it at the desire level. A Genetic Algorithms (GAs) optimization technique has been implemented to optimise the controllers’ parameters. A set of experiments are presented to demonstrate the merits and capabilities of the control algorithms. The simulation results in chapter four have demonstrated that the performance criteria are satisfied with the IMC, and PID controllers. On the other hand, the settling time for the PID control of all three patients’ response is shorter than the settling time with IMC controller. Using multiple interacting drugs to control both the MAP and CO of patients with different sensitivity to drugs is a challenging task. A Multivariable Model Reference Adaptive Control (MMRAC) algorithm is developed using a two-input, two-output patient model. Because of the difference in patient’s sensitivity to the drug, and in order to cover the wide ranges of patients, Model Reference Adaptive Control (MRAC) has been implemented to obtain the optimal infusion rates of DPM and SNP. This is developed in chapters five and six. Computer simulations were carried out to investigate the performance of this controller. The results show that the proposed adaptive scheme is robust with respect to disturbances and variations in model parameters, the simulation results have demonstrated that this algorithm cannot cover the wide range of patient’s sensitivity to drugs, due to that shortcoming, a PID controller using a Neural Network that tunes the controller parameters was designed and implemented. The parameters of the PID controller were optimised offline using Matlab genetic algorithm. The proposed Neuro-PID controller has been tested and validated to demonstrate its merits and capabilities compared to the existing approaches to cover wide range of patients. / Libyan Ministry of Higher Education scholarship

Dans cette thèse nous nous sommes principalement concentrés sur les transmissions impulsion radio Ultra Large Bande (UWB-IR) qui a plusieurs avantages grâce à la nature de sa bande très large (entre 3.1GHZ et 10.6GHz) qui permet un débit élevé et une très bonne résolution temporelle. Ainsi, la très courte durée des impulsions émises assure une transmission robuste dans un canal multi-trajets dense. Enfin la faible densité spectrale de puissance du signal permet au système UWB de coexister avec les applications existantes. En raison de toutes ces caractéristiques, la technologie UWB a été considérée comme une technologie prometteuse pour les applications WSN. Cependant, il existe plusieurs défis technologiques pour l'implémentation des systèmes UWB. A savoir, une distorsion différente de la forme d'onde du signal reçu pour chaque trajet, la conception d'antennes très larges bandes de petites dimensions et non coûteuses, la synchronisation d'un signal impulsionnel, l'utilisation de modulation d'onde d'ordre élevé pour améliorer le débit etc. Dans ce travail, Nous allons nous intéresser à l'étude et l'amélioration de la synchronisation temporelle dans les systèmes ULB. / The basic concept of Impulse-Radio UWB (IR-UWB) technology is to transmit and receive baseband impulse waveform streams of very low power density and ultra-short duration pulses (typically at nanosecond scale). These properties of UWB give rise to fine time-domain resolution, rich multipath diversity, low power and low cost on-chip implementation facility, high secure and safety, enhanced penetration capability, high user capacity, and potential spectrum compatibility with existing narrowband systems. Due to all these features, UWB technology has been considered as a feasible technology for WSN applications. While UWB has many reasons to make it a useful and exciting technology for wireless sensor networks and many other applications, it also has some challenges which must be overcome for it to become a popular approach, such as interference from other UWB users, accurate modelling of the UWB channel in various environments, wideband RF component (antennas, low noise amplifiers) designs, accurate synchronization, high sampling rate for digital implementations, and so on. In this thesis, we will focus only on one of the most critical issues in ultra wideband systems: Timing Synchronization.

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / Este trabalho apresenta o estudo, desenvolvimento e aplicação de novas técnicas de controle aos sistemas de geração de energia fotovoltaica, conectados à rede elétrica monofásica, visando a melhoria da eficiência destes sistemas em relação aos métodos de controle tipicamente utilizados. O trabalho é dividido em duas partes principais, as quais estão relacionadas ao rastreamento do ponto de máxima potência (Maximum Power Point Tracking – MPPT) e, depois, ao controlador interno dos conversores boost-quadrático – lado dos painéis fotovoltaicos – assim como aos controladores do inversor de tensão, no lado da rede elétrica monofásica. A primeira parte do trabalho consiste no desenvolvimento de um algoritmo de meta heurística para o MPPT, o qual é baseado no método do recozimento simulado (Simulated Annealing - SA) e tem como objetivo a determinação do ponto de máximo global, buscando soluções fora de uma vizinhança próxima, de modo a evitar o atracamento em máximos locais da curva de potência de saída do arranjo de painéis fotovoltaicos, melhorando, assim, o aproveitamento da energia em situações de sombreamento parcial. A segunda parte do trabalho apresenta o projeto de controladores baseados no modelo interno (Internal Model Control – IMC) com 1 grau de liberdade (1 Degree of Freedom – 1 DOF) aplicados, primeiramente, ao conversor CC-CC Boost Quadrático, utilizado para o MPPT, e, posteriormente, a um inversor de tensão com filtro LCL, conectado à rede elétrica monofásica, operando no modo de injeção de corrente. É apresentada a modelagem matemática de ambos os conversores e analisada a compensação da realimentação interna ao sistema do inversor de tensão, correspondente ao desacoplamento da tensão da rede, através da estratégia de alimentação à frente (Feedforward). Visando-se uma base de comparação, para a análise de desempenho do conversor IMC – 1DOF, também é aplicado ao sistema de injeção de corrente, o controlador Proporcional-Ressonante (P+Res). São apresentados resultados de simulação computacional e experimentais de ambos os 8 controladores, os quais permitem verificar o desempenho do sistema em situação de rede fraca e carga local não-linear. / This paper presents the study, development and application of new control techniques for photovoltaic power generation systems, connected to single-phase power grid in order to improve the efficiency of these systems in relation to control methods typically used. The work is divided into two main parts, which are related to tracking the maximum power point (Maximum Power Point Tracking - MPPT) and then the internal controller of boost quadratic converters - side of the photovoltaic panels - as well as the controllers the voltage inverter, the side of the single-phase mains. The first part of the work is the development of a heuristic goal algorithm for MPPT, which is based on the method of simulated annealing (Simulated Annealing - SA) and aims at determining the overall maximum point, seeking out solutions in a close vicinity, so as to prevent the docking local maxima in the curve of power output of the photovoltaic array, thereby improving the utilization of energy in partial shading situations. The second part presents the design of controllers based on internal model (Internal Model Control - IMC) with 1 degree of freedom (1 Degree of Freedom - 1 DOF) applied, first, the DC-DC Boost Quadratic converter, used for MPPT, and thereafter, a voltage inverter with LCL filter connected to the single phase power supply operating in current injection mode. A mathematical modeling of both converters and analyzed the compensation of internal feedback to the voltage inverter system corresponding to the disconnection of the mains voltage through the power strategy a head (feedforward). A basis of comparison for the performance analysis of IMC-1DOF converter is aiming at, is also applied to the current injection system, Proportional-Resonant Controller (P + Res). They are presented computer simulation and experimental results of both controllers, which allow you to check the system performance in low and non-linear local load network situation. / Tese (Doutorado)