Sammanfattning Titel: Controllers användning av affärssystem vid utförande av deras arbetsuppgifter Ämne/Kurs: Verksamhetsstyrning, Kandidatuppsats, 15 hp Författare: Martina Svensson och Elin Wiberg  Handledare: Titti Eliasson  Nyckelord: Controller, affärssystem, integration mellan controller och affärssystem, stora företag.  Syfte: Syftet är att undersöka hur controllers använder affärssystem vid utförande av deras arbetsuppgifter. Genom att undersöka interaktionen mellan controllers och affärssystem i verksamheten vill vi ta reda på hur affärssystem används. Syftet med uppsatsen har varit att skaffa ökad kunskap inom området som berör interaktionen mellan controllers och affärssystem, samt att ge läsaren djupare förståelse inom området.  Teoretisk referensram: Uppsatsens huvudområde är interaktionen mellan controllers och affärssystem, för att kunna beskriva interaktionen har vi valt att först beskriva affärssystem och controllers var för sig. I huvudområdet kommer läsaren att få en teoretisk grund till förändring av controllers roll relaterat till omgivning och affärssystem, faktorer som gör att controllers använder affärssystem samt faktorer som gör att controllers inte använder affärssystem.  Metod: Vid utförande av vår studie valde vi att utgå ifrån en abduktiv ansats för att kunna sammanställa teorin och empirin parallellt så vi enbart tog med relevant teori i studien. Resultatet samlades in genom en kvalitativ forskningsmetod då vi utförde intervjuer med controllers på fyra stora företag. Intervjuerna har varit studiens primärkällor och vetenskapliga artiklar samt litteratur har varit våra sekundärkällor.  Empiri: Empirin har framställts genom fyra besöksintervjuer hos samtliga företag. Intervjuguiden är uppbyggd på samma sätt som den teoretiska referensramen för att skapa en röd tråd och underlätta för läsaren. Alla respondenter arbetar som controllers och har en viss relation till verksamhetens affärssystem.  Slutdiskussion: Den roll och arbetsuppgifter som controllern har i verksamheten kan avgöra hur mycket en controller använder affärssystem. Studien har även visat att affärssystem inte är ett optimalt stöd vid analysarbete, men däremot är affärssystem ett effektivt stöd vi transaktionshantering. Fristående system används främst av controllern vid utförande av sina arbetsuppgifter och Excel är ett vanligt förekommande verktyg. / Abstract Title: Controllers use of ERP system in the performance of their duties Study/class: Operational control, Bachelor thesis, 15 hp Authors: Martina Svensson and Elin Wiberg Supervisor: Titti Eliasson Keywords: Controller, ERP system, integration between controller and ERP system, large companies. Objective: The aim is to examine how controllers use ERP system in the performance of their duties. By examining the interaction between controllers and ERP system in the business, we want to find out how ERP system is used. The purpose of this paper is to acquire more knowledge in the area of interaction between controllers and ERP system, and to give the reader a deeper understanding in the area. Theoretical framework: The essay's main area is the interaction between the controller and ERP system, in order to describe the interaction we have chosen to describe ERP system and controllers separately at first. In the main, the reader will gain a theoretical basis for a change in controllers role related to the environment and ERP system, factors that can make controllers use ERP system and factors that can make controllers not use ERP system. Methods: In carrying out our study, we chose to rely on an abductive approach because we wanted to compile the theory and empirical data in parallel to only handle with relevant theory in the study. The results were gathered through a qualitative research, which we conducted by interviews with controllers at four large companies. The interviews were the study's primary sources and scholarly articles and books have been our secondary sources. Empiri: Empirical research has been obtained by four interviews with the companies. The interview guide is structured in the same way as the theoretical framework to create a red thread and the convenience of the reader. All respondents work as controllers and have some kind of relationship with the ERP system. Conclusion: The role of the controller in the business can determine how much controllers use the ERP system at their tasks. The study has also shown that ERP system is not an optimal support for analytical work, but the ERP system is an effective support in transaction processing. Standalone systems are primarily used by controllers in performing their duties where Excel is a widely used tool.

A method of controller design for multiple input multiple output (MIMO) system is needed that will not give the high order controllers of modern control theory but will be more systematic than the “ad hoc” method. The objective of this method of design for multiple input multiple output systems is to find a controller of fixed order with performance specifications taken into consideration. An inner approximation of the stabilizing set is found through the algorithm discussed in Keel and Bhattacharyya’s "Fixed order multivariable controller synthesis: A new algorithm." The set satisfying the performance is then approximated through one of two algorithms; a hybrid of two optimization algorithms or the grid algorithm found in Lampton’s "Reinforcement Learning of a Morphing Airfoil-Policy and Discrete Learning Analysis." The method is then applied to five models of four aircraft; Commander 700, X-29, X-38, and F-5A using controllers of first and second orders.

In recent years, the requirement for embedded controllers has been steadily on the increase due to the development of computers, communication and consumptive products. In order to overcome the pressure of short life-time and rapid changing rate of products, however, related industries have been engaged in improving their design to shorten the time to market and to lower the cost. Therefore, a new concept, rapid controller prototyping, has been proposed to solve the problem with the development of controllers. However, most of the proposals are expensive and restricted in the choice of software and hardware, and aren¡¦t adequate for research. To solve the problems above, this paper has chosen MATLAB/Simulink, Real-Time Workshop, a software widely used by the academic community, as tools to study rapid controller prototyping. Here, we also focus on the establishment of the developing platform. Then we design, simulate and test the controller on the platform established. Finally, we apply the controller to the physical plant. By doing so, this paper expects to solve current problems in the development of controllers.

In position control systems like linear motor, friction is a key factor to influence the control performance when micron or sub-micron meter accuracy is required. To overcome the effect of the friction, besides a general model of the linear motor system, past researches have shown an additional static friction model of the system is necessary for a better control performance when the motor move into the micro region of the system (usually <100£gm). Two models, macro and micro model of the system have been well constructed by two different identification methods. After model construction, two different controllers are also designed for each model. A traditional pole-placement PID controller can be easily obtained for the macro model to move into the micro region quickly and stably. Then in micro model design, from the experiments, it is found that system parameter varies and thus degrades the positioning performance of the system. So, a Sliding-Mode Controller is designed to improve these problems. With a two step control strategy, macro and micro step, the linear motor positioning system can achieve a 0.1£gm accuracy within 0.2 sec.

Based on the Lyapunov stability theorem, a design methodology of adaptive block backstepping controller is proposed in this thesis for a class of multi-input systems with mismatched perturbations to solve regulation problems. According to the number of block (m) in the plant to be controlled, m-1 virtual input controllers are designed from the first block to the (m-1)th block. Then the proposed robust controller is designed from the last block. Adaptive mechanisms are employed in each of the virtual input controllers as well as the robust controller, so that the knowledge of the least upper bounds of mismatched perturbations is not required. The resultant control system can achieve asymptotic stability. Finally, a numerical example and a practical example are given for demonstrating the feasibility of the proposed control scheme.

Zugl.: Vallendar, WHU - Otto Beisheim School of Management, Diss., 2009

The aim of this thesis is to understand the current implementation, how different hardware and output frequency affects the hydraulic actuators in the current platform and Then an improve the controller should be presented. This needs to be both faster then the current controller and should not use more CPU recurses then necessary. With the understanding of current controller, three new regulators where implemented and tested. One uses a PI regulator and the other two uses an adaptive algorithm to generate the control signal. All where faster than the current one and the PI-implementation uses the lowest amount of CPU recurses, on the other hand this needs to be calibrated for the different hardware and output frequency’s. ThetwoadaptivecontrollersrequiresahigheramountofCPUrecurses, instead it requires less calibration to work.

Bakgrund och problem: Till följd av samhällets och företags ökade medvetenhet avseende hållbarhet har det banat ny väg för idéer om vad som utgör styrinformation i företag. Hållbarhet har blivit allt mer integrerat inom företag vilket har förändrat dess interna processer. Förändringar i de interna processerna har lett till att det inte enbart handlar om finansiell information längre, utan nu även hållbarhetsinformation. Som följd av detta har arbetsuppgifter omformats och utmanats vilket har ändrat controllerns arbete. Hållbarhet har fått ett sådant stort fokus att det har tillkommit en ny roll vid namn hållbarhetscontroller. Vad en hållbarhetscontroller är har inte diskuterats tidigare i litteraturen, vilket följande studie ämnar att göra.  Syfte: Syftet med denna studie är att bidra med kunskap om vad en hållbarhetscontroller är och gör i en organisation. Detta kommer att undersökas genom att utreda vilka arbetsuppgifter och kunskaper en hållbarhetscontroller utför och besitter för att ytterligare förstå sig på rollen.  Metod: Studien utgår från en kvalitativ metod som omfattar en explorativ undersökning. Den empiriska datainsamlingen gjordes genom semistrukturerade intervjuer, som har hållits med åtta hållbarhetscontrollers samt en hållbarhetsstrateg. Vidare har det använts elektroniska källor och dokument i form av arbetsannonser. Det teoretiska materialet är hämtat från vetenskaplig litteratur och det utgörs av controllerns bakgrund, arbetsuppgifter, roll, kunskaper samt hållbarhet. Slutsats: Utifrån studien anses hållbarhetscontrollers vara en kombination av en traditionell controller och business controller, därmed en hybrid. Detta då den arbetar med verksamhetens hållbarhetsredovisning men också som en affärspartner som bistår ledningen med underlag. Hållbarhetscontrollers fundamentala roll är hållbarhetsredovisningen vilket kopplas till en kamrer. Rollen analytiker var den roll som framkom tydligast i hållbarhetscontrollern och därmed konstaterades vara den viktigaste. Rollen som pedagog ser vi idag vara mindre då hållbarhet har blivit så pass integrerat, däremot innebär rollen idag att agera mer som en coach till följd av det stora fokuset på hållbarhet. Studien kunde därmed se att rollen har skiftat från att vara en traditionell “bean counter” till en affärspartner till organisationen. Hållbarhetscontrollern arbetar likt en controller där det som skiljer sig åt är att fokuset ligger på sociala och miljömässiga aspekter. Till följd av detta innebär det att kunskap kring hållbarhet och dess riktlinjer och ramverk var den viktigaste kunskapen för att besitta rollen. Vidare behövs god kunskap för verksamheten och ett innovativt tänkande vilket är viktigt för att ständigt kunna utveckla hållbarhetsarbetet och applicera nya riktlinjer i verksamhetens kontext. Antalet hållbarhetscontrollers på marknaden ökar gradvis och med hjälp av denna studie kommer fler företag få en inblick i varför företag väljer att ha en hållbarhetscontroller i deras verksamhet. / Background and problem discussion: As a result of the company's and society's growing awareness of sustainability, it has established new ideas about what constitutes control information in companies. Increasingly, sustainability has been integrated within the organization, and the company's internal processes have changed. The change in the internal processes has developed it to be more than just financial information and sustainable information. Tasks have thus been reshaped and challenged, which has also changed the controller's work. Sustainability has received such a significant focus that a new role has been created, called a sustainability controller. A sustainability controller has not been discussed before in literature, which is the following study's intentions. Purpose: This study aims to contribute knowledge about what a sustainability controller is and does in an organization. This matter is investigated on what tasks and knowledge a sustainability controller performs and possesses to understand the role further. Methodology: The study is based on a qualitative method that includes an exploratory study. The empirical data collection was done through semi-structured interviews, which have been held with eight sustainability controllers and a sustainability strategist—furthermore, utilizing electronic sources and documents in the form of job advertisements. The theoretical material is obtained from the scientific literature on background checks, tasks, roles, knowledge, and sustainability. Conclusion: According to this study, sustainability controllers are considered a hybrid of traditional controllers and business controllers. It works with a business's sustainability reporting and being a business partner that assists the management with data. The fundamental role of sustainability controllers is the sustainability report, which is linked to a bean counter. The role analyst emerged most clearly in the sustainability controller and was the most significant. Today's role as an educator is minor as sustainability has become so integrated; however, the role needs to act more as a coach due to the significant focus on sustainability. Thus, the study could see that the role has shifted from being a traditional bean counter to a more business partner to the organization. The sustainability controller works like a controller where what differs is that the focus is on social and environmental aspects. As a result, knowledge about sustainability, the guidelines, and the framework was essential to possess the role. Furthermore, good knowledge is expected for the business and innovative thinking, which is vital to constantly develop sustainability work and apply new guidelines in the business context. The number of sustainability controllers on the market will gradually increase. With the help of this study, more companies will gain insight into why companies choose to have a sustainability controller in their operations.

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Real-time digital music system design often involves the translation of formal music notation or human gestures by some input device to Musical Instrument Digital Interface (MIDI) commands which are then transmitted to an electronic music synthesizer. This thesis describes the design and implementation of a microprocessor controlled input device that maps analog signals to MIDI commands and transmits them to a digital synthesizer in real time. The controller emulates a traditional acoustic folk instrument known as a hammer dulcimer. The hammer dulcimer is the forerunner of the keyboard family of instruments and incorporates features found in percussive and keyboard instruments. As with any acoustic instrument, its tone is a composite of several partial tones. The controller, in emulation mode, generates the fundamental tone and optionally outputs the partials tones with the just noticeable difference (JND) tolerances described in psychoacoustic research. This feature allows the designer to experiment with the timbre of the fundamental tome. The controller interface succeeds in capturing the gestural movements and translating these events to MIDI commands. It also provides features such as on-demand retuning which allows the musician to play in any tonal center without changing hand positions. Selected MIDI features such as the pitch bend, program change and sustain are implemented by the controller. The prototype instrument yields a tow octave range from an eight by eight inch sensor grid. Additional grids can be added to increase the range of the instrument. / Master of Science