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  • This paper presents real - time control of the Twin Rotor MIMO System laboratory model. The objective laboratory model is a multivariable nonlinear unstable system of high order. It is not possible to stabilize the system and satisfactorily track reference signals using classical controllers with fixedly set parameters. Two methods based on self - tuning control utilizing adaptive approach are discussed. Both designed methods are based on polynomial approach. In first case an algorithm taking into account internal interactions among input and output variables was used. The second method utilizes the principle of decentralized control with an additional logical supervisor for switching of the recursive identification in particular loops. In both cases stability of closed loop system was ensured and after an adaptation phase the asymptotic tracking of reference signals was achieved. Quality of control achieved by particular methods is compared and discussed
  • This paper presents real - time control of the Twin Rotor MIMO System laboratory model. The objective laboratory model is a multivariable nonlinear unstable system of high order. It is not possible to stabilize the system and satisfactorily track reference signals using classical controllers with fixedly set parameters. Two methods based on self - tuning control utilizing adaptive approach are discussed. Both designed methods are based on polynomial approach. In first case an algorithm taking into account internal interactions among input and output variables was used. The second method utilizes the principle of decentralized control with an additional logical supervisor for switching of the recursive identification in particular loops. In both cases stability of closed loop system was ensured and after an adaptation phase the asymptotic tracking of reference signals was achieved. Quality of control achieved by particular methods is compared and discussed (en)
  • Příspěvek prezentuje řízení modelu vrtulníku v reálném čase. Předmětný model je mnoharozměrový nelineární nestabilní systém vyššího řádu. Dvě metody založené na principu samočinně se nastavujících regulátorů jsou prezentovány. Obě metody jaou založeny na polynomiální teorii. První algoritmus bere v úvahu vnitřní interakce mezi vstupními a výstupními veličinami, druhý je založen na principu decentralizovaného řízení s využitím logického supervisoru v jednotlivých řídicích smyčkách. V obou případech bylo dosaženo asymptotického sledování referenčních signálů. Kvalita regulace dosažená jednotlivými regulátory je porovnána. (cs)
Title
  • Adaptive Control of Twin Rotor MIMO System: Polynomial Approach
  • Adaptive Control of Twin Rotor MIMO System: Polynomial Approach (en)
  • Adaptivní řízení modelu vrtulníku: polynomiální přístup (cs)
skos:prefLabel
  • Adaptive Control of Twin Rotor MIMO System: Polynomial Approach
  • Adaptive Control of Twin Rotor MIMO System: Polynomial Approach (en)
  • Adaptivní řízení modelu vrtulníku: polynomiální přístup (cs)
skos:notation
  • RIV/70883521:28110/05:63504078!RIV06-MSM-28110___
http://linked.open.../vavai/riv/strany
  • FR-A22-TO/4
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • P(GP102/04/P244), Z(MSM7088352101)
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
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  • 511371
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  • RIV/70883521:28110/05:63504078
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http://linked.open.../riv/klicovaSlova
  • Polynomial methods; Nonlinear system; Self-tuning control; Multivariable control; Decentralized control; Real-time contro (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [DAF5C261B271]
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  • Praha
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  • Praha
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  • IFAC World Congress
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http://linked.open...vavai/riv/projekt
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http://linked.open...iv/tvurceVysledku
  • Bobál, Vladimír
  • Chalupa, Petr
  • Kubalčík, Marek
http://linked.open...vavai/riv/typAkce
http://linked.open.../riv/zahajeniAkce
http://linked.open...n/vavai/riv/zamer
number of pages
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  • Elsevier Science
https://schema.org/isbn
  • 0-08-045108-X
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  • 28110
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