UKACC International Conference on Control
2008
Final Programme and Book of Abstracts
University of Manchester, Sept. 2-4, 2008
http://www.control2008.org
Previous Conferences
Location
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Glasgow, U.K.
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Exeter, U.K.
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2006
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2
Conference Information
This book will provide you with the information needed to make the most out of the conference.
The back cover of this book provides a map with which will guide you to the different rooms where
the various presentations will take place. The Programme at a Glance section and, in more detail, the
Technical Programme section describe the times and places of such presentations.
Registration
The registration desk is located at the foyer of the Manchester Conference
Centre. It will open on Monday, Sept. 1, 2008, at 5:00 p.m. and it will continue
to be open throughout the conference.
Welcome Reception
The welcome reception will be held from 5:00 p.m. to 8:00 p.m. on Monday,
Sept. 1, 2008. The location is The Hub of the Manchester Conference Centre.
Exhibition
The exhibition stands will be located on Weston Hall, and will be displayed
every day of the conference, from 9:00 a.m. to 6:00 p.m.
Student Paper Prize
We are pleased to announce the winner of the Best Student Paper Prize:
We06.05. Mr. Andrew Zammit Mangion, Dr. Simon G. Fabri. Experimental Evaluation of Haptic Control for Human Activated Command Devices.
It will be awarded at the conference dinner.
Conference Dinner
The conference dinner will take place on Wednesday, Sept. 3, 20008, at 7:30
p.m. in the Old Trafford, Salford Suite 2. There will be a drinks reception in the
museum. The meal will be served at 8:45 p.m. and will finish at 10:00 p.m. The
bar will remain open until 11:00 p.m.
There will be coach services, collecting conference attendees at 7:00 p.m.
on Sackville Street, and leaving Old Trafford at 11:00 p.m. If you plan to drive
yourself there or take public transportation, a map of how to get there is
provided in the inside back cover of this book.
Lunches
Complementary lunches will be provided to all Control 2008 delegates for
the duration of the conferences. They will be served daily at 12:00 pm on
Weston Hall.
3
Table of Contents
Conference Information
3
Welcome Letter
5
Organising Committee
7
International Program Committee
9
Plenary Speakers
11
Sponsors
16
Post-Graduate Workshop
21
National Instruments Hands-On Tutorial
21
Programme at a Glance
22
Technical Programme
24
Book of Abstracts
35
Author Index
83
Notes
88
4
Welcome Letter
Welcome to the UKACC International Conference on Control 2008 which is held in the Manchester
Conference Centre inside the campus of the University of Manchester between the 2nd of September
and the 4th of September, 2008. UKACC stands for United Kingdom Automatic Control Council, which
is the United Kingdom’s National Member Organisation of the International Federation of Automatic
Control (IFAC). This conference series started many years ago and it takes place once every two
years inside the UK. The conference aims to bring together engineers and scientists from academia,
research institutes and industry so that they can discuss the latest developments and requirements in
the general area of control systems. The conference is the largest of its kind in the UK and has always
attracted a wide range of participations world-wide.
This year’s conference is hosted jointly between the Control Systems Centre of the EEE School at
the University of Manchester and the University of Salford. We are pleased to have this opportunity to
serve our community. The University of Manchester was established in 2004 as a result of the merger of
The Victoria University of Manchester and UMIST, two of Britain’s most distinguished universities. Indeed,
Manchester has a long history of control systems research and has been the home of the Control
Systems Centre (CSC) since 1966. The CSC has made significant contributions to the development of
modern control theory and applications, including the frequency domain design tools for multivariable
systems originated by Professor H H Rosenbrock FRS, self-tuning control and the use of symbolic algebra
in the development of control algorithms. More recently we have been working on the development
of stochastic distribution control, complex systems modelling, robust control, model predictive control,
fault diagnosis and fault tolerant control, multi-objective optimization and advanced nonlinear control
with applications to aerospace (including UAVs), various industrial processes and also to complex
systems seen in life sciences.
The materials included in this conference programme represent some of the latest developments in
control systems research and consists of four plenary presentations from the world leading researchers
in USA, China, Japan and UK, 160 regular papers, 5 invited sessions and four mini-symposiums organised by IET, InstMC, IMechE and IChemE. The second day of the conference focuses on the applications of control theory to various industrial processes. Moreover, the conference is sponsored by ten
organisations, these are gratefully acknowledged.
We hope that you will enjoy this conference and have a nice stay in Manchester, where there are
attractive historic sides to see as well.
Professor Hong Wang
Conference General Chairman
Control Systems Centre
School of Electrical and Electronic Engineering
The University of Manchester
5
Organising Committee
International Programme Committee
Organising Committee
Prof. Hong Wang Conference General Chairman
Professor Hong Wang received the BSc, MEng and PhD degrees from Huainan
University of Mining Engineering (AHUST) and Huazhong University of Science
and Technology (HUST) in P. R. China 1982, 1984 and 1987, respectively. He then
worked as a postdoc at Salford, Brunel and Southampton Universities between
1988 and 1992. He joined UMIST in 1992 as a lecturer, and was promoted to a
Professor in April, 2002. Professor Wang originated the work on stochastic distribution control, where the main purpose of control input design is to make the
shape of the output probability density functions to follow a targeted function.
He is the leading author of three books and has published over 200 papers in
international journals and conferences. Professor Wang received the outstanding oversea scholarship award from the Chinese NSF in 2002, and outstanding
oversea academics award from the Chinese Academy of Sciences in 2004. He
was one of the 120 oversea academics invited to attend the 50th birthday of
the P R China in Beijing in 1999. Professor Wang is a Fellow of IET and InstMC, he
is the editorial board member for seven international journals and member of
three IFAC Technical Cttees.
Dr. Amin Nobakhti Conference Secretary
Amin Nobakhti was born in Tehran, Iran in 1981. He received his B.Eng in Electrical and Electronics Engineering from University College London (UCL) in 2000.
He subsequently obtained M.Sc and Ph.D. degrees in advanced control systems
from the University of Manchester Institute of Science and Technology (UMIST)
under the supervision of the late Professor Neil Munro in multivariable control
systems in 2001 and 2004 respectively. Since 2004 he has been a Research
Associate at the University of Manchester, Control Systems Centre working on
multivariable system design. He has recently completed a one year industrial
secondment with Sappi Fine Paper Europe, Blackburn mill, under an EPSRC Research Associate Industrial Secondment scheme (RAIS).
Prof. John Gray International Program Committee Chairman
He is the Director of the Centre for Robotics and Automation in the Faculty
of Science, Engineering and the Environment Research Institute. He has contributed in the areas of Architectures for advanced robotic operation, Aspects
of Concurrent Engineering, Control Systems, Sensors, Architecture for Advanced
Robotic Operation, Robotics and Automation in Food Manufacturing, and Medical Robotics.
Dr. William Heath Invited Sessions Chairman
Dr. W. P. Heath received a BA in Mathematics from Cambridge University in 1987.
He received an MSc in Systems and Control and a PhD from the Control Systems
Centre, UMIST, in 1989 and 1992 respectively. He continued at the Control Systems Centre until 1994, and was then with Lucas Advanced Engineering Centre
until 1998. From 1998 to 2004 he was a Research Academic with CIDAC, University of Newcastle, Australia. He returned to the University of Manchester in
2004.
Continued ...
7
Dr. Z. Ding Postgraduate Workshops Chairman
Dr. Zhengtao Ding graduated with BEng from Tsinghua University, Beijing, China.
He then studied control engineering in the Control Systems Centre, UMIST, with
MSc in systems and control and PhD in control systems. He joined as a lecturer in
School of Engineering, University of Manchester in September 2003 after having
been a lecturer in Ngee Ann Polytechnic, Singapore for ten years. He is now a
senior lecturer in control engineering at the Control Systems Centre, School of
Electrical and Electronic Engineering, after the merger of the two universities. His
research interests are mainly focused on nonlinear and adaptive control theory
and their applications.
Prof. Barry Lennox Local Arrangement Chairman
He has contributed in the areas of Multivariate statistical process control, Model
predictive control, Control loop monitoring, Monitoring and control of batch processes, and Leakage and blockage detection in pipelines.
Dr. Alexander Lanzon Publication Chairman
Dr Alexander Lanzon was born in Malta. He received the B.Eng.(Hons). degree
in Electrical Engineering from the University of Malta in 1995, and his Masters’
and Ph.D. degrees in Control Engineering from the University of Cambridge in
1997 and 2000 respectively. Before joining the University of Manchester in 2006,
Dr Lanzon held academic positions at Georgia Institute of Technology and the
Australian National University. Alexander also received earlier research training
at Bauman Moscow State Technical University, Russia, and industrial training at
ST-Microelectronics Ltd., National ICT Australia Ltd. and Yaskawa Denki Tokyo Ltd,
Japan. His research interests include fundamental theory of feedback systems,
robust control and applications to aerospace control (including UAVs) and biological systems. Dr Lanzon is a senior member of IEEE and a member of AIAA
and ASME.
Mr. Caleb Rascon Conference Website Administrator, Secretary Assitant and
Conference Image Designer
He was born and raised in Mexico and received a degree in Electronic Systems
in ITESM Queretaro Campus. During his degree, he developed a schedule creator based on Genetic Algorithms for a transport company to optimise costs in
moving empty trucks. He graduated having been one of the only 12 nominees
of his generation for the prestigious Student Merit Award, highest award given to
an undergraduate. He is an associate and a co-founder of Makko Solutions, a
company dedicated in website and software design, specifically in remote monitoring through the use of the internet. He’s currently a second year PhD student
in the Control Systems Centre in the University of Manchester, and his project
involves the use of Artificial Intelligence in the areas of Process Monitoring and
Non-linear Optimisation.
Local Events Assistant: Ms. Zukhra Kamalova, University of Manchester, UK.
Publishing Co-Chair: Dr. A. Hussian, University of Stirling, UK.
IPC Co-Chairs:
Prof. G. P. Liu, University of Glamorgan, UK
Prof. H. N. Yu, University Stafford, UK
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International Program Committee
A. Inoue, Japan
Alessandro Astolfi, U.K.
Alessandro Casavola, Italy
Ali Khaki Sedigh, Iran
C. Y. Su, Canada
David Stoten, U.K.
Decio Criso Donha, Brazil
Denis Gillet, Switzerland
Derek Atherton, U.K.
Dominic Diston, U.K.
Ebrahim Farjah, Iran
Eric Rogers, U.K.
G. P. Liu, U.K.
George Irwin, U.K.
Hong Wang, U.K.
Hossein Javaherian, U.S.A.
Hsiao-Ping Huang, U.K.
J. Huang, Hong Kong
Joao Miguel da Costa Sousa, Portugal
Joaquim Comas, Spain
John O’Reilly, U.K.
John Ringwood, Ireland
Jonathan Love, U.K.
Jurek Sasiadek, Canada
Jus Kocijan, Slovenia
Keith Burnham, U.K.
Kevin Warwick, U.K.
M. M. Polycarpou, Cyprus
M. Tan, China
Mahdi Mahfouf, U.K.
Manus Henry, U.K.
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Marco Perez Cisneros, Mexico
Martin Brown, U.K.
Michael Sebek, Czech Rep.
Mieczyslaw Brdys, U.K.
Mike Spathopoulos, U.K.
Mourad Oussalah, U.K.
Nicos Karcanias, U.K.
Nina Thornhill, U.K.
Ognjen Marjanovic, U.K.
Paul Crossland, U.S.A.
Peter Breedveld, Netherlands
Peter Fleming, U.K.
Pierre Borne, France
Quim Comsa, Spain
Robert Sutton, U.K.
Roger Goodall, U.K.
Rolf Johansson, Sweden
Ron J. Patton, U.K.
Ryszard Gessing, Poland
Sam S. Ge, Singapore
Samia Nefti, U.K.
Sandy Veres, U.K.
Sarah Spurgeon, U.K.
Sauro Longhi, Italy
Steve Daley, U.K.
T. Y. Chai, China
Tan Kok Kiong, U.K.
Thomas Holzhueter, Germany
Tim Breikin, U.K.
Z. L. Lin, U.S.A.
Plenary Speakers
Professor C. G. Cassandras Boston University, U.S.A.
Christos G. Cassandras is Head of the Division of Systems Engineering and Professor of Electrical and Computer Engineering at Boston University. He is also co-founder of Boston University’s
Center for Information and Systems Engineering (CISE). He received degrees from Yale University (B.S., 1977), Stanford University (M.S.E.E., 1978), and Harvard University (S.M., 1979; Ph.D.,
1982). In 1982-84 he was with ITP Boston, Inc. where he worked on the design of automated
manufacturing systems. In 1984-1996 he was a faculty member at the Department of Electrical and Computer Engineering, University of Massachusetts/Amherst. He specializes in the
areas of discrete event and hybrid systems, stochastic optimization, and computer simulation,
with applications to computer and sensor networks, manufacturing systems, and transportation systems. He has published over 250 refereed papers in these areas, and four books. He
has guest-edited several technical journal issues and serves on several journal Editorial Boards.
Dr. Cassandras is currently Editor-in-Chief of the IEEE Transactions on Automatic Control and
has served as Editor for Technical Notes and Correspondence and Associate Editor. He has
been on the IEEE CSS Board of Governors, chaired the CSS Technical Committee on Control
Theory, and served as Chair of several conferences. He has been a plenary speaker at various
international conferences, including the American Control Conference in 2001 and the IEEE
Conference on Decision and Control in 2002. He is the recipient of several awards, including
the Distinguished Member Award of the IEEE Control Systems Society (2006), the 1999 Harold
Chestnut Prize (IFAC Best Control Engineering Textbook) for Discrete Event Systems: Modeling
and Performance Analysis, and a 1991 Lilly Fellowship. He is a member of Phi Beta Kappa and
Tau Beta Pi. He is also a Fellow of the IEEE and a Fellow of the IFAC.
Presentation Title:
Cooperative Control and Optimization in an Asynchronous Wireless World
Location: Weston Theatre Date: Wed. Aug. 2, 8:30 am
Abstract: Cooperative control arises when multiple agents (e.g., nodes of a sensor network) carry out a
“mission” with a common objective, often in an uncertain environment. Cooperation requires cross-agent
communication which is typically asynchronous, wireless, and subject to limitations imposed by energy
constraints and obstacles in the environment. We will discuss a multi-traveling-salesman type of mission
where agents must visit (alone or in groups) “target points” with associated “rewards” so as to maximize
the total collected reward. We will show how to formulate and solve a receding horizon optimization
problem adopting a “hedge-and-react” as opposed to an “estimate-and-plan” approach, thus bypassing
the combinatorial and stochastic complexity of explicitly assigning agents to target points. In addition, a
key stability property of this approach will be discussed. Another form of cooperative mission involves
“coverage” control, where agents are tasked with the problem of detecting random events in a given
region. In all such problems, control and optimization are carried out in distributed fashion with agents
asynchronously taking actions as well as communicating their state to their peers. We address the question:
How much communication is needed to achieve optimal cooperation? We show that it is possible for
agents to communicate infrequently and yet guarantee convergence of such cooperative distributed
optimization schemes. The presentation will include interactive software demonstrations and applications
to cooperative settings that involve teams of small wireless robots in a laboratory environment.
Continued ...
11
Professor T. Y. Chai Northeastern University, China
Tianyou Chai received his Ph. D. degree in Control Theory and Engineering from Northeastern
University in 1985. Since then he has been with the Center of Automation at Northeastern University, where he became a Professor in 1988 and a Chair Professor in 2004.He is the founder
and Director of the Center of Automation, which became a National Engineering and Technology Research Center in 1997. He has served as a member of Chinese National Disciplinary
Appraisal Group (since 1992), and a Vice-Director of Committee of Experts of Advanced Manufacturing and Automation in National 863 High-Tech Program during 2001-2006. In 2003, he
was elected as a member of Chinese Academy of Engineering, and he was elected as IEEE
Fellow and academician of International Eurasian Academy of Sciences in 2007. Over the
years, he has been a Principle of Integrator for more than 30 research projects, including the
National Fundamental Research Program, State Key Program of National Natural Science, National High-Tech Program, National Key Technology Plan, National High-Tech Industrialization
Priority Project and Key Automation Engineering of Enterprises. For his contributions, he has
won 3 prestigious awards of National Science and Technology Progress, 10 first-class awards of
Science and Technology Progress from various Ministries of China and Liaoning Province. He
received 2007 Industry Award for Excellence in Transitional Control Reaserch, IEEE Multi- conference on System and Control in Singapore. He also received Technological Science Progress
Award from Ho Leung Ho Lee Foundation in 2002, Science and Technology Honor Prize of Liaoning Province in 2003, and honor of “National Advanced Worker” in 2005. He has been invited
to give 10 plenary speeches in international conferences of IFAC and IEEE. For his outstanding
work towards training of highly qualified personnel, he has won the award of Excellent Teacher
of China. He is Editor-in-Chief of Journal of Control Engineering and on editorial board of a
number of technical journals.
Presentation Title:
A hybrid intelligent optimal control method for the whole production line and applications
Location: Weston Theatre Date: Wed. Aug. 3, 8:30 am
Abstract: With ever increased needs for an improved product quality, production efficiency, and cost in
today’s globalized world market, advanced process control should not only realize the accuracy of each
control loops, but also has the ability to achieve an optimization control of global production indices that
are closely related to the improved product quality, enhanced production efficiency and reduced consumption. As a result, the optimal control for the global production indices has attracted an increased
attention of various process industries. The optimal control of the global production indices requires an optimal combination of the production indices, technical indices and the operation of each control loops. In
this paper, a hybrid intelligent control strategy is proposed for process industries. This new strategy consists
of three control layers, namely the intelligent optimization of the global production indices, the intelligent
optimal control of the technical indices and the intelligent process control,. The intelligent optimization of
the global production indices is composed of the setting model of the technical indices, the predictor of
the global production indices, the feedback and prediction analysis adjustment models. The intelligent
optimal control of the technique indices consists of the setpoints model of control loops, the prediction of
technical indices, the feedback and feedfoword regulators. The intelligent process control is then composed of normal decoupled PID controllers, decoupled nonlinear PID controllers with a neural network
feedforword compersator for un-modeled dynamics and a switching mechanism. Such a control structure can automatically transfer the global production indices into a required number of setpoints for each
control loops. Moreover, when the system is subjected to either operating point changes or unexpected
disturbances, setpoints of the control loops can be adaptively updated and the outputs of the control
loops are made to follow the updated setpoints so that the global production indices can be controlled
into their targeted ranges to realize the optimization control of the global production indices. The proposed method has been successfully applied to the largest hematite minerals processing factory in China,
where remarkable social and economic benefits have been achieved. Such an industrial application has
successfully demonstrated the performance of the proposed optimal control method which will therefore
has a high potential for further and much wider applications.
Continued ...
12
Professor K. Furuta Tokyo Denki University, Japan
Katsuhisa Furuta was educated at Tokyo Institute of Technology in Tokyo, Japan (MS 1964, Ph. D
1967). After graduation he was with Tokyo Institute of Technology until 2000, where he held the
position of Professor of Control & Systems Engineering, Graduate School of Information Science
& Engineering, and School of Engineering. In 2000 he received Professor Emeritus there. As a
short term position he served as Russell Severance Springer Visiting Professor, University of California at Berkeley (1997). Since 2000 he has been with Tokyo Denki University, where he is now
Professor of School of Science & Engineering and School of Future Science as well as Director of
the 21st Century COE (Center of Excellent) Project on HAM (Human Adaptive Mechatronics).
K. Furuta’s research interests lie in the broad areas of System Control, Robotics, Mechatronics,
and Computer Vision. He is a pioneer researcher in control of pendulum, so called Furuta Pendulum which has been used for control study and education in many countries. He has delivered plenary lectures at the academic conferences including IFAC Congress (2002-Barcelona),
IEEE Conference on Decision and Control (CDC 2003-Maui), and also IEE Tustin/ UKACC Lecture
(2003). K. Furuta held numerous positions in academic societies including the Vice President,
Technical Activities, of IEEE Control Systems Society (1996-1997), Associate Editor of IEEE Transaction on Automatic Control (1991-1993), President of SICE (1999- 2000), IFAC Technical Board
Member (1993-1996), IFAC Council Member (1994-1999), Automatica Paper Prize (1999-2002),
and the editor of Automatica in Applications (1996 -1999). He served as Member of Science
Council of Japan (1997-2003) as one of national activities. He received many awards including
of Honorary Doctorate-Helsinki University of Technology (1998), IEEE CSS Distinguished Member
(1998), and IEEE Third Millennium Medal (2000). He is Fellow of SICE (1992), IEEE (1996), IET (2003),
IFAC (2006), and Honorary Member of SICE (2006).
Presentation Title:
Human Adaptive Mechatronics (HAM)
Location: Weston Theatre Date: Wed. Aug. 3, 1:30 pm
Abstract: Mechatronics is said to be the synergetic integration of key technologies such as mechanical,
electrical, information and other diverse technologies. In order that the human and Mechatronics system
can achieve high performance, human-machine function should adapt to the skill level of the user and
especially include the ability to assist to improve their operation skill. Mechatronics not only adapting to the
level of the skill or dexterity but also assisting for the user to improve the skill should be developed. This may
be said “Human Adaptive Mechatronics” which is the synergetic integration of mechanical, electrical,
information technology and human sciences including medical science and psychology.
Continued ...
13
Professor A. Astolfi Imperial College, U.K.
Alessandro Astolfi was born in Rome, Italy, in 1967. He graduated in electrical engineering from
the University of Rome in 1991. In 1992 he joined ETH-Zurich where he obtained a M.Sc. in
Information Theory in 1995 and the Ph.D. degree with Medal of Honour in 1995 with a thesis on
discontinuous stabilization of nonholonomic systems. In 1996 he was awarded a Ph.D. from the
University of Rome “La Sapienza” for his work on nonlinear robust control. Since 1996 he is with
the Electrical and Electronic Engineering Department of Imperial College, London (UK), where
he is currently Professor in Non-linear Control Theory. From 1998 to 2003 he was also an Associate
Professor at the Dept. of Electronics and Information of the Politecnico of Milano. Since 2005
he is also Professor at Dipartimento di Informatica, Sistemi e Produzione, University of Rome Tor
Vergata.
His research interests are focused on mathematical control theory and control applications,
with special emphasis for the problems of discontinuous stabilization, robust stabilization, robust control and adaptive control. He is author of more than 70 journal papers, of 20 book
chapters and of over 160 papers in refereed conference proceedings. He is author (with D.
Karagiannis and R. Ortega) of the monograph “Nonlinear and Adaptive Control with Applications” (Springer Verlag). He is Associate Editor of Systems and Control Letters, Automatica, IEEE
Trans. Automatic Control, the International Journal of Control, the European Journal of Control, the Journal of the Franklin Institute, and the International Journal of Adaptive Control and
Signal Processing. He has also served in the IPC of several international conferences.
Presentation Title:
Nonlinear and adaptive control with applications
Location: Weston Theatre Date: Wed. Aug. 4, 8:30 am
Abstract: This talk surveys a recently developed method for designing adaptively stabilising control laws
for general nonlinear systems and demonstrates how such a method can be exploited for control and observer design for physically motivated systems. The method relies upon the notions of system immersion and
manifold invariance and, in principle, does not require the knowledge of a (control) Lyapunov function.
The resulting robust and adaptive control schemes counter the effect of the uncertain parameters and
perturbations adopting a robustness perspective, whereas the resulting observers rely upon the existence
of structurally invariant manifolds. The approach is illustrated by means of several applications, including
wing rock elimination, an adaptive visual servoing problem, the perspective estimation problem, the control of a power converter, and a flight control problem. Simulations and experimental results highlight the
validity of the proposed methodology.
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The Society for Industrial and Applied Mathematics (SIAM) was organised in
1951 to fulfill the following goals: (1) advance the application of mathematics to science and industry; (2) promote mathematical research that could
lead to effective new methods and techniques in science and industry; (3)
and provide media for exchange of information and ideas among mathematicians, engineers, and scientists.
UKACC Corporate Sponsors
The Institution of Engineering and Technology is one of the world’s leading
professional societies for the engineering and technology community. The IET
has more than 150,000 members in 127 countries and offices in Europe, North
America and Asia-Pacific. The IET provides a global knowledge network to
facilitate the exchange of ideas and promote the positive role of science,
engineering and technology in the world.
Established in 1847, the Institution of Mechanical Engineers (IMechE) is the
leading body for professional mechanical engineers. With a world-wide membership now in excess of 75,000 engineers, the IMechE is the United Kingdom’s
qualifying body for Chartered and Incorporated mechanical engineers. A
democratic organisation, operating under Royal Charter, the affairs of The
IMechE are decided by mechanical engineers from all disciplines and administered by nearly two hundred professional staff in London.
Founded by a group of mechanical engineers concerned at the lack of an
Institution for their profession, the first President was George Stephenson. He
was the most celebrated engineer of the day, particularly famous for the Liverpool and Manchester Railway. The Institution has grown to cover the entire
range of technologies and industries in which engineers work. It is committed
to “technology transfer” as well as ensuring the highest professional standards.
Members work in research, design, development, manufacturing, installation,
commissioning, contracting, consulting and teaching, in fields as diverse as
lubrication, satellite launching, surgical implants and in power stations. All
find out about the latest developments in their own and related fields in the
Institution’s hundreds of conferences and events.
18
The Institute of Measurement & Control - Britain’s foremost professional body
for the Automation Industry - provides members with routes to Engineering
Council registration as Chartered and Incorporated Engineers, and Engineering Technicians. The Institute is not tied to a single application area, nor is it
limited in the technologies and disciplines it may embrace. Any application
or technique of measurement and control falls within its scope of interest. The
Institute brings together thinkers and practitioners from the many disciplines
which have a common interest in measurement and control. It organises
meetings, seminars, exhibitions, and national and international conferences
on a large number of topics. It has a very strong level of local section activity, providing opportunities for interchange of experience and for introducing
advances in theory and application.
The Engineering and Physical Sciences Research Council is the main UK government agency for funding research and training in engineering and the
physical sciences, investing around č740 million a year in a broad range
of subjects Ð from mathematics to materials science, and from information
technology to structural engineering. Its mission is to: promote and support,
by any means, high quality basic, strategic and applied research and related postgraduate training in engineering and the physical sciences; and
advance knowledge and technology (including the promotion and support
of the exploitation of research outcomes), and provide trained scientists and
engineers, which meet the needs of users and beneficiaries (including the
chemical, communications, construction, electrical, electronic, energy, engineering, information technology, pharmaceutical, process and other industries), thereby contributing to the economic competitiveness of Our United
Kingdom and the quality of life.
Guest Organising Institute
The Institution of Chemical Engineers (IChemE) is an international professional
membership organization for people who have an interest in and relevant experience in chemical engineering. We are the only organization to award
Chartered Chemical Engineer status. We are also licensed to award the titles of Chartered Engineer (CEng), Chartered Scientist (CSi) and Chartered
Environmentalist (CEnv) to suitably qualified members. IChemE is the hub
for chemical, biochemical and process engineering professionals worldwide.
We are the heart of the process community, promoting competence and a
commitment to sustainable development, advancing the discipline for the
benefit of society and supporting the professional development of members.
Founded in 1922 as a professional institution for chemical and process engineers, IChemE has grown to its current status of a 27,000 international membership across more than 113 countries.
19
Programme at a Glance
Post-Graduate Workshop
Saturday. August 30, 2008.
17:00-18:00
Registration.
Sunday. August 31, 2008.
09:00-09:30
09:30-10:30
10:30-11:00
11:00-12:00
12:00-13:30
13:30-15:00
15:00-15:15
15:15-16:45
17:00-18:00
19:00-21:00
Welcome
Recent Advances in Robust Control, by Dr. A. Lanzon
Coffee.
Control in Systems Biology, by Dr. M. Brown
Lunch.
Control in Renewable Energy Systems, by Dr. T. C. Yang
Coffee.
Practical Considerations for Robot Control Systems, by Mr. G. Pegman
Predictive Control, by Dr. W. Heath
Poster/Discussion, with Buffet
09:00-10:00
10:00-11:00
11:00-11:15
11:15-12:15
12:15-13:30
13:30-14:30
14:30-16:00
16:00-16:30
16:30-17:30
Monday. September 1, 2008.
Non-linear Control Practice, by Prof. S. Spurgeon
Control over Wireless Networks, by Prof. G. Irwin
Coffee.
Applications of State Estimation for Flight Control, by Prof. R. Goodall
Lunch.
PID Control, by Prof. D. P. Atherton
Large Scale Industrial Control in China by Prof. T. Chai
Coffee.
EPSRC
National Instruments Hands-On Tutorial
An Open Platform for Real-Time Control: National Instruments Hands-on Tutorial
Location: Weston Room 2
Date/Time: Thursday Sept. 4, 2008. 10:00 a.m. - 12:00 p.m. (Repeated at 1:30 p.m - 3:30 p.m.)
This hands-on tutorial session will describe the use of National Instruments LabVIEW and NI real-time
hardware as the building blocks for an open software and hardware platform for real-time control
applications. NI LabVIEW has evolved into an integrated development environment, incorporating
multiple computational models including graphical data flow, C code, UML compatible statecharts,
dynamic system simulation and control, as well as .m file textual math and analysis. High level tools suitable for machine intelligence built on this platform include control design, estimation, optimisation and
machine vision. The resulting programs can be written as inherently parallel and adaptive applications
and mapped to parallel hardware such as multicore microprocessors and field-programmable gate
arrays (FPGAs) for optimal performance. Recent applications of this technology in autonomous vehicles, robotics, biomedical devices, green energy production and education will also be presented.
The hands-on portion of the tutorial involves design, analysis and simulation of a control system
using a hybrid graphical and textual approach. Conversion of the resulting control system design
to a real-time control system will be demonstrated with an embedded control system combining a
microprocessor and an FPGA. The session organisers will provide laptops for attendees or they may
download software to their own laptops prior to the session.
21
Programme at a Glance
Industry Day
Tuesday
Wednesday
8.30-9.30 PLENARY: Cassadras
Weston Theatre
Thursday
8.30-9.30 PLENARY: Chai
Weston Theatre
BREAK 9.30-10.00
8.30-9.30 PLENARY: Astolfi
Weston Theathre
BREAK 9.30-10.00
Sessions: 10:00 - 12:00
BREAK 9.30-10.00
Sessions: 10:00 - 12:00
Sessions: 10:00 - 12:00
Tu1
Control Theory:
Multivariable
Systems and Networks.
Conference Room 1
IChemEA
IChemE Mini Symposium (A)
Weston Room 2
Th1
Control Theory:
Discrete
Systems
Conference Room 1
Tu2
Control of Nonlinear Systems
Conference Room 5
IETA
IET Mini Symposium (A)
Weston Theatre
Th2
Robotics:
Control
Recognition
Conference Room 5
Tu3
Human Adaptive Mechatronics
Conference Room 6
IMechEA
IMechE Mini Symposium (A)
Conference Room 1
Th3
Control Methodology 1
Conference Room 6
Tu4
Estimation and Filtering of Nonlinear & Delayed Systems
Weston Room 2
InstMCA
InstMC Mini Symposium (A)
Conference Room 6
Th4
Condition Monitoring and
Fault Diagnosis
Weston Theatre
Tu5
Fault Detection and Plant Monitoring
Westom Theatre
Th5
Parameter Estimation and
Data Analysis
Conference Room 4/4A
NI
Nat. Instruments Tutorial
Weston Room 2
LUNCH 12.00-13.00 Weston Hall
13.00-14.00 PLENARY: Furuta
Weston Theatre
LUNCH 12.00-13.30 Weston Hall
Session: 13.30-15.30
and
LUNCH 12.00-13.30 Weston Hall
Session: 14.00-15.30
Sessions: 13.30 - 15.30
Tu6
Control Theory:
Optimization
and Design
Conference Room 1
IETB
IET Mini Symposium (B)
Conference Room 1
Th6
Control Theory: Uncertain
and Time Varying
Conference Room 1
Tu7
Mechatronics
Conference Room 5
IMechEB
IMechE Mini Symposium (B)
Weston Theatre
Th7
Inequality Procedures (Invited)
Conference Room 5
Tu8
Adaptive Control
Conference Room 6
InstMCB
InstMC Mini Symposium (B)
Weston Room 2
Th8
Sliding Mode Control
Conference Room 6
Tu9
ACE (Invited)
Weston Room 2
We1
Control Applications: Low Complexity Control
Conference Room 5
Th9
Imaging and Road Traffic
Control
Weston Theatre
Tu10
Predictive Control
Weston Theatre
We2
Control Applications: Optimization and Networks
Conference Room 6
Th10
Control Methodology 2
Conference Room 4/4A
NI
Rep
Nat. Instruments Tutorial
Weston Room 2
BREAK 15.30-16.00
BREAK 15.30-16.00
Session: 16.00-18.00
Conclusion 15.30-16.00
Session: 16.00-18.00
Tu11
Control Theory:
Optimization
and Nonlinear Design
Conference Room 1
IChemEB
IChemE Mini Symposium (B)
Weston Theatre
Tu12
Decision and Control (Invited)
Conference Room 5
We3
Advanced Process Control
Conference Room 5
Tu13
Fuzzy Control Systems
Conference Room 6
We4
Control Applications: Automotive
Weston Room 2
Tu14
Systems Control Using Neural
Networks
Weston Room 2
We5
Hybrid Vehicles (Invited)
Conference Room 1
Tu15
Modelling and Simulation
Weston Theatre
We6
Robotics: Vision and Tracking
Conference Room 4/4A
We7
Control Applications:
Aerospace
Conference Room 6
Conference Dinner Old Trafford
Salford Suite, 19.30-23.00
All contributed paper presentations are 20 minutes long , and industry symposia presentations are 30 minutes long
22
Technical Programme
Presentations for Tuesday, Sep. 2
Tu03.02: Control of a propulsion mechanism over a wireless network
Mr Sam Wane
University of Staffordshire
Prof Hongnian Yu
University of Staffordshire
Tu01. Control Theory: Multivariable systems and networks
Room: Conference Room 1
Time: 10:00
Chaired by: Prof. G, Irwin, Prof. Young
Tu03.03: An Iterative Learning Control Scheme for the Capsubot
Mr Yang Liu
Staffordshire University
Prof Hongnian Yu
Staffordshire University
Prof Luige Vladareanu
Romanian Academy
Tu01.01: Nonlinear pole assignment control of state dependent
parameter models with time delays
Dr. C. James Taylor
Lancaster University
Dr. Arun Chotai
Lancaster University
Prof. Peter C. Young
Lancaster University
Tu03.04: Combined Attitude Control of an Underactuated Helicopter Experimental System
Prof Mingcong Deng
Okayama University
Prof Akira Inoue
Okayama University
Mr Tatsunori Shimizu
Okayama University
Tu01.02: A multiple-observer approach to stability in wireless
network control systems
Mr Adrian McKernan
Queens University Belfast
Dr Carlos AriÌśo
Universitat Jaume I
Prof. George Irwin
Queens University Belfast
Dr William Scanlan
Queens University Belfast
Mr Jian Chen
Queens University Belfast
Tu03.05: Complex Motor Cortex Control of Muscle Synergies
Underpin Simple Reaching Tasks in Robot-Induced Force Fields
Prof. Duncan Turner
University of East London
Dr Paul Sacco
University of East London
Mr Tim Hunter
University of East London
Tu01.03: Hinf-based model order reduction using LMIs
Dr Amin Nobakhti
University of Manchester
Prof Hong Wang
University of Manchester
Tu03.06: Insights into Information Processing by the Single Cell
Slime Mold Physarum Polycephalum0
Dr Steve Hickey
Staffordshire University
Dr Len Noriega
Staffordshire University
Tu01.04: The Investigation of Multivariable Control Performance
Assessment Techniques
Miss Qiaolin Yuan
University of Manchester
Prof. Barry Lennox
University of Manchester
Tu04. Estimation and filtering of nonlinear and delayed systems
Room: Weston Room 2
Time: 10:00
Chaired by: Prof. Grimble, Dr. Heath
Tu01.05: Pole Placement Controller Design for Linear Parameter
Varying Plants
Mr Sunan Chumalee
Cranfield University
Dr James Whidborne
Cranfield University
Tu04.01: Identification Applied to Dual Sensor Transient Temperature Measurement
Mr Colin Brown
Queens University belfast
Prof. George Irwin
QueenL’Ûłs University Belfast
Dr Robert Kee
QueenL’Ûłs University Belfast
Dr Sean McLoone
National University of Ireland
Maynooth
Dr Peter Hung
National University of Ireland
Maynooth
Tu01.06: ROBUST H∞ CONTROL FOR NEUTRAL SYSTEMS VIA DYNAMIC OUTPUT FEEDBACK
Dr. Bayram Baris Kizilsac
Istanbul Technical University
Prof. Ulviye Baser
Istanbul Technical University
Tu02. Control of nonlinear systems
Room: Conference Room 5
Time: 10:00
Chaired by: Prof. Su, Dr. Taylor
Tu04.02: Time-delay in high-gain observer based disturbance
estimation
Mr. Xuewu Dai
The University of Manchester
Prof. Zhiwei Gao
The University of Manchester
Mr. Usama Abou-Zayed
The University of Manchester
Dr. Tim Breikin
The University of Manchester
Tu02.01: Output Feedback Sampled-Data Control of Nonlinear
Systems in Output Feedback Form
Dr. Zhengtao Ding
University of Manchester
Mr. Buzhou Wu
University of Manchester
Tu02.02: Constraint handling for State Dependent Parameter
models
Dr. Vasileios Exadaktylos
Catholic University of Leuven
Dr. C. James Taylor
Lancaster University
Dr. Arun Chotai
Lancaster University
Tu04.03: Design and Real Time Implementation of Nonlinear
Minimum Variance Filter
Mr. Shamsher Ali Naz
University of Strathclyde
Prof. Mike Grimble
University of Strathclyde
Tu04.05: Constrained particle filtering using Gaussian sum approximations
Dr. Marc-Andre Beyer
Ruhr-University Bochum
Dr. Gunter Reinig
Ruhr-University Bochum
Tu02.03: Robust Adaptive Nonlinear Control Law for a General Class of Nonlinear Systems with Operator-Based Hysteresis
Models
Prof. Chun-Yi Su
Concordia University
Dr. Qingqing Wang
Concordia University
Dr. Ying Feng
Concordia University
Prof. Shuzhi Ge
National University of Singapore
Tu04.06: The implementation of simulated annealing combining gradient search in system identification
Mr Yiqun Zou
The University of Manchester
Dr William Heath
The University of Manchester
Tu02.04: Dynamical Radial Control of Nonlinear Systems
Dr Zahra Sangelaji
Coventry University
Tu05. Fault detection and plant monitoring
Room: Weston Theatre
Time: 10:00
Chaired by: Prof Goodall, Prof. Postlethwaite
Tu02.05: CONTROL OF POLYETHYLENE PROPERTIES USING NONLINEAR MODEL PREDICTIVE CONTROL
Dr. Mohammad Al-haj Ali
King Saud University
Prof. Emad Ali
King Saud University
Tu05.01: Discrete-time Robust Fault Detection Observer Design:
a simulated annealing approach
Mr. Xuewu Dai
The University of Manchester
Mr. Yiqun Zou
The University of Manchester
Dr. Tim Breikin
The University of Manchester
Dr. Will Heath
The University of Manchester
Tu02.06: Asymptotic Rejection of Nonlinear Periodic Disturbances in Linear Dynamic Systems
Dr Zhengtao Ding
University of Manchester
Tu03. Human Adaptive Mechatronics (Invited)
Room: Conference Room 6
Time: 10:00
Chaired by: Prof.H. Yu
Tu05.02: SENSOR LOCATION BASED OPTIMUM DESIGN FOR
FAULT DETECTION SYSTEM
Prof. PENG Tao
Hunan University of Technology
Prof. Steven Ding
University of Duisburg-Essen
Prof. GUI Wei-Hua
Central South University
Prof. CHEN Jie
Beijing Institute of Technology
Tu03.01: Dynamic Model of Muscle Force Driving System and
Its Application in Tele-operation
1 Fu Xiuhui
Shenyang Institute of Automation
2 Li Hongyi
Shenyang Institute of Automation
3 Wang Yuechao
Shenyang Institute of Automation
24
Presentations for Tuesday, Sep. 2
Tu05.03: Model-Based Sensor Fault Diagnosis in General
Stochastic Systems Using LMI Techniques
Dr. Puya Afshar
The Univ. of Manchester
Prof. Hong Wang
The Univ. of Manchester
Tu08. Adaptive Control
Room: Conference Room 6
Time: 13:30
Chaired by: Prof. Stoten, Prof. Sedigh
Tu05.04: Multi-Agent Control of High Redundancy Actuation
Miss Jessica Davies
Loughborough University
Dr. Thomas Steffen
Loughborough University
Dr. Roger Dixon
Loughborough University
Prof. Roger Goodall
Loughborough University
Tu08.01: LINEARISATION OF POWER AMPLIFIERS, USING MINIMAL
CONTROL SYNTHESIS
MR BOHONG XIAO
Bristol University
PROF DAVID STOTEN
Bristol University
DR ANDREW HARRISON
Bristol University
Tu05.05: Detection of Additive Sensor Faults in an Unmanned
Air Vehicle (UAV) Model using Neural Networks
Mr Ihab Samy
Leicester University
Prof. Ian Postlethwaite
Leicester University
Prof. Dawei Gu
Leicester University
Tu08.02: A METHOD FOR FINDING GOOD VALUES OF ADAPTATION GAINS
Dr. Andro Rurua
University of Limerick
Prof. Eamonn McQuade
University of Limerick
Tu05.06: statistical process monitoring of bioreactors: a comparison
Dr. Ognjen Marjanovic
University of Manchester
Mr. Wu Long
University of Manchester
Prof. Barry Lennox
University of Manchester
Tu08.03: U-MODEL BASED ADAPTIVE INTERNAL MODEL CONTROL OF UNKNOWN MIMO NONLINEAR SYSTEMS: A CASE STUDY
ON 2-LINK ROBOTIC ARM
Dr. Syed Saad Azhar Ali
Air University
Dr. Muhammad Shafiq
GIKI
Dr. Jamil Bakhashwain
KFUPM
Dr. Fouad AL-Sunni
KFUPM
Tu06. Control Theory: Optimization and design
Room: Conference Room 1
Time: 13:30
Chaired by: Dr. Nobakhti, Prof. Gupta
Tu08.04: A Disturbance Rejection Supervisor in Multiple-Model
Based Control
Mr.
Ehsan Peymani
K. N. Toosi University of TechnolForoushani
ogy
Dr. Alireza Fatehi
K. N. Toosi University of Technology
Prof. Ali Khaki Sedigh
K. N. Toosi University of Technology
Tu06.01: A Design-Orientated Approach to the Geometry of
Fundamental Design Limitations
MR Jiqiang WANG
University of Sheffield
PROF Steve DALEY
University of Sheffield
Tu06.02: ’Flat Phase’ PID Controllers
Dr Richard Mitchell
University of Reading
Tu08.05: Automatic Learning in Multiple Model Adaptive Control
Mr. Eng Ehsan Peymani
K. N. Toosi University of TechnolForoushani
ogy
Dr. Alireza Fatehi
K. N. Toosi University of Technology
Prof. Ali Khaki Sedigh
K. N. Toosi University of Technology
Tu06.03: A reduced structure controller for a Grinder Circuit system
Dr Amin Nobakhti
The University of Manchester
Prof Hong Wang
The University of Manchester
Tu06.04: Comparison between MSE and MEE Based Component Extraction Approaches to Process Monitoring and Fault
Diagnosis
Hong Wang
The University of Manchester
Tu08.06: EXPERIMENTAL IMPLEMENTATION AND VALIDATION OF
DUAL ADAPTIVE CONTROL FOR MOBILE ROBOTS
Ing. Marvin K. Bugeja
University of Malta
Dr. Ing Simon G. Fabri
University of Malta
Tu06.05: Using a Chebyshev approach for the minimum-time
open-loop control of constrained MIMO systems
Prof. Antonio Visioli
DEA - University of Brescia
Mr. Stefano Piccagli
DEA - University of Brescia
Tu09. ACE: Invited session
Room: Weston Room 2
Time: 13:30
Chaired by: Dr Breikin, Dr Zhong
Tu06.06: PROPERTIES OF OUTPUT FREQUENCIES OF VOLTERRA
SYSTEMS
Mr. Xingjian Jing
University of Sheffield
Dr. Ziqiang Lang
University of Sheffield
Tu09.01: CONTROL OF INTEGRAL PROCESSES WITH DEAD TIME:
PRACTICAL ISSUES AND EXPERIMENTAL RESULTS
Dr Antonio Visioli
University of Brescia
Dr Qing-Chang Zhong
The University of Liverpool
Tu07. Mechatronics
Room: Conference Room 5
Time: 13:30
Chaired by: Prof. Smith, Prof. Deng
Tu09.02: An Assessment of a Modified Optimal Control Strategy
as Applied to the Control of an Unmanned Surface Vehicle
Dr Wasif Naeem
Queen’s University Belfast
Prof. Robert Sutton
University of Plymouth
Tu07.01: Fault Detection Using High Gain Observer: Application
in Pipeline System
Mr Wan Rahiman
The University of Manchester
Mr Buzhou Wu
The University of Manchester
Dr Zhengtao Ding
The University of Manchester
Tu09.03: A Fast Training Algorithm For Least-Squares Support
Vector Machines
Miss Xiao Lei Xia
Queen’s University, Belfast
Dr Kang Li
Queen’s University, Belfast
Prof Minrui Fei
Shanghai University
Tu07.02: Control of a simple DC motor robot equipped with
ultrasonic sensors via a field programmable gate array and a
speech recognition board and microphone
Mr Andrew Tickle
Univ. of Liverpool
Mr Paul Harvey
Univ. of Liverpool
Dr James Buckle
Univ. of Liverpool
Prof Jeremy Smith
Univ. of Liverpool
Tu09.04: INTELLIGENT SOFTWARE SENSORS FOR FED-BATCH FERMENTATION PROCESSES
Dr Hongwei Zhang
Sheffield Hallam University
Tu09.05: An economic parametrisation for parahermitian matrix functions used in control systems optimisation
Dr Alexander Lanzon
University of Manchester
Tu07.03: Heuristiscs-based High-level Strategy in Multi-Agent Environment
Peter Gasztonyi
Budapest Institute of Technology
and Economics
Istvan Harmati
Budapest Institute of Technology
and Economics
Tu09.06: Robust Control of a High Redundancy Actuator
Dr Thomas Steffen
Loughborough University
Dr Roger Dixon
Loughborough University
Prof Roger Goodall
Loughborough University
Dr Argyrios Zolotas
Loughborough University
Tu07.04: STRUCTURAL ANALYSIS OF THE DEFORMATION OF THE
FLEXIBLE ARM OF A ROBOT: PART 2
yaici malika
University of Bejaia, Algeria
25
Presentations for Tuesday, Sep. 2
Tu10. Predictive Control
Room: Weston Theatre
Time: 13:30
Chaired by: Prof. Ping Wang, Dr. G Li
Tu10.01: A Model Predictive
Control
Mr Jian Chen
Prof. George Irwin
Mr Adrian McKernan
Dr William Scanlon
Tu12.03: LS-SVM based motion control of a mobile robot in dynamic environment
Dr. L. Jiang
Okayama University
Dr. M. Deng
Okayama University
Dr. A. Inoue
Okayama University
Approach to Wireless Networked
Tu12.04: OPERATOR BASED FAULT DETECTION SYSTEM DESIGN TO
AN ACTUATOR FAULT OF A THERMAL PROCESS
Dr. Mingcong Deng
Okayama University
Dr. Akira Inoue
Okayama University
Dr. Kazunori Edahiro
Okayama University
Queen’s University Belfast
Queen’s University Belfast
Queen’s University Belfast
Queen’s University Belfast
Tu12.05: COMARISION OF CONTROL DESIGN TECHNIQUES FOR
A NUCLEAR REACTOR
Mr Zakwan Skaf
The University of Manchester
Prof Hong Wang
The University of Manchester
Tu10.02: Design of Reconfigurable Predictive Control Applied
on the Air Path of a Diesel Engine
Ms Layerle Khaoula
Institut de Recherche en SystÌňmes Electroniques EMbarquÌl’s
Dr Langlois Nicolas
Institut de Recherche en SystÌňmes Electroniques EMbarquÌl’s
Dr Chafouk Houcine
Institut de Recherche en SystÌňmes Electroniques EMbarquÌl’s
Tu13. Fuzzy Control Systems
Room: Conference Room 6
Time: 16:00
Chaired by: Prof. G. Liu, Dr. Samia Nefti
Tu10.03: Model Predictive Control of Substructured Systems
Dr Guang Li
The University of Bristol
Miss Jia-Ying Tu
The University of Bristol
Prof. David Stoten
The University of Bristol
Tu13.01: A new engineering method for fuzzy reliability analysis
of surge detection and isolation in centrifugal compressor
HAFAIFA Ahmed
University of DJELFA
LAAOUAD Ferhat
BOUMERDES University
LARAOUSSI Kouider
University of DJELFA
Tu10.04: Constrained Predictive Control Of A Servo-driven
Tracking Turret
Dr. Peter Martin
Ricardo UK
Dr. Nick Brignall
Selex
Mr Matt MacDonald
Selex
Prof. Mike Grimble
University of Strathclyde
Tu13.02: MODELLING AND CONTROL OF FES-ASSISTED INDOOR
ROWING EXERCISE
Mr Zakaria Hussain
The University of Sheffield
Dr M Osman Tokhi
The University of Sheffield
Dr C Samad Gharooni
The University of Sheffield
Mrs Siti Fauziah Toha
The University of Sheffield
Tu10.05: AQM Control of TCP/IP Networks using Generalized
Predictive Control
Dr Teresa Alvarez
Lecturer, University of Valladolid
Dr. Smaranda Cristea
Lecturer, University of Valladolid
Tu13.03: Adaptive Fuzzy Model-based Predictive Control Using
Fuzzy Decision Making
Dr. Yue Wu
BP
Prof. Arthur Dexter
University of Oxford
Tu10.06: Subspace-based Model Predictive Control with Data
Prefiltering
Mr. Noor Azizi Mardi
RMIT University
Prof. Liuping Wang
RMIT University
Tu13.04: FUZZY CONTROLLER DEVELOPMENT FOR A PEM FUEL
CELL SYSTEM
Dr Kary Thanapalan
University of Glamorgan, UK
Prof Guoping Liu
University of Glamorgan, UK
Mr Jonathan Williams
University of Glamorgan, UK
Dr David Rees
University of Glamorgan, UK
Tu11. Control Theory: Optimization and nonlinear design
Room: Conference Room 1
Time: 16:00
Chaired by: Prof. D. Owens, Prof. Veres
Tu13.05: Reinforcement Learning for Probabilistic Fuzzy Controllers
Mr William Hinojosa
Salford University
Dr Samia Nefti
Salford University
Prof John Gray
Salford University
Prof Uzay Kaymak
Erasmus University Rotterdam
Tu11.01: Controller Design of Conflict Multi-objective control
problem by Preference
Phd zhu bingkun
Tongji University
Pro. xu lihong
Tongji University
Tu11.02: Control Engineering at the University of Manchester in
the Post War Years
Prof Derek Atherton
Univ. of Sussex.
Tu14. Systems control using neural networks
Room: Weston Room 2
Time: 16:00
Chaired by: Prof Tan, Prof. Hong. Wang
Tu11.03: An Arnoldi Based Method to Discrete Time Linear Optimal Multi-periodic Repetitive Control
Mr Youde Han
University of Sheffield
Prof David H Owens
University of Sheffield
Tu14.01: Controller Design for Nonlinear Systems with Stochastic
Time Delays Using Neural Networks and Information Entropy
Dr. J.H. Zhang
North China Electric Power University
Dr. A.P. Wang
Anhui University
Dr. Hong Wang
University of Manchester
Tu11.04: A non-parametric method for nonlinear J-J’ spectral
factorisation.
Dr Andrew Shenton
University of Liverpool
Tu12. Decision and control (Invited)
Room: Conference Room 5
Time: 16:00
Chaired by: Prof Inouk, Prof Deng
Tu14.02: Controller Design of Nonlinear TITO Systems with Uncertain Delays via Neural Networks and Error Entropy Minimization
Dr. J.H. Zhang
North China Electric Power University
Dr. A.P. Wang
Anhui University
Dr. Hong Wang
University of Manchester
Tu12.01: Decision-Making of Football Agents with Support Vector Machine
Dr. Hisashi Handa
Okayama University
Mr. Satoshi Kajiyama
Okayama University
Tu14.03: Single Network Adaptive Critic for Vibration Isolation
Control
Dr. Jia Ma
Chinese Academy of Sciences
Dr. Tao Yang
Chinese Academy of Sciences
Dr. Zeng-Guang Hou
Chinese Academy of Sciences
Dr. Min Tan
Chinese Academy of Sciences
Tu12.02: OPERATOR BASED ROBUST NONLINEAR CONTROL SYSTEM DESIGN OF MIMO NONLINEAR FEEDBACK CONTROL SYSTEMS
Dr. Shuhui Bi
Okayama University
Dr. Mingcong Deng
Okayama University
Dr. Akira Inoue
Okayama University
26
Presentations for Tuesday, Sep. 2
Tu14.04: Discrete-Time Decentralized Neural Identification and
Control for a 2 DOF Robot Manipulator
M.C.
R.
GarciaCINVESTAV, Unidad Guadalajara.
Hernandez
Dr. E.N. Sanchez
CINVESTAV, Unidad Guadalajara.
Dr. A.G. Loukianov
CINVESTAV, Unidad Guadalajara.
Dr. E. Bayro-Corrochano
CINVESTAV, Unidad Guadalajara.
Dr. V. SantibaÌśez
Instituto Tecnologico de la Laguna
Tu14.05: Neural Predictive Control for Wide Rage of Process Systems
Mr. Seyed Ali Jazayeri
K. N. Toosi University of TechnolMoghadas
ogy
Dr. Alireza Fatehi
K. N. Toosi University of Technology
Dr. Houman Sadjadian
K. N. Toosi University of Technology
Prof. Ali Khaki-Sedigh
K. N. Toosi University of Technology
Tu15. Modeling and Simulation
Room: Weston Theatre
Time: 16:00
Chaired by: Prof. Rees, Prof.Su
Tu15.01: MODELLING, PARAMETER ESTIMATION AND VALIDATION OF A 300W PEM FUEL CELL SYSTEM
Dr Kary Thanapalan
University of Glamorgan, UK
Mr Bo Wang
University of Glamorgan, UK
Mr Jonathan Williams
University of Glamorgan, UK
Prof Guo-Ping Liu
University of Glamorgan, UK
Dr David Rees
University of Glamorgan, UK
Tu15.02: Modelling and Parameter Identification of Electrochemical Cu-Cu Cell
Mr Alexander Mendelson
Helsinki University of Technology
Dr Robert Tenno
Helsinki University of Technology
Tu15.03: Phase Model for the relaxed van der Pol oscillator and
its application to synchronization analysis
Dr. Joaquin Collado
Automatic Control Department
CINVESTAV-IPN
M.C. Olivia Mimila-Prost
Automatic Control Department
CINVESTAV-IPN
Tu15.04: FPGA IMPLEMENTATION OF WHEEL-RAIL CONTACT
LAWS
Mr. Yongji Zhou
University of Leeds
Dr. T.X. Mei
University of Leeds
Dr. Steven Freear
University of Leeds
27
Presentations for Wednesday, Sep. 3
InstMC2. InstMC Mini Symposium (B)
Room: Weston Room 2
Time: 14:00
Chaired by: John Reed
IChemE1. IChemE Mini Symposium (A)
Room: Weston Room 2
Time: 10:00
Chaired by: Jon Love
InstMC2.01: Wireless Technology for Process Industry Application
Dr. Mike Ferris
Emerson Process Management
IChemE1.01: Process Control and Process Systems in the Pharmaceutical Industry
Dr. Dora Kourti
Senior Technical Director, GlaxoSmithKline
IChemE1.02: Improved strategies for monitoring, control and
optimisation of process cleaning
Prof. Gary Montague
University of Newcastle
InstMC2.02: Sensitive, hygienic and flexible grippers for robotic
food handling.
Dr. A. Petterrson
The Swedish Insitute for Food and
Biotechnology, Goteborg, Sweden.
IChemE1.03: Taken for granted? Real-time control in the water
industry
Dr. Laurie Reynolds
Independent Consultant, Laurie
Reynolds Associates (UK) Ltd.
InstMC2.03: The design of a low cost robot for the food industry
Dr. S. Davis
Italian Institute of Technology
Dr. R. Moreno-Masey
University of Sheffield
Dr. J. O. Gray
University of Sheffield
IChemE1.04: Integration of control, manufacturing and enterprise systems
Prof. Nina Thornhill
Process Control and Manufacturing Systems Manager, Sabic UK
Petrochemicals
Dr. Chris Hamlin
Sabic UK Petrochemicals
IET2. IET Mini Symposium (B)
Room: Conference Room 1
Time: 14:00
Chaired by:
IET2.01: TBC
Dr. Keith Chappell
IET1. IET Mini Symposium (A)
Room: Weston Theatre
Time: 10:00
Chaired by:
Emerson Process Controls
IMechE2. IMechE Mini Symposium (B)
Room: Weston Theatre
Time: 14:00
Chaired by: Prof. Andrew Plummer
IET1.01: Intelligent Actuators
Dr. Martin Cheetham
Exeeco
Dr. Shelley Pike
Rotork Controls
IMechE2.01: Automotive Model-based Systemic Integration
Dr. Will Suart
Jaguar
IET1.02: Implementation of Non-linear Control Techniques on
Power Plant
Dr. Megan Boardman
RWE nPower
IMechE2.02: HIL application in the automotive industry
Dr. Phil Clarke
dSPACE
IET1.03: Remote Control of CCGTs
TBC
Siemens
IMechE2.03: Controlling Automotive Test Rigs
Prof. Andrew Plummer
University of Bath
We01. Control Applications: Low complexity control
Room: Conference Room 5
Time: 14:00
Chaired by: Dr. Afshar
IMechE1. IMechE Mini Symposium (A)
Room: Conference Room 1
Time: 10:00
Chaired by: Prof. Andrew Plummer
We01.01: Study of Reduced-order and Non-linear Local Optimal Control Application to Aero Gas Turbines
Zukhra Kamalova
The University of Manchester
Mahmoud Ashry
The University of Manchester
Tim Breikin
The University of Manchester
IMechE1.01: Automotive Active Stability Systems
Prof. Bob Williams
Principal Technical Specialist, Dynamical Systems, Land Rover and
Jaguar Research
IMechE1.02: Search Methodologies in Automotive Control Applications
Dr. Paul Stewart
University of Sheffield
We01.02: Equalisation Tuning Method
Dr. Damir Vrancic
Stefan Institute
Prof. Raymond Gorez
University of Louvain
Prof. Stanko Strmcnik
Stefan Institute
IMechE1.03: New Directions in Gasoline Power Train Control
Dr. Tom Shenton
University of Liverpool
We01.03: Low Complexity Control of Hybrid Systems with Application to Control of Step-down DC-DC Converters
Dr. Jalal Habibi
University of Tehran
Prof. Behzad Moshiri
University of Tehran
Prof. Ali Khaki Sedigh
KN Toosi University of Technology
InstMC1. InstMC Mini Symposium (A)
Room: Conference Room 6
Time: 10:00
Chaired by: John Gray
We01.04: A Comparative study on charge system modelling in
fine paper production
Dr. Puya Afshar
The Univ. of Manchester
Prof. Hong Wang
The Univ. of Manchester
Mr. Neil Strain
The Univ. of Manchester
InstMC1.01: Food industry automation, Opportunities and Limitations
Dr. John Reed
Technical Director, Silsoe Technology Ltd.
InstMC1.02: Dexterous robotic handling of an unstructured
mass to form a structured assembly in food industry
Dr. Jian S. Dai
Centre for Mechatronics and
Manufacturing Systems (CMMS),
King’s College, London
We01.05: Robust H-Infinity Control of a Steerable Marine Radar
Tracker
Dr Stuart Crawshaw
BAE Systems Integrated System
Technologies Ltd
Dr Daniel Auger
The MathWorks Ltd
Mr Stephen Hall
BAE Systems Integrated System
Technologies Ltd
InstMC1.03: Neural Network Techniques in NIR spectra chemometrics
Dr. Yin Wang
City University, London
Dr. Panos Liatsis
City University, London
Dr. Dimitris Kalamatianos
Hamilton Institute, Maynooth. Eire
Dr. Peter E. Wellstead
Hamilton Institute, Maynooth. Eire
We02. Control Applications : Optimization and Networks
Room: Conference Room 6
Time: 14:00
Chaired by: Prof. Sano, Dr. Breikin
28
Presentations for Wednesday, Sep. 3
We02.01: Nonparametric Collocation ODE Parameter Estimation: Application in Biochemical Pathway Modelling
Mr. Fei He
The University of Manchester
Dr. Martin Brown
The University of Manchester
Mr. Choujun Zhan
City University of Hong Kong
Dr. Lam Fat Yeung
City University of Hong Kong
We03.04: Noncausal open-loop control with combined system
identification and PID controller tuning
Prof. Antonio Visioli
University of Brescia
Dr. Claudio Carnevale
University of Brescia
Prof. Aurelio Piazzi
University of Parma
We04. Control Applications: Automotive
Room: Weston Room 2
Time: 16:00
Chaired by: Prof G-Weiss, Prof. Sano
We02.02: Load Minimization Design for Internet-based Control
Prof. Shuang-Hua Yang
Loughborough University
Mr Z Zhang
National University of Singapore
Ms Y Li
Loughborough University
Prof. Q-G Wang
National University of Singapore
We04.01: Fuel consumption optimization for a city bus
Dr NOUVELIERE Lydie
IBISC/UEVE - LCPC/LIVIC
Dr BRACI Mohamed
LCPC/LIVIC
MENHOUR Lghani
LCPC/LIVIC
LUU Hong Tu
LCPC/LIVIC
Dr MAMMAR SaÌød
IBISC/UEVE - LCPC/LIVIC
We02.03: Adaptive Feedforward Control via Virtual Error Approach with Application to Predistortion of Nonlinear HPA
Prof. Akira Sano
Keio University
Mr. Tomohiro Ohno
Keio University
We02.04: Design and Implementation of Brushless Motor Controller Based on SOPC
Stu. liu qingqiang
Beijing University of Technology
Pro. Qi Hui
Beijing University of Technology
We04.02: Semi-active ride control of human seated model and
robustness analysis.
Dr Georgios TsamparJaguarLandRover
doukas
Dr Alexandros Mouzakitis
JaguarLandRover
Miss Foteini TsamparAristotle University of Thessaloniki
douka
We02.05: Motion stabilization in the presence of friction and
backlash: a hybrid system approach
Dr Lorinc Marton
Sapientia Hungarian University of
Transylvania
Dr. Bela Lantos
Budapest University of Technology and Economics
We04.03: Asymptotic Tracking applied to the Control
bocharged Diesel Engine
Mr Marcelin Dabo
Institut de Recherche
tÌňmes
Electroniques
quÌl’es
Dr Nicolas Langlois
Institut de Recherche
tÌňmes
Electroniques
quÌl’es
Pr Houcine Chafouk
Institut de Recherche
tÌňmes
Electroniques
quÌl’es
IChemE2. IChemE Mini Symposium (B)
Room: Weston Theatre
Time: 16:00
Chaired by: Barry Lennox
IChemE2.01: Process Manufacturing Execution Solutions: Industrial Needs and Future Directions
Dr. Andrew Ogden Swift
Director of Advanced Development, Honeywell Process Solutions
of a Turen SysEMbaren SysEMbaren SysEMbar-
We04.04: Constrained Variance Control of Peak Pressure Position by Spark Ionization Feedback
Dr Andrew Shenton
University of Liverpool
Mr Nicholas Rivara
University of Liverpool
Dr Paul Dickinson
University of Liverpool
IChemE2.02: Use of Dynamic Modelling and Plant Historian
Data for Improved Control Design
Dr. Phil Masding
Process Control Manager, IneosChlor Ltd.
IChemE2.03: Control challenges for the upstream oil and gas
industry
Dr. Paul Oram
SETA Control Automation, BP Exploration.
We05. Hybrid Vehicles (invited)
Room: Conference Room 1
Time: 16:00
Chaired by: Dr Economou Dr. K. Knowles
IChemE2.04: Future Directions For Advanced Process Control
- Bridging the Gap Between Academia and The Needs in the
Field
Dr. Paul Turner
Director, APC Practice Leadership, Aspen Technology Inc.
We05.01: Modelling and Control of a novel SOFC-IC Engine
Hybrid System
Mr Alexandros Plianos
Loughborough Uni
Miss Anita Chaudhari
Loughborough Uni
Prof Richard Stobart
Loughborough Uni
We05.02: ELECTRICAL ARCHITECTURES FOR HYBRID VEHICLES:
IMPLICATIONS FOR MODELLING AND CONTROL
Dr James Marco
Cranfield University
We03. Advanced Process Control
Room: Conference Room 5
Time: 16:00
Chaired by: Prof. Yang, Prof. Visioli
We05.03: A highly modular simulation model for hybrid electric
fuel cell power drive trains
Dr Volker Pickert
Newcastle University
Mr Steve Naylor
Newcastle University
We03.01: Modeling and Control of a Fluidised Bed Dryer
Dr Javier Villegas
University of Oxofrd
Dr Stephen Duncan
University of Oxofrd
Dr Haigang Wang
University of Manchester
Prof Wuqiang Yang
University of Manchester
Mr Rambali Raghavan
University of Manchester
We05.04: NEDC Based Compensated Forward Simulation Approach with Energy Management for Parallel Hybrid Electric
Vehicles
Dr John Economou
Cranfield University
Mr Piranavan SuntharCranfield University
alingam
Prof Kevin Knowles
Cranfield University
We03.02: MEMBRANE MODELING FOR SIMULATION AND CONTROL OF REVERSE OSMOSIS IN DESALINATION PLANTS
Dr. Fernando Tadeo
Univ. Valladolid
Dr. S. Syafiie
Univ. Valladolid
Mr. Luis Palacin
Centro Tecnologia Azucarera
Prof. Cesar de Prada
Univ. Valladolid
We05.05: Block-Control Methods for Low-Order Automotive
Control
Dr Andrew Shenton
University of Liverpool
Mr Christopher Ward
University of Liverpool
We03.03: CONTROLLING WATER QUALITY USING REVERSE OSMOSIS: THE DEVELOPMENT OF SIMPLIFIED DYNAMIC MODEL
Dr. Mohammad Al-haj Ali
King Saud University
Prof. AbdulHamid Ajbar
King Saud University
Prof. Khalid Alhumaizi
King Saud University
Prof. Emad Ali
King Saud University
We06. Robotics: Vision and tracking
Room: Conference Room 4/4A
Time: 16:00
Chaired by: Prof.Xu Dr Perez-Cisneros
29
Presentations for Wednesday, Sep. 3
We06.01: Visual Tracking System for the Welding of Narrow Butt
Seams in Container Manufacture
Mr Zhiguo Yan
Chinese Academy of Sciences
Mr De Xu
Chinese Academy of Sciences
We06.02: Homing, Calibration and Model-Based Predictive
Control for Planar Parallel Robots
Kvetoslav Belda
Institute of Information Theory
and Automation
Pavel Pisa
CTU
We06.03: Visual servoing control for line and object detection
and following using a robotic arm manipulator mounted real
time camera system
Dr James Buckle
Univ. of Liverpool
Mr Andrew Tickle
Univ. of Liverpool
Dr Fan Wu
Univ. of Liverpool
Mr Paul Harvey
Univ. of Liverpool
Prof Jeremy Smith
Univ. of Liverpool
We06.04: Walking Control Algorithm based on Polynomial Trajectory Generation
Dr. Marco Perez-Cisneros
University of Guadalajara
Dr. Erik Cuevas-Jimenez
University of Guadalajara
Dr.
Daniel ZaldivarUniversity of Guadalajara
Navarro
We06.05: Experimental Evaluation of Haptic Control for Human
Activated Command Devices
Mr. Andrew Zammit ManUniversity of Malta
gion
Dr. Simon G. Fabri
University of Malta
We06.06: Path Planning Generation in Mobile Robots using
Evolutionary Harmonic Potential Field Technique
Dr Luis Gonzalez
Instituto Politecnico Nacional
MC Roberto Reyes
Universidad Autonoma de Baja
California
We07. Control Applications : Aerospace
Room: Conference Room 6
Time: 16:00
Chaired by: Dr Whidborne, Prof. Wu
We07.01: Robust, Power Aware Mobile Agent Tracking using an
802.15.4 Wireless Sensor Network.
Mr. Michael Walsh
University of Limerick
Dr. Martin Hayes
University of Limerick
We07.02: Real-time trajectory generation technique for dynamic soaring UAVs
Mr Naseem Akhtar
Cranfield University
Dr James Whidborne
Cranfield University
Dr Alastair Cooke
Cranfield University
We07.03: A Lateral Directional Flight Control System for the
MOB Blended Wing Body Planform
Mr Naveed Rahman
Cranfield University
Dr James Whidborne
Cranfield University
We07.04: Suppressing aeroelastic vibrations via stability region
maximization and numerical continuation techniques
Dr Max Demenkov
De Montfort University
Dr Mikhail Goman
De Montfort University
We07.05: ANFIS Network Design Method for Modelling of the
Twin Rotor MIMO System (TRMS)
Mrs. Siti Fauziah Toha
University of Sheffield
Dr. M. O. Tokhi
University of Sheffield
Mr. Zakaria Hussain
University of Sheffield
We07.06: The optimisation of stator vane settings in multi-stage
axial compressors using a particle swarm optimisation
Mr Hongsuk Roh
University of Sheffield
Prof. Steve Daley
University of Sheffield
30
Presentations for Thursday, Sep. 4
Th02.05: Control Based on Energy for Vertical 2 Link Underactuated Robots.
MC J. Patricio OrdazUniversidad Politåńecnica de
Oliver
Pachuca
PhD
Omar
A.
Universidad Autåńonoma del EsDominguez-Ramirez
tado de Hidalgo
MC Eduardo S. EspinozaUniversidad Politåńecnica de
Quesada
Pachuca
Th01. Control Theory: Discrete systems
Room: Conference Room 1
Time: 10:00
Chaired by: Prof. Goodall, Prof. Liu
Th01.01: IMPLEMENTATION OF NON-UNIFORM SAMPLING FOR
L’ÛœALIAS-FREE PROCESSINGL’Ûł IN DIGITAL CONTROL
Mr Mohammad Samir
Loughborough University
Khan
Prof Roger Goodall
Loughborough University
Dr Roger Dixon
Loughborough University
Th03. Control Methodology 1
Room: Conference Room 6
Time: 10:00
Chaired by: Prof Mutoh , Prof. Fujioka
Th01.02: Extraproximal Method for Markov Chains Finite Games
M.S. Samuel Moya
CINVESTAV-IPN
P.hD. Alexander Poznyak
CINVESTAV-IPN
Th03.01: CHEAP COMPUTATION OF OPTIMAL REDUCED MODELS USING SYMBOLIC COMPUTATION
Mr. Akinola Falola
Obafemi Awolowo University
Prof. Oluwafemi Taiwo
Obafemi Awolowo University
Th01.03: L2 gain analysis for linear discrete switched delay systems
Dr. Xi-Ming Sun
University of Glamorgan
Th03.02: On the Relative Degrees and the Interactor Matrix of
Linear Multivariable Systems
prof Yasuhiko Mutoh
Sophia University
Th01.04: Development of second order plus time delay
(SOPTD) model from orthonormal basis filter (OBF) model
Dr Ramasamy M
Universiti Teknologi PETRONAS
Mr. Lemma D Tufa
Universiti Teknologi PETRONAS
Prof Patwardhan Sachin
Indian Institute of Technology
C
Dr Shuhaimi M
Universiti Teknologi PETRONAS
Th03.03: An Approach to Pole Placement Method with Output
Feedback
Gra. St Selda GUNEY
Karadeniz Technical University
As Prof Ayten ATASOY
Karadeniz Technical University
Th03.04: Robust output-feedback tracking control of multivariable continuous-time systems in an LMI setting
Tansel Yucelen
Southern Illinois University
Th01.05: Improved FOPDT model estimation with Delayed-relay
feedback for constant time dominant processes
Ms. Zeinab Tehrani ZaUniversity of Tehran
mani
Mr. Behzad Moshiri
University of Tehran
Mr. Ali Khaki Sedigh
K. N. Toosi University of Technology
Mr. Alireza Fatehi
K. N. Toosi University of Technology
Th03.05: Stabilizing systems with aperiodic sample-and-hold
devices: state feedback case
AProf. Hisaya Fujioka
Kyoto University
Mr. Toshiharu Nakai
Kyoto University
Th03.06: ROBUST CONTROLLER TUNING BASED ON COEFFICIENT
DIAGRAM METHOD
Dr. Mehmet Turan SoyleIstanbul Technical University
mez
Mr. Omur Ocal
Istanbul Technical University
Prof. Atilla Bir
Istanbul Technical University
Th01.06: Reduced-order Local Optimal Controller for a Higher
Order System
Miss Zukhra Kamalova
The University of Manchester
Mr Mahmoud Ashry
The University of Manchester
Dr Tim Breikin
The University of Manchester
Th04. Condition monitoring and fault diagnosis
Room: Weston Theatre
Time: 10:00
Chaired by: Prof Patton, Prof. Burnham
Th02. Robotics: Control and recognition
Room: Conference Room 5
Time: 10:00
Chaired by: Prof.Caro Lucas, Prof. Yang
Th04.00: Fault Detection for Vehicle Suspensions Based on System Dynamic Interactions
Mr Xuejun Ding
University of Leeds
Dr Tianxiang Mei
University of Leeds
Th02.01: EXPERIMENTAL STUDIES OF MULTI-ROBOT FORMATION
AND TRANSFORMING
Mr. Lei Liu
Loughborough university
Prof. Yongji Wang
Loughborough university
Prof. Shuanghua Yang
Loughborough university
Mr. Graham Watson
Loughborough university
Mr. Brian Ford
Loughborough university
Th04.01: Observer-Based Residual Design for Nonlinear Systems
Mrs Tabassom Sedighi
Coventry University
Dr Ali J. Koshkouei
Coventry University
Prof Keith J. Burnham
Coventry University
Th02.02: Control Laws Design and Simulation Validation of Autonomous Mobile Robot Off-Road Trajectory Tracking
Dr. Yang Yi
Beijing Institue of Technology
Pr. Fu Mengyin
Beijing Institue of Technology
Pr. Sun Changsheng
Beijing Institue of Technology
Pr. Wang Meiling
Beijing Institue of Technology
Th04.02: Nonlinear PCA for Transient Monitoring of an Automotive Engine
Prof George Irwin
Queen’s University Belfast
Dr Xun Wang
Queen’s University Belfast
Dr Geoff McCullough
Queen’s University Belfast
Dr Neil McDowell
Queen’s University Belfast
Dr Uwe Kruger
Petroleum Institute
Th02.03: Fast Gabor Filters for Object Recognition of Mobile
Robot
Xiaorong Wang
Nanjing University of Technology
Yingkai Zhao
Nanjing University of Technology
Jinguo Lin
Nanjing University of Technology
Th02.04: Sub-Optimal Control Based on
Lagrange Systems.
MC JesÌijs P. Ordaz-Oliver
Universidad
Pachuca
PhD
Omar
A.
Universidad
Dominguez-Ramirez
Pachuca
MC
Filiberto
MuÌśozUniversidad
Palacios
Pachuca
Th04.03: APPLICATION OF A PCA MODEL APPROACH FOR MISFIRE MONITORING
Dr Paul King
Jaguar Cars Ltd
Prof Keith Burnham
Coventry University
Passivity for EulerPolitåńecnica
de
Politåńecnica
de
Politåńecnica
de
Th04.04: Robust Fault Isolation for Autonomous Coordination in
NCS
Prof. Ron Patton
University of Hull
Mr. Supat Klinkhieo
University of Hull
Th05. Parameter estimation and data analysis
Room: Conference Room 4/4A
Time: 10:00
Chaired by: Dr. Marjanovic, Dr. Lennox
31
Presentations for Thursday, Sep. 4
Th05.01: multivariate statistical analysis of spectroscopic data
Dr. Ognjen Marjanovic
University of Manchester
Mr. Haisheng Lin
University of Manchester
Prof. Barry Lennox
University of Manchester
Th07.01: Method of Inequality-Based Multiobjective Genetic
Algorithm for Optimizing Cart-Double-Pendulum-System
Prof. Tung-Kuan Liu
Natl Kaohsiung First Univ. of Science and Technology
Mr. Chiu-Hung Chen
Natl Kaohsiung First Univ. of Science and Technology
Prof. Zu-Shu Li
Chongqing Institute of Technology
Th05.02: Novel algorithms based on conjunction of the Frisch
scheme and extended compensated least squares
Mr Tomasz Larkowski
Coventry University
Mr Jens Linden
Coventry University
Dr Benoit Vinsonneau
Coventry University
Prof Keith Burnham
Coventry University
Th07.02: Design of Critical Control Systems Using Disturbance
Cancellation Controllers
Prof. Tadashi Ishihara
Fukushima University
Dr. Takahiko Ono
Hiroshima City University
Th05.03: Parameter Identification for Electromechanical Servo
Systems Using a High-gain Observer
Mr. Usama Abou-Zayed
The University of Manchester
Dr. Zhiwei Gao
The University of Manchester
Mr. Xuewu Dai
The University of Manchester
Dr. Tim Breikin
The University of Manchester
Th07.03: Development of the actively-controlled beds for ambulances
Dr Takahiko Ono
Hiroshima City University
Dr Tadashi Ishihara
Fukushima University
Dr Hikaru Inooka
Research House LOGOS
Th05.04: Minimum Entropy Parameter Estimation of Bounded
Nonlinear Dynamic Systems with Non-Gaussian state and Measurement noise
Mr George PapadopouUniversity of Manchester
los
Dr Martin Brown
University of Manchester
Th07.04: Robust Multivariable Control System Design Using The
Method Of Inequalities
Prof. Olufemi Taiwo
Obafemi Awolowo University
Mr. Kayode Owa
Obafemi Awolowo University
Mr. Ayodeji Akere
Obafemi Awolowo University
Mr. Temitope Ajetunmobi
Obafemi Awolowo University
Th05.05: Condition Monitoring Approaches to Estimating
Wheel-Rail Profile
Dr Guy Charles
Loughborough university
Prof Roger Goodall
Loughborough university
Dr Roger Dixon
Loughborough university
Th07.05: Poiseuille Flow Controller Design via the Method of Inequalities
Dr James Whidborne
Cranfield University
Dr John McKernan
King’s College London
Dr George Papadakis
King’s College London
Th05.06: Dynamic Model for the LHIfAM Haptic Interface: Friction parameter estimation
Eng Mildred Puerto
CEIT
PhD Emilio Sanchez
CEIT
Th07.06: Computation of Peak Output for Inputs Restricted in
L2 and L∞ Norms Using Convex Optimization
Dr Suchin ArunsawatChulalongkorn University
wong
Mr Warit Silpsrikul
Chulalongkorn University
Th06. Control Theory: Uncertain and time varying
Room: Conference Room 1
Time: 13:30
Chaired by: Prof Wagg, Dr. Breikin
Th07.07: Design of Retarded Fractional Delay Differential Systems by the Method of Inequalities
Dr Suchin ArunsawatChulalongkorn University
wong
Mr Van Quang Nguyen
Chulalongkorn University
Th06.01: Relay feedback based monitoring and autotuning of
processes with gain nonlinearity
Ms. Zeinab Tehrani ZaUniversity of Tehran
mani
Mr. Behzad Moshiri
University of Tehran
Mr. Alireza Fatehi
K. N. Toosi University of Technology
Mr. Ali Khaki Sedigh
K. N. Toosi University of Technology
Th08. Sliding Mode Control
Room: Conference Room 6
Time: 13:30
Chaired by: Prof. Spurgeon, Prof. Gessing
Th08.01: SLIDING MODE CONTROLLERS USING OUTPUT INFORMATION: AN LMI APPROACH
Mr. xiaoran Han
Leicester University
Ms. Emilia Fridman
Aviv University
Ms. Sarah Spurgeon
Leicester University
Mr. Chris Edwards
Leicester University
Th06.02: Design and Implementation of a Time Varying Local
Optimal Controller based on RLS Algorithm for Multivariable
Systems
Mr Mahmoud Ashry
The University of Manchester
Mr Usama Abou-Zayed
The University of Manchester
Dr Tim Breikin
The University of Manchester
Th08.02: Application of MPC and Sliding Mode Control To IFAC
Benchmark Models
Dr Meghan McGookin
University of Glamorgan
Dr David Anderson
University of Glamorgan
Dr Euan McGookin
University of Glamorgan
Th06.03: CONTROL TECHNIQUES FOR MULTI-AXIS REAL-TIME DYNAMIC SUBSTRUCTURING
Miss Meriem Allouache
University of Bristol
Dr. David Wagg
University of Bristol
Dr. Mark Lowenberg
University of Bristol
Th08.03: SLIDING-MODE POSITION CONTROL OF A 1-DOF SET-UP
BASED ON PNEUMATIC MUSCLES
Mr Javier Arenas
Ikerlan
Mr Aron Pujana-Arrese
Ikerlan
Mrs Sandra RiaÌśo
Ikerlan
Mrs
Ana
MartinezIkerlan
Esnaola
Dr Joseba Landaluze
Ikerlan
Th06.04: FDI OF THREE-TANK SYSTEM USING NEUROFUZZY NETWORKS WITH LOCAL APPROACHES
Dr H.T. Mok
The University of Hong Kong
Dr C.W. Chan
The University of Hong Kong
Th06.05: A foray into P2BL in a Control Systems Course
Mr David Hamilton
CIT
Dr Tom O’Mahony
CIT
Th08.04: About Equivalence Between Sliding Mode and Continuous Control Systems
Prof. Ryszard Gessing
Politechnika A?l
˛ ĂÉska
Th06.06: A NEW APPROACH TO INPUT-OUTPUT PAIRING ANALYSIS FOR UNCERTAIN MULTIVARIABLE PLANTS
Dr Bijan Moaveni
Shahid Rajaee Teacher Training
University
Prof. Ali Khaki Sedigh
K.N. Toosi University of Technology
Th08.05: Fuzzy Sliding Mode Controllers for Vehicle Active Suspensions
Dr Ali Koshkouei
Coventry University
Th08.06: Design of an Asymptotic Sliding Mode Algorithm for
Nonlinear Systems: An Observer Based Approach
Prof. Chieh-Li Chen
National Cheng Kung University
Tainan
Mr. Chao-Chung Peng
National Cheng Kung University
Tainan
Th07. Inequality Procedures(invited)
Room: Conference Room 5
Time: 13:30
Chaired by: Dr Arunsawat, Prof. Whidborne
32
Presentations for Thursday, Sep. 4
Th09. Imaging and Road Traffic Control
Room: Weston Theatre
Time: 13:30
Chaired by: Dr. P. Cook, Prof Xu
Th09.01: Movement-Based Look-Ahead Traffic-Adaptive Intersection Control
dr.ir. Ronald van Katwijk
TNO
prof. Bart De Schutter
Delft University of Technology
prof. Hans Hellendoorn
Delft University of Technology
Th09.02: Development of Knowledge-based Measurement
with Monocular Vision
Prof. De Xu
Chinese Academy of Sciences
Th09.03: Multiple Kernel Learning from Sets of Partially Matching Image Features
Dr Siyao Fu
Chinese Acadedemy of Sciences
Dr Zengguang Hou
Chinese Acadedemy of Sciences
Dr Zize Liang
Chinese Acadedemy of Sciences
Dr Min tan
Chinese Acadedemy of Sciences
Dr Qi Zuo
North China University of Technology
Th09.04: A STUDY ON THE EFFECT OF GPS ACCURACY ON A
GPS/INS KALMAN FILTER
Mr King Tin Leung
Cranfield University
Dr. James Whidborne
Cranfield University
Dr. David Purdy
Cranfield University
Dr. Alain Dunoyer
Jaguar Land Rover
Dr. Robert Williams
Cranfield University
Th09.05: Control Schemes for Safe Operation of Vehicles Convoys
Dr. Peter Cook
University of Manchester
Th10. Control Methodology 2
Room: Conference Room 4/4A
Time: 13:30
Chaired by: Dr. Marjanovic, Dr. Kater
Th10.00: A hands-on approach toward vehicle velocity estimation
Prof. Ansgar Rehm
University of Applied Sciences Osnabrueck
Hui Fan
Tesis Dynaware GmbH
Th10.01: DATA-DRIVEN DIRECT ADAPTIVE MODEL BASED PREDICTIVE
Mrs Norhaliza Abdul WaUniversity of Strathclyde
hab
Dr Reza Katebi
University of Strathclyde
Dr Jonas Balderud
University of Strathclyde
Th10.02: A New Multi Agent
Buffer Allocation in Routers
Mr
Mohamad
Taheri
Tehrani
Mr Ali Akbar Safavi
Mr
Mohamad
Raffie
Kharazmi
Mr Mohamad Javad
Arefi
Approach for Traffic Shaping and
Shiraz University
Shiraz University
Shiraz University
Shiraz University
Th10.03: Using Lagged Spectral Data in Feedback Control Using Particle Swarm Optimisation
Mr. Caleb Rascon
University of Manchester
Prof. Barry Lennox
University of Manchester
Dr. Ognjen Marjanovic
University of Manchester
Th10.04: Exact Controls for Superconformal Via Fill Process
Prof. Robert Tenno
Helsinki University of Technology
Mr. Antti Pohjoranta
Helsinki University of Technology
33
Book of Abstracts
Abstracts for Tuesday, Sep. 2
Tu01. Control Theory: Multivariable systems and networks
Room: Conference Room 1
Time: 10:00
Chaired by: Prof. G, Irwin, Prof. Young
Tu01.01: Nonlinear pole assignment control of state dependent parameter models with time delays
Dr. C. James Taylor
Lancaster University
Dr. Arun Chotai
Lancaster University
Prof. Peter C. Young
Lancaster University
Abstract: This paper considers pole assignment control of nonlinear dynamic systems described by
State Dependent Parameter (SDP) models. The approach follows from earlier research into linear
Proportional-Integral-Plus (PIP) methods but, in SDP system control, the control coefficients are updated
at each sampling instant on the basis of the latest SDP relationships. Alternatively, algebraic solutions
can be derived off-line to yield a practically useful control algorithm that is relatively straightforward
to implement on a digital computer, requiring only the storage of lagged system variables, coupled
with straightforward arithmetic expressions in the control software. Although the analysis is limited to
the case when the open-loop system has no zeros, time delays are handled automatically. The paper shows that the closed-loop system reduces to a linear transfer function with the specified (design)
poles. Hence, assuming pole assignability at each sample, global stability of the nonlinear system is
guaranteed at the design stage. The associated conditions for pole assignability are stated.
Tu01.02: A multiple-observer approach to stability in wireless network control systems
Mr Adrian McKernan
Queens University Belfast
Dr Carlos AriÌśo
Universitat Jaume I
Prof. George Irwin
Queens University Belfast
Dr William Scanlan
Queens University Belfast
Mr Jian Chen
Queens University Belfast
Abstract: This paper describes a new multiple-observer approach to WirelessNetwork Control Systems (WNCS). Two sets of observers areproposed, Lost Sample Observers (LSO) to deal with packet
dropoutand State Prediction Observers (SPO) to compensate fortime-varying delays. These are designed using Linear MatrixInequalities (LMI), thereby ensuring closed-loop stability. Anumerical example, of a cart-mounted inverted pendulum is givenalong with results from simulation studies, comparing this newapproach with a constant gain Linear Quadratic Regulator (LQR), inthe presence of
time-varying delays. Practical experimentalresults, on a IEEE 802.11b wireless channel in a reverberationchamber, further confirm the efficacy of the approach.
Tu01.03: Hinf-based model order reduction using LMIs
Dr Amin Nobakhti
University of Manchester
Prof Hong Wang
University of Manchester
Abstract: In this paper new sufficient conditions are presented for theexistence of a Lyapunov pair with
a coupling rank constraint withina H∞ minimization framework derived using thebounded real lemma
and the projection lemma. The conditions are thenused to propose a Linear Matrix Inequality (LMI) suboptimal methodto solve the model order reduction problem of general non-square LTIsystems with a
prescribed number of states to be removed. Thisalleviates the need for trace or rank minimization, iterations, or apriori choice of any new additional variable. The effectiveness andstability of the proposed
LMI method is demonstrated by applicationsto several model order reduction problems.
Tu01.04: The Investigation of Multivariable Control Performance Assessment Techniques
Miss Qiaolin Yuan
University of Manchester
Prof. Barry Lennox
University of Manchester
Abstract: Much attention has been paid to Control Performance Assessment (CPA) since the Harris
Index was first proposed. This paper argues that there are two fundamental requirements for any CPA
algorithm. The first is that it should be able to detect any change in the performance of a control system and the second is that it should be able to identify the potential improvement that can be made
to the performance of the control system by re-tuning or re-configuring it. The ability of current multivariable CPA techniques to address these two issues is investigated in this paper, and limitations with
the currently available approaches are identified and concluded in brief. The benefits of addressing
the two issues are demonstrated using a simulated multivariate system, and the results of a detailed
study identify a CPA approach which is able to address both of these issues and also diagnose the root
cause of any change in control performance.
35
Abstracts for Tuesday, Sep. 2
Tu01.05: Pole Placement Controller Design for Linear Parameter Varying Plants
Mr Sunan Chumalee
Cranfield University
Dr James Whidborne
Cranfield University
Abstract: Nonlinear plants can often be modelled as linear parameter varying (LPV) plants for which
a number of techniques exist for control synthesis. However, there are some systems for which such
a technique presents difficulties. In this paper, we consider one such system for which we propose a
pole placement method using state feedback in order to cancel parameters variation of LPV plants.
Hence, any linear time invariant (LTI) controller can subsequently be employed for an outer loop. The
approach is demonstrated on an example for which only a single output can be measured. Therefore,
a state observer for an LPV plant is also demonstrated in order to estimate state values. The simulation
results show that the new approach yields reliable closed-loop stability with good closed-loop transient
performance of the system.
Tu01.06: ROBUST H∞ CONTROL FOR NEUTRAL SYSTEMS VIA DYNAMIC OUTPUT FEEDBACK
Dr. Bayram Baris Kizilsac
Istanbul Technical University
Prof. Ulviye Baser
Istanbul Technical University
Abstract: This paper deals with the design problem for dynamic output feedback robust H∞ control
problem for a class of uncertain linear neutral systems in delay dependent case. Sufficient conditions
for the existence of controller is derived based on the delay dependent Bounded Real Lemma (BRL)
in terms of linear matrix inequalities (LMIs) with inverse constraints which is obtained without resorting
to any model transformations. A convex optimization algorithm is used to satisfy these constraints. A
numerical example is given to illustrate the effectiveness of the proposed results.
Tu02. Control of nonlinear systems
Room: Conference Room 5
Time: 10:00
Chaired by: Prof. Su, Dr. Taylor
Tu02.01: Output Feedback Sampled-Data Control of Nonlinear Systems in Output Feedback Form
Dr. Zhengtao Ding
University of Manchester
Mr. Buzhou Wu
University of Manchester
Abstract: This paper deals with sampled-data control of nonlinear systems in the output feedback form.
A sampled-data control strategy is proposed based on the existing control design in the continuoustime domain via output feedback. The proposed control uses the sampled output and a discrete-time
implementation of filters involved. The overall stability of the system under the proposed control has
been analyzed, and the semi-global asymptotic stability for the system with relative degree one and
two is established by keeping the sampling interval with a specified range.
Tu02.02: Constraint handling for State Dependent Parameter models
Dr. Vasileios Exadaktylos
Catholic University of Leuven
Dr. C. James Taylor
Lancaster University
Dr. Arun Chotai
Lancaster University
Abstract: This paper considers Proportional-Integral-Plus (PIP) control of nonlinear dynamic systems described by State Dependent Parameter (SDP) models with constraints. More specifically, a low level
stabilising SDP/PIP controller is first developed to steer the system in the desired direction, whilst a Reference Governor (RG) is subsequently introduced to account for constraints in the system variables. This
contrasts with the (off-line) simulation-based methods previously used for PIP control of SDP models with
constraints. Furthermore, the particular parametrisation of the RG used in this paper provides useful
insight into, and quantification of, the effects of the constraints on the nonlinear control system.
Tu02.03: Robust Adaptive Nonlinear Control Law for a General Class of Nonlinear Systems with
Operator-Based Hysteresis Models
Prof. Chun-Yi Su
Concordia University
Dr. Qingqing Wang
Concordia University
Dr. Ying Feng
Concordia University
Prof. Shuzhi Ge
National University of Singapore
Abstract: For the nonlinear systems preceded by smart actuators which exhibit hysteresis nonlinearities, it is a challenge to mitigate effects of the hysteresis. By utilizing an operator-based PrandtlIshlinskii model and a neural network approximator, arobust adaptive control scheme is developed
for a general class ofcontinuous-time nonlinear dynamic systems with unknown hysteresisnonlinearities.
The boundedness of the closed-loop system is achieved and the tracking error converges to a set of
adjustable neighborhood of zero independent of initial conditions. Theeffectiveness of the proposed
control approach is demonstrated through a simulation example.
36
Abstracts for Tuesday, Sep. 2
Tu02.04: Dynamical Radial Control of Nonlinear Systems
Dr Zahra Sangelaji
Coventry University
Abstract: This paper is concerned with the stabilisation of a general class of nonlinearsystems via the associated angular approach. In this method, the system is convertedinto two subsystems the so called
radial and spherical systems. The spherical system is a nonlinear equation on a sphere and the radial system is a scalar differential equation. A stabilising control can be designed based on the onedimensional radial system dynamics. The radial control may be continuous or discontinuous depending
on the structure of the input map. Whenever the input map of the radial subsystem is zero, the radialcontrol is not accessible. In this paper a method is presented to remove this obstacle. The control
is designed by including an extra dynamic to the system. Therefore the new system is an augmented
system. The radial auxiliary input map of the augmented system i.e. the original control is the new
state. Since it is assumed that the original control is not zero, the auxiliary radial control is definable
within the operating region.
Tu02.05: CONTROL OF POLYETHYLENE PROPERTIES USING NONLINEAR MODEL PREDICTIVE CONTROL
Dr. Mohammad Al-haj Ali
King Saud University
Prof. Emad Ali
King Saud University
Abstract: This paper deals with the control of the melt index and density of polymers produced in gas
phase polyethylene reactors. Nonlinear Model predictive control (NLMPC) is used for this purpose. A
nonlinear reactor model combined with correlations for predicting polymer melt index and density
are used to simulate the process. The simulations revealed the effectiveness of NLMPC to drive the
polymer properties to follow a series of grade changeover in the absences and presence of modeling
errors. Grade transition is achieved with zero offset but with relatively large settling time. Rapid grade
changeover is limited by the large residence time and broad residence time distributions for both the
gas phase and formed polymers.
Tu02.06: Asymptotic Rejection of Nonlinear Periodic Disturbances in Linear Dynamic Systems
Dr Zhengtao Ding
University of Manchester
Abstract: This paper deals with asymptotic rejection of disturbances generated from nonlinear exosystems. The dynamic system is assumed to be linear. A new strategy for internal model design is
proposed, based on a dynamic extension of the existing nonlinear observer design for the nonlinear
exosystem. Additional filters are used to estimate the invariant manifold in the state space subject to
the nonlinear disturbances generated from the exosystem. The proposed design for the internal model
and control ensures that the state variable asymptotically converge to the invariant manifold, which
implies that the designated output state asymptotically converge to zero.
Tu03. Human Adaptive Mechatronics (Invited)
Room: Conference Room 6
Time: 10:00
Chaired by: Prof.H. Yu
Tu03.01: Dynamic Model of Muscle Force Driving System and Its Application in Tele-operation
1 Fu Xiuhui
Shenyang Institute of Automation
2 Li Hongyi
Shenyang Institute of Automation
3 Wang Yuechao
Shenyang Institute of Automation
Abstract: Muscle force model with constant degree of nervousness was proposed, in the context of
modeling the operator system and operation delay of the internet-based teleoperation system. The
dynamic model of the operatorL’Ûłs armL’ÛÒjoystick with force reflection was obtained. Dynamic compensation of muscle force driving system was given and verified by teleoperation experiments of a
mobile robot through internet.
Tu03.02: Control of a propulsion mechanism over a wireless network
Mr Sam Wane
University of Staffordshire
Prof Hongnian Yu
University of Staffordshire
Abstract: This paper investigates the implementation of a pendulum-driven cart-pole system through
wireless networks. The system is underactuated since the only control input is the motor which drives
the pendulum movement while the cart has free movement wheels. An onboard client PC controls
the torque to the motor, whilst a host PC monitors progress and controls the demand to the motor. The
two PCs have been connected via a proprietary wireless network to allow the controller to be remote
from the robot. The client PC interprets commands sent via the network from the host PC to control
the torque of the pendulum device. The client PC also relays the pendulum position which the host PC
uses as feedback to specify the torque to send.
37
Abstracts for Tuesday, Sep. 2
Tu03.03: An Iterative Learning Control Scheme for the Capsubot
Mr Yang Liu
Staffordshire University
Prof Hongnian Yu
Staffordshire University
Prof Luige Vladareanu
Romanian Academy
Abstract: A Capsubot, which consists of three parts, the inner body, the capsule shell, and the driving mechanism, is a micro capsule robot with no legs and no wheels, and is driven by the interactive
propulsion between the inner body and the capsule shell. The desired locomotion of the Capsubot
is generated by making the inner body track a designed trajectory repeatedly. Due to the nature
of repetitive motion, an iterative learning control scheme is proposed to improve the tracking performance of the inner body, in order to achieve the desired locomotion of the Capsubot. Extensive
simulation studies are conducted to demonstrate the effectiveness of the scheme.
Tu03.04: Combined Attitude Control of an Underactuated Helicopter Experimental System
Prof Mingcong Deng
Okayama University
Prof Akira Inoue
Okayama University
Mr Tatsunori Shimizu
Okayama University
Abstract: In this paper, combined attitude control of an underactuated helicopter experimentalsystem
is considered. The controlled helicopter experimental system has two inputs and threeoutputs, namely,
this system is underactuated. The combined attitude controller includes anonlinear MIMO controller
based on adaptive sliding mode control and non-adaptive nonlinearcontrollers. Control system stability is guaranteed by Lyapunov function based proof. Comparingsimulation between the existed design
method and the proposed design method shows theeffectiveness of the proposed method.
Tu03.05: Complex Motor Cortex Control of Muscle Synergies Underpin Simple Reaching Tasks in RobotInduced Force Fields
Prof. Duncan Turner
University of East London
Dr Paul Sacco
University of East London
Mr Tim Hunter
University of East London
Abstract: In order to design effective human-machine interfaces, it is important to demonstrate that
stereotypical movements such as reaching display predictable patterns of activation in muscles that
operate at shoulder, elbow and wrist joints. Whilst humans display a wide repertoire of adaptive behavior in natural movements, this study demonstrates that muscles acting at different arm joints operate
in synergies during reaching movements in a direction-dependent manner. These basic synergies can
be mapped to similar direction-dependent motor cortex excitability maps and this plasticity of muscle
and central nervous system should be taken into account when developing actuator systems which
mimic natural movement.
Tu03.06: Insights into Information Processing by the Single Cell Slime Mold Physarum Polycephalum0
Dr Steve Hickey
Staffordshire University
Dr Len Noriega
Staffordshire University
Abstract: The finding that a simple single-celled organism can traverse a maze near optimally provides a challenge to some current ideas in artificial intelligence. In this paper, we present a simple
explanation for such behavior and a computational model based on decision trees and ant algorithmics. The behavior of simple biological organisms may provide insights into the nature and evolution of
intelligence.
38
Abstracts for Tuesday, Sep. 2
Tu04. Estimation and filtering of nonlinear and delayed systems
Room: Weston Room 2
Time: 10:00
Chaired by: Prof. Grimble, Dr. Heath
Tu04.01: Identification Applied to Dual Sensor Transient Temperature Measurement
Mr Colin Brown
Queens University belfast
Prof. George Irwin
QueenL’Ûłs University Belfast
Dr Robert Kee
QueenL’Ûłs University Belfast
Dr Sean McLoone
National University of Ireland Maynooth
Dr Peter Hung
National University of Ireland Maynooth
Abstract: The harsh environment presented by engines, particularly in exhaust systems,necessitates the
use of robust and therefore low bandwidth temperature sensors. Consequently,high frequencies are
attenuated in the sensor output. A number of techniques for addressing thisproblem involve measurement of the gas temperature using two thermocouples with different time-constants and mathematical
reconstruction of the true gas temperature from the resultingsignals. Many of these methods rely on
the assumption that the ratio of the thermocouple time-constants is invariant and known a priori. In
addition, they are generally subject to singularities and sensitive to noise. A recently proposed twothermocouple sensor characterization method which utilises system identification techniques and is
much more generally applicable is described. Previous offline methods for constant velocity flow are
extended using polynomialparameter fitting on a sliding data window to accommodate variable velocity. These methods have been successfully tested and proven for the first time in variable velocity
flow with experimental data produced from a novel and highly instrumented test rig. Results show that
the increase in bandwidth arising from the dual sensor technique allowed accurate measurementof
fluctuating temperatures with relatively robust thermocouples. The introduction of sliding windows is
shown to be effective, while the inclusion of polynomial fitting within the window produces marginal
improvements in performance.
Tu04.02: Time-delay in high-gain observer based disturbance estimation
Mr. Xuewu Dai
The University of Manchester
Prof. Zhiwei Gao
The University of Manchester
Mr. Usama Abou-Zayed
The University of Manchester
Dr. Tim Breikin
The University of Manchester
Abstract: In this paper, the properties of a high gain observer-based disturbance estimation are analysed, and a time delay calculation approach is proposed for improving the identification of model
parameter variation. The focus of this paper is the time delay between the actual disturbance and
its estimate in a high gain disturbance estimation observer. It is proved, in this paper, the delay depends on the observer gain, but is independent from the model uncertainties. Thus, a novel algorithm
is proposed to calculate the delay according to the phase response of disturbance estimation transfer
function. The correctness of this algorithm has been verified by the simulation based on a servo motor
model.
Tu04.03: Design and Real Time Implementation of Nonlinear Minimum Variance Filter
Mr. Shamsher Ali Naz
University of Strathclyde
Prof. Mike Grimble
University of Strathclyde
Abstract: In this paper, the design and real time implementation of a Nonlinear Minimum Variance
(NMV) estimator is presented using a laboratory based ball and beam system. The real time implementation employs a LabVIEW based tool. The novelty of this work lies in the design steps and the practical
implementation of the NMV estimation technique which up till now only investigated using simulation
studies. The paper also discusses the advantages and limitations of the NMV estimator based on the
real time application results. These are compared with results obtained using an extended Kalman
filter.
Tu04.05: Constrained particle filtering using Gaussian sum approximations
Dr. Marc-Andre Beyer
Ruhr-University Bochum
Dr. Gunter Reinig
Ruhr-University Bochum
Abstract: In many filtering problems, there are hard constraints in the state vector that canbe a valuable source of information in the estimation process. In this contribution a methodto incorporate hard
state constraints in particle filters is proposed. The derived approachis based on Gaussian mixture
model representation of probability distributions within theparticle filter framework and a projection
approach to generate constrained samples fromthese truncated distributions. The developed particle
filters show significant improved stateestimation performance and robustness against filter divergence
compared to their unconstrainedcounterparts.
39
Abstracts for Tuesday, Sep. 2
Tu04.06: The implementation of simulated annealing combining gradient search in system identification
Mr Yiqun Zou
The University of Manchester
Dr William Heath
The University of Manchester
Abstract: A two-stage algorithm is proposed for system identification using a maximumlikelihood criterion. The first stage is a modified simulated annealing algorithm that ensures the solution avoids
local minima; the algorithm is tailored for the parameter identification problem. The second stage is
a standard gradient descent algorithm that ensures fast andaccurate convergence to the optimum.
Simulation results are presented for both linear and nonlinear system identification. The performance is
compared with a breeder genetic algorithmin both cases.
Tu05. Fault detection and plant monitoring
Room: Weston Theatre
Time: 10:00
Chaired by: Prof Goodall, Prof. Postlethwaite
Tu05.01: Discrete-time Robust Fault Detection Observer Design: a simulated annealing approach
Mr. Xuewu Dai
The University of Manchester
Mr. Yiqun Zou
The University of Manchester
Dr. Tim Breikin
The University of Manchester
Dr. Will Heath
The University of Manchester
Abstract: The robustness in model-based fault detection hasreceived a lot of attention during the last
two decades, and RFDO(Robust Fault Detection Observer) forms an important branchof condition
monitoring. However, most of current researchfocuses on continuous-time domain and requires relatively morecomputation on performance evaluation. In this paper, withthe aid of the well-established
eigenstructure assignment, afrequency weighted robustness index is proposed for reducingthe computation costs and a left-eigenvector assignment methodis presented for discrete RFDO design. A
simulated annealingalgorithm is applied to optimise such an observer. As illustratedin the simulation
results, a better disturbance attenuation andfault detection performance have been obtained. Compared to theprevious studies, simulated annealing gives the similar results asgenetic algorithm, but
requires a bit of less computation.
Tu05.02: SENSOR LOCATION BASED OPTIMUM DESIGN FOR FAULT DETECTION SYSTEM
Prof. PENG Tao
Hunan University of Technology
Prof. Steven Ding
University of Duisburg-Essen
Prof. GUI Wei-Hua
Central South University
Prof. CHEN Jie
Beijing Institute of Technology
Abstract: This paper addresses the optimum design of fault detection systems based on sensor location. A multi-objective optimization problem based on optimal sensor location for fault detection is
formulated for linear time invariant system. Measurement outputs are formed by selecting m variables
of N available process measurements that ensures a high fault detetion performance. A minimum total
measurement cost can be achieved when the system is designed to be as sensitive as possible to faults
and simultaneously as robust as possible to the unknown inputs such as disturbance. The simulation results illustrate the effectiveness of the proposed approach.
Tu05.03: Model-Based Sensor Fault Diagnosis in General Stochastic Systems Using LMI Techniques
Dr. Puya Afshar
The Univ. of Manchester
Prof. Hong Wang
The Univ. of Manchester
Abstract: In this paper a method for sensor Fault Detection and Isolation (FDI) in non-Gaussian stochastic distribution control systems is proposed. As the output PDF is assumedmeasurable in probability
density control methods, availability of a reliable output PDFmeasurements is vital. However, sensor
faults occurred in practical cases can considerably affectthe efficiency of the proposed PDF control
algorithms. As such, studying sensor FDI in non-Gaussian stochastic distribution control systems is important. The purpose of this paper is todetect and diagnose PSD measurement sensors in a non-Gaussian
system working normallyunder a PID control law. The proposed method is comprised of two stages, a)
Nonlinearobserver supervisory system design to continuously monitor Fault Detection Criteria (FDC).b)
Nonlinear fault diagnosis filter design to estimate the value of the fault signal detected.Throughout the
paper, the square-root PDF model has been applied and design methods arebased on continuoustime Linear Matrix Inequalities (LMI) approach. Simulation results alsoconfirm the effectiveness of the
method proposed.
40
Abstracts for Tuesday, Sep. 2
Tu05.04: Multi-Agent Control of High Redundancy Actuation
Miss Jessica Davies
Loughborough University
Dr. Thomas Steffen
Loughborough University
Dr. Roger Dixon
Loughborough University
Prof. Roger Goodall
Loughborough University
Abstract: The High Redundancy Actuator (HRA) project investigates the use of a relatively high number
of small actuation elements, assembled in series and parallel in order to form a single actuator which
has intrinsic fault tolerance. Both passive and active methods of control are planned for use with
the HRA. This paper presents progress towards a multiple model control scheme for the HRA applied
through the framework of multi-agent control.
Tu05.05: Detection of Additive Sensor Faults in an Unmanned Air Vehicle (UAV) Model using Neural
Networks
Mr Ihab Samy
Leicester University
Prof. Ian Postlethwaite
Leicester University
Prof. Dawei Gu
Leicester University
Abstract: Sensor measurements are used in almost all control feedback loops and any inaccuracies
can potentially lead to closed-loop instability. In this paper we make use of the online learning capabilities of neural networks (NN) to design and test a sensor fault detection and accommodation (SFDA)
scheme on a nonlinear unmanned air vehicle (UAV) model. A Radial-Basis Function (RBF) neural network (NN) trained online with Extended Minimum Resource Allocating Network (EMRAN) algorithms is
chosen for modelling purposes due to its good estimation capabilities and compact size. Furthermore,
in an attempt to reduce false alarms (FA) and missed faults (MF) in current SFDA systems, we introduce
a novel residual generator. After 47 minutes (CPU running time) of NN offline training, the SFDA scheme
is able to detect additive sensor faults with zero FA and MF. It also shows good global approximation
capabilities, essential for fault accommodation, with an average pitch gyro estimation error of 0.0075
rad/s.
Tu05.06: statistical process monitoring of bioreactors: a comparison
Dr. Ognjen Marjanovic
University of Manchester
Mr. Wu Long
University of Manchester
Prof. Barry Lennox
University of Manchester
Abstract: Batch processes, such as fermenters, generally require high levels of consistency in their operation to ensure minimal losses of raw materials and product. Recent application studies have indicated
that multivariate statistical technology can provide some support when trying to maintain consistent
operation in complex batch processes. This paper aims to compare four different approaches to batch
process monitoring using statistical methods. The comparison is made in terms of their respective ability
to tolerate normal process variation while detecting abnormal operation of a process. The comparison
is performed using data sets obtained from one simulated bioreactor and two industrial fermentation
processes.
Tu06. Control Theory: Optimization and design
Room: Conference Room 1
Time: 13:30
Chaired by: Dr. Nobakhti, Prof. Gupta
Tu06.01: A Design-Orientated Approach to the Geometry of Fundamental Design Limitations
MR Jiqiang WANG
University of Sheffield
PROF Steve DALEY
University of Sheffield
Abstract: There exist fundamental design limitations which explain why some designs are unattainable
for the case that the performance variable is measured for feedback. For the case that performance
variable is not measured it is found that new tradeoff can arise and this tradeoff is shown in this paper
to have a nice geometry. The geometry, in addition to demonstrating the tradeoff, also renders itself
as a design methodology. This ultimately results in a new perspective towards control design. This
is remarkable since the conventional theory of fundamental design limitations explains the failure of
some control designs but does not provide a specific design methodology. The design procedures are
summarized for harmonic control as well as broadband control.
41
Abstracts for Tuesday, Sep. 2
Tu06.02: ’Flat Phase’ PID Controllers
Dr Richard Mitchell
University of Reading
Abstract: Flat Phase PID Controllers have the property that the phase of the transfer function round the
associated feedback loop is constant or flat around the design frequency, with the aim that the phase
margin and overshoot to a step response is unaffected when the gain of the device under control
changes. Such designs have been achieved using Bode Integrals and by ensuring the phase is the
same at two frequencies. This paper extends the L’Ûœtwo frequencyL’Ûł controller and describes a
novel three frequency controller. The different design strategies arc compared.
Tu06.03: A reduced structure controller for a Grinder Circuit system
Dr Amin Nobakhti
The University of Manchester
Prof Hong Wang
The University of Manchester
Abstract: In this paper a reduced structure multivariable controller isdeveloped for the model of a
closed-system grinding circuit. Thesaid controller is developed using a novel technique which employsbasis pursuit regularization in order to generate a family ofsolutions which together span the entire
range from decentralized tocentralized controllers. Using this information, and theperformance-cost
trade off which is also computed, the designer isthen able to choose the required amount of controller
complexitywhich can achieve the desired closed-loop performance levels.
Tu06.04: Comparison between MSE and MEE Based Component Extraction Approaches to Process
Monitoring and Fault Diagnosis
Hong Wang
The University of Manchester
Abstract: Component extraction is a technique for extracting the latent components that underlie the
observation of a set of variables. In the paper both classical Principal component analysis (PCA) and
autoassociative principal component neural network (PCNN) methods with minimum mean square
error (MSE) criterion are compared with the corresponding extended component extraction methods
with Minimum error entropy (MEE) criterion in theory. A Parzen window estimator based approximative
computation method for entropy is provided, and the equivalence between MSE and MEE criteria is
also analyzed. Finally, a quadruple-tank multivariate simulation example is included to evaluate the
performance of the methods in process monitoring and fault diagnosis, and the encouraging results
have been obtained.
Tu06.05: Using a Chebyshev approach for the minimum-time open-loop control of constrained MIMO
systems
Prof. Antonio Visioli
DEA - University of Brescia
Mr. Stefano Piccagli
DEA - University of Brescia
Abstract: In this paper we propose the use of a technique based on Chebyshevpolynomials approximation for determining the minimum-timerest-to-rest open-loop control law for multi-input multioutput(MIMO) continuous-time systems with input and output constraints.The optimal input can be
determined, without discretising thesystem, by suitably approximating the state variables and theinput
signals by means of Chebyshev series and by subsequentlysolving a constrained optimizsation problem.
Simulation resultsconfirm the effectiveness of the technique.
Tu06.06: PROPERTIES OF OUTPUT FREQUENCIES OF VOLTERRA SYSTEMS
Mr. Xingjian Jing
University of Sheffield
Dr. Ziqiang Lang
University of Sheffield
Abstract: For a class of nonlinear systems, referred to as Volterra systems, some important properties
for system output frequencies are studied in this paper. These properties demonstrate several novel
frequency characteristics of system output spectrum and reveal clearly the nonlinear effects on system
output spectrum from different kind and degree of nonlinearities. These new results have significance in
the analysis and design of nonlinear systems or filters in order to achieve a specific output spectrum in
a desired frequency band by taking advantage of nonlinearities, and provide an important guidance
to applications of Volterra system theory in practices.
42
Abstracts for Tuesday, Sep. 2
Tu07. Mechatronics
Room: Conference Room 5
Time: 13:30
Chaired by: Prof. Smith, Prof. Deng
Tu07.01: Fault Detection Using High Gain Observer: Application in Pipeline System
Mr Wan Rahiman
The University of Manchester
Mr Buzhou Wu
The University of Manchester
Dr Zhengtao Ding
The University of Manchester
Abstract: This paper investigates the detection of faults in a hydraulic pipeline is presented with application of a high-gain observer for a general class of nonlinear system. Technically, the purpose of using
high-gain observer is to increase the performance of the system so that it is sensitive to disturbances or
faults. The adaptation scheme is literaturely straightforward and simple in the sense that the error dynamics are independent of state, input, output and unknown disturbances. Together with application
results presented the effectiveness of the high-gain nonlinear observer for fault detection.
Tu07.02: Control of a simple DC motor robot equipped with ultrasonic sensors via a field programmable
gate array and a speech recognition board and microphone
Mr Andrew Tickle
Univ. of Liverpool
Mr Paul Harvey
Univ. of Liverpool
Dr James Buckle
Univ. of Liverpool
Prof Jeremy Smith
Univ. of Liverpool
Abstract: In this paper, there is a feasibility study showing the initial development into building a practical robotic speech controlled system; this can be used to assist people with disabilities, gaining more
of their independence back. Speech recognition is a very useful, and novel approach for controlling
devices; the system presented here uses the 48 pin CMOS voice recognition LSI circuit, HM2007 package to perform the actual recognition for either speaker dependent or independent systems. How
the Field Programmable Gate Array (FPGA) system is interfaced with the HM2007. Coding for the latter
was done via the use of VHDL, and extensive Altera vector waveform analysis of the systems is shown
to verify that the control and safety systems function as they were designed to. Also shown is how the
FPGA is used to control the H-bridge driver chip, rather than design a system from scratch, this is due
to the fact that the number of lines required would make building a logic circuit very time consuming
and very complex. There is also a detailed view of how noise affects the control mechanism, how the
safety features are built into the system to avoid errors and accidents from occurring, and from the
system being misused by practical jokers or people with other motives.
Tu07.03: Heuristiscs-based High-level Strategy in Multi-Agent Environment
Peter Gasztonyi
Budapest Institute of Technology and Economics
Istvan Harmati
Budapest Institute of Technology and Economics
Abstract: In this paper, a high-level strategy concept is presented for robot soccer, based on low level
heuristic inference methods, rather than explicit rule-based strategy. During tactical positioning, no
strict role set is assigned for the agents, instead a fitting point of the role-space is selected dynamically.The algorithm for this approach applies fuzzy logic.We compute fields-of-quality, regarding some
relevant aspects of the scenario, and integrate them into one field for each player, according to
given strategic parameters (as weights).These fields will be the base of the players’ decision of positioning.A significance order is also set up for the players, and their relevant location is derived from the
decision-field, through subtractive clustering, in order of their significance.If an agent is in a position
to manipulate the ball, an appropriate action is being selected for it.The simulation and experiments
prove that the proposed approach can be efficient in dynamically changing environment or against
opponents of different strategies.
Tu07.04: STRUCTURAL ANALYSIS OF THE DEFORMATION OF THE FLEXIBLE ARM OF A ROBOT: PART 2
yaici malika
University of Bejaia, Algeria
Abstract: We consider linear structured systems in state space form where a linear system is structured
when each entry of its matrices A, B, C and D are either a fixed zero or a free parameter. The structure
of the system is determined by the location of the fixed zeros in these matrices. The properties of structured systems are true for almost any value of these free parameters. Theses structural properties can
in general be checked by means of directed graphs that can be associated to a structured system.
Its vertices correspond to the input, state and output variables, and the edges between two vertices
correspond to nonzero parameters relating the corresponding variables in the equation. This paper
presents an illustrative application of the previous notions. It consists in analyzing some structural properties of the deformation with linear dissipation of a flexible arm of a robot under a given acceleration
modelled in state space form.
43
Abstracts for Tuesday, Sep. 2
Tu08. Adaptive Control
Room: Conference Room 6
Time: 13:30
Chaired by: Prof. Stoten, Prof. Sedigh
Tu08.01: LINEARISATION OF POWER AMPLIFIERS, USING MINIMAL CONTROL SYNTHESIS
MR BOHONG XIAO
Bristol University
PROF DAVID STOTEN
Bristol University
DR ANDREW HARRISON
Bristol University
Abstract: Abstract: This report is centred on the development of a novel control algorithm for the adaptive linearisation of mobile radio frequency (RF) communications amplifiers, in order to significantly
improve their distortion characteristics. The proposed adaptive linearisation methodology achieves
optimal efficiency with minimal distortion. Research objectives also include the synthesis of RF amplifier dynamic models, which are generated by Saleh‘s model, and the design and test of physical test
systems incorporating the new forms of control.
Tu08.02: A METHOD FOR FINDING GOOD VALUES OF ADAPTATION GAINS
Dr. Andro Rurua
University of Limerick
Prof. Eamonn McQuade
University of Limerick
Abstract: Choosing the adaptation gains for a model reference adaptive controller is a complex matter. Good values of it depend on many factors in this type of non-linear system; the input amplitude
and frequency, the process performance specification and the form of the controller, being the most
important. This paper describes the search for good values of the adaptation gains using the MIT Rule
based adaptive controller as an example. The simulations are performed using LABVIEW. The method
developed is demonstrated in the real- time, speed control of a DC motor.
Tu08.03: U-MODEL BASED ADAPTIVE INTERNAL MODEL CONTROL OF UNKNOWN MIMO NONLINEAR SYSTEMS: A CASE STUDY ON 2-LINK ROBOTIC ARM
Dr. Syed Saad Azhar Ali
Air University
Dr. Muhammad Shafiq
GIKI
Dr. Jamil Bakhashwain
KFUPM
Dr. Fouad AL-Sunni
KFUPM
Abstract: In this paper, we propose a more generalized controller designmethodology for a class of
nonlinear plants. This design procedureis based on MIMO U-model structure. The U-model significantlysimplifies the online synthesis of the control law. The proposedtechnique is applied for the internal
model control of a 2-linkrobot manipulator. The performance of the proposed U-model basedinternal
model controller is compared to standard PID controllerunder different conditions.
Tu08.04: A Disturbance Rejection Supervisor in Multiple-Model Based Control
Mr. Ehsan Peymani Foroushani
K. N. Toosi University of Technology
Dr. Alireza Fatehi
K. N. Toosi University of Technology
Prof. Ali Khaki Sedigh
K. N. Toosi University of Technology
Abstract: In this paper, a multiple models, switching, and tuning control algorithm based on poleplacement control is studied. Drawbacks of the algorithm in disturbance rejection are discussed, and
a novel supervisor to enhance the decision-making procedure is developed. The modified algorithm
is evaluated in a simulation study for a nonlinear pH neutralization process. Comparison results are
provided to evaluate the performance and robustness characteristics of the proposed algorithm.
Tu08.05: Automatic Learning in Multiple Model Adaptive Control
Mr. Eng Ehsan Peymani Foroushani
K. N. Toosi University of Technology
Dr. Alireza Fatehi
K. N. Toosi University of Technology
Prof. Ali Khaki Sedigh
K. N. Toosi University of Technology
Abstract: Control based on multiple models (MM) is an effective strategy to cope with structural and
parametric uncertainty of systems with highly nonlinear dynamics. It relies on a set of local models
describing different operating modes of the system. Therefore, the performance is strongly depends
on the distribution of the models in the defined operating space. In this paper, the problem of online construction of local model set is considered. The necessary specifications of an autonomous
learning method are stated, and a high-level supervisor is designed to add an appropriate model to
the available model set. The proposed algorithm is evaluated in a simulated pH neutralization process
which is a highly nonlinear plant and composed of both abrupt and largely continuous changes. The
preference of the multiple-model approach with learning ability on a conventional adaptive controller
is studied.
44
Abstracts for Tuesday, Sep. 2
Tu08.06: EXPERIMENTAL IMPLEMENTATION AND VALIDATION OF DUAL ADAPTIVE CONTROL FOR MOBILE
ROBOTS
Ing. Marvin K. Bugeja
University of Malta
Dr. Ing Simon G. Fabri
University of Malta
Abstract: This paper presents experimental results which validate the use of a novel dual adaptive
controller for mobile robots operating in the presence of dynamic uncertainty. The control scheme,
recently proposed by the same authors, has so far been tested by simulations only. The presented
results show, for the first time, the successful application of neural network dual adaptive control in a
practical mobile robot scenario. In contrast to other adaptive controllers hitherto proposed for mobile
robots, the dual adaptive approach employed in this scheme does not treat estimation and control as
two separate tasks, but aims to strike a balance between the two at all times. This improves the overall
performance. The implementation details of the robot designed for the purpose of this research are
also presented in this paper.
Tu09. ACE: Invited session
Room: Weston Room 2
Time: 13:30
Chaired by: Dr Breikin, Dr Zhong
Tu09.01: CONTROL OF INTEGRAL PROCESSES WITH DEAD TIME: PRACTICAL ISSUES AND EXPERIMENTAL
RESULTS
Dr Antonio Visioli
University of Brescia
Dr Qing-Chang Zhong
The University of Liverpool
Abstract: The problem of controlling an integral process with dead time is addressed in this paper. In
particular, various practical issues concerned with the controller implementation are discussed and
then verified with experiments carried out on a laboratory-scale setup where a level control problem
is concerned. A comparison with a standard Proportional-Integral (PI) controller is also performed.
Tu09.02: An Assessment of a Modified Optimal Control Strategy as Applied to the Control of an Unmanned Surface Vehicle
Dr Wasif Naeem
Queen’s University Belfast
Prof. Robert Sutton
University of Plymouth
Abstract: Unmanned surface vehicles (USVs) are now being used in a variety of missions including,
surveillance, weapon delivery, shallow water surveying, coordination with underwater vehicles to name
but a few. The performance of these unmanned systems is crucial in obtaining the required information from a given mission. The onboard navigation, guidance and control (NGC) systems, working in
tandem, dictates this performance measure. Degradation in effectiveness of one system can severely
affect the efficiency of the overall system. Hence the requirement of the NGC system is that of a robust
type which includes fault tolerance as an integral part of the system. This paper presents results of
the application of a modified optimal control strategy to an USV named Springer which has been designed and developed at the University of Plymouth for the purpose of environmental data monitoring.
The performance of the proposed autopilot is compared with the standard control system in terms of
real time results. Copyright ål’ 2008 IFAC
Tu09.03: A Fast Training Algorithm For Least-Squares Support Vector Machines
Miss Xiao Lei Xia
Queen’s University, Belfast
Dr Kang Li
Queen’s University, Belfast
Prof Minrui Fei
Shanghai University
Abstract: The paper addresses the issue of training acceleration for binaryLeast Squares Support Vector
Machines (LS-SVMs). An LS-SVM is trained by solving a linear system, for which theconjugate-gradient
(CG) method is applied however in a very complicated way, therefore slows down the training process.
To overcome the drawback, this paper first introduces a variantformulation of LS-SVMs to achieve explicit application of the CG method. Then, an alternative to the CG method - namely Forward Linear
Regression (FLR) is proposed to further speed up thetraining process. Different from the CG method,
the FLR, derived from a two-stage algorithm for fast model selection in nonlinear system identification,
is a non-iterative algorithm and is easy to implement. Experimental results on the two-spiral dataset
confirm the efficacy of the proposed techniques.
45
Abstracts for Tuesday, Sep. 2
Tu09.04: INTELLIGENT SOFTWARE SENSORS FOR FED-BATCH FERMENTATION PROCESSES
Dr Hongwei Zhang
Sheffield Hallam University
Abstract: Software sensors have attracted great research interests due to the problem of lacking suitable and robust online sensors for key fermentation variables in fed-batch fermentation processes. In
this paper, intelligent software sensors have been developed based on multivariate statistical process
control methods. The software sensors not only provide real time estimation of key variables but also
have the facilities of self-diagnosis, self-validation and self-calibration using available lab assay data.
An application of the software sensors to a fed-batch penicillin fermentation process is presented, and
significant improvements over ordinary methods have been shown in the simulation results.
Tu09.05: An economic parametrisation for parahermitian matrix functions used in control systems optimisation
Dr Alexander Lanzon
University of Manchester
Abstract: Positive parahermitian matrix function descriptions occur frequently in optimisation problems
that arise in control theory. Parahermitian matrix functions can however be parametrised in a number
of different equivalent ways. This brief note discusses an economic parametrisation which leads to
substantially less variables that are needed in optimisation.
Tu09.06: Robust Control of a High Redundancy Actuator
Dr Thomas Steffen
Loughborough University
Dr Roger Dixon
Loughborough University
Prof Roger Goodall
Loughborough University
Dr Argyrios Zolotas
Loughborough University
Abstract: The High Redundancy Actuator project deals with the construction of an actuator using
many redundant actuation elements. Whilst this promises a high degree of fault tolerance, the high
number of components poses a unique challenge from a control perspective. This paper shows how
a simple robust control can be used to control the system both in nominal state and after faults. To
simplify the design task, the parameters of the system are tuned so that a number of internal states are
decoupled from the input signal. If the decoupling is not exact, there may be small deviation from the
nominal transfer function, especially when a fault has occurred. The robustness analysis ensures that
the system performs well for all expected behaviour variations.
Tu10. Predictive Control
Room: Weston Theatre
Time: 13:30
Chaired by: Prof. Ping Wang, Dr. G Li
Tu10.01: A Model Predictive Approach to Wireless Networked Control
Mr Jian Chen
Queen’s University Belfast
Prof. George Irwin
Queen’s University Belfast
Mr Adrian McKernan
Queen’s University Belfast
Dr William Scanlon
Queen’s University Belfast
Abstract: In Wireless Networked Control Systems (WNCS), time-varying and unknown delayscan significantly degrade the closed-loop performance and even lead to instability. This paper proposes using
Dynamic Matrix Control for WNCS, where, a set of predicted control signalscorresponding to possible
delays are sent to the plant. Here the most appropriate control signal is selected based on the roundtrip delay as a QoS measure of the wireless channel condition. Results from Monte Carlo simulations
on a cart-mounted inverted pendulum confirm the efficacy of the method. Here the random delay
introduced by WNCS are modelled by an Inverse Gaussian distribution derived from experiments on an
IEEE 802.11b network.
46
Abstracts for Tuesday, Sep. 2
Tu10.02: Design of Reconfigurable Predictive Control Applied on the Air Path of a Diesel Engine
Ms Layerle Khaoula
Institut de Recherche en SystÌňmes Electroniques EMbarquÌl’s
Dr Langlois Nicolas
Institut de Recherche en SystÌňmes Electroniques EMbarquÌl’s
Dr Chafouk Houcine
Institut de Recherche en SystÌňmes Electroniques EMbarquÌl’s
Abstract: In this paper, a method for reconfigurable predictive control of theair path of a Diesel engine system is presented. Failures are identified indirectly by estimating parameters of the linear engine
model using the recursive least square algorithm (RLS). The actuators of the air system considered here
are variable geometryturbine (VGT) and exhaust gas recirculation valve (EGR). The aim ofthe reconfiguration controller is to track simultaneously the desired trajectories of intake pressure (P1) and exhaust
pressure (P2) when a faults occurs. Some simulation results are presented and compared to GPC applied on coupled MIMO system. The proposed controller exhibits good control performance: it ensures
global stability and tracking of output references ithout zero offset. Moreover, the separated optimization of the GPC parameters for each subsystem permits the controller to have good performance
duringtransient mode especially in terms of overshoots.
Tu10.03: Model Predictive Control of Substructured Systems
Dr Guang Li
The University of Bristol
Miss Jia-Ying Tu
The University of Bristol
Prof. David Stoten
The University of Bristol
Abstract: In this paper, we consider the control of multivariable substructured systems with input constraints. Model Predictive Control (MPC) is used to synchronize the interface between the physical and
numerical substructures. As a case study, a quasi-motorcycle suspension system is converted into a
multivariable substructured system. An MPC controller is developed for this system. Simulation results
show the advantage of using an MPC controller to synchronize the substructured system.
Tu10.04: Constrained Predictive Control Of A Servo-driven Tracking Turret
Dr. Peter Martin
Ricardo UK
Dr. Nick Brignall
Selex
Mr Matt MacDonald
Selex
Prof. Mike Grimble
University of Strathclyde
Abstract: Vehicle-mounted 2-axis turrets are widely used in high bandwidth tracking systems, frequently
encountered in air-to-ground, ground-to-air and air-to-air targeting. Existing controllers for these systems
are generally implemented in classical PID form. The objective of this paper is to examine the novel
application of constrained model predictive control (MPC) to a Selex turret simulation. The characteristics of the control problem are well matched to MPC, as hard saturation constraints are present in
the electrical subsystem and a reference trajectory can be generated for several seconds in advance
due to the predictability of a missile trajectory. The state-space model and Kalman filter are described,
and simulation results are presented to demonstrate the validity and superior performance of the MPC
method.
Tu10.05: AQM Control of TCP/IP Networks using Generalized Predictive Control
Dr Teresa Alvarez
Lecturer, University of Valladolid
Dr. Smaranda Cristea
Lecturer, University of Valladolid
Abstract: This paper presents how generalized predictive control can improve the performance of
TCP/IP networks when dealing with control congestion. It is shown that predictive control and GPC
(Generalized Predictive Control), in particular, can be seen as an improved AQM (Active Queue Management) method. Predictive controllers, constrained and unconstrained, are compared with other
control methods, such as PI control or RED/AQM, showing the advantages of the proposed technique,
as it makes teh consideration of constraints possible in the manipulated and controlled variables.
Tu10.06: Subspace-based Model Predictive Control with Data Prefiltering
Mr. Noor Azizi Mardi
RMIT University
Prof. Liuping Wang
RMIT University
Abstract: Subspace-based model-free predictive control algorithms directly estimate the relevant
components of a predictive controller. Due to disturbances and noise in the measured data, the
estimation results were often poor, which limited the applications of subspace-based model-free predictive controllers. By assuming a priori knowledge of the disturbance characteristics, this paper proposes a subspace-based model-free predictive control algorithm that utilizes the noise model for the
estimation of the predictive control gain matrices. Simulation results show improved control results.
47
Abstracts for Tuesday, Sep. 2
Tu11. Control Theory: Optimization and nonlinear design
Room: Conference Room 1
Time: 16:00
Chaired by: Prof. D. Owens, Prof. Veres
Tu11.01: Controller Design of Conflict Multi-objective control problem by Preference
Phd zhu bingkun
Tongji University
Pro. xu lihong
Tongji University
Abstract: According to the character that the optimal point is not single in the conflict Multi-Objective
Control Problem (MOCP) and optimal solutions cannot be simultaneously obtained by traditional optimization methods in a single simulation run, a new algorithm based on evolutionary computation
is presented, which incorporates userL’Ûłs preference information into optimal process for obtaining
dense Pareto solutions in preference region and defines a new selection function making control objectives stabilized in this region.
Tu11.02: Control Engineering at the University of Manchester in the Post War Years
Prof Derek Atherton
Univ. of Sussex.
Abstract: The purpose of this paper is to outline the leading role the Electrical Engineering Department
at Manchester played in the early development of control engineering teaching and research in the
UK after the war. The holding of a major UK conference in Control Engineering in Manchester roughly
60 years after the start of this work seems an appropriate time to remind today’s researchers of these
early contributions and the changes in technology and the university environment.
Tu11.03: An Arnoldi Based Method to Discrete Time Linear Optimal Multi-periodic Repetitive Control
Mr Youde Han
University of Sheffield
Prof David H Owens
University of Sheffield
Abstract: For LTI plant, a benchmark tracking solution was recently proposed by optimal technique
for discrete time linear multi-periodic repetitive control system that gives asymptoticperfect tracking,
where the original tracking problem was transfered into a regulator problem by developing a new
state-space representation that combines the plant and demand signal.However, in practice, the periods of the demand signals are usually very large, therefore the dimension of this new plant description
increases and that naturally leads to high ordercomputations for solving discrete Riccati equation. In
order to overcome this problem, an Arnoldi based method is applied in this paper to first reduce the
high order state-space representation to a low order counterpart, and then a direct method is used
to solve its corresponding low order riccati equation. Finally a projection between two riccati solutions
is applied to retrieve anapproximate high order riccati solution. This result also leads to a new multiperiodic repetitivecontroller in terms of low order riccati solution. A numerical example is given and
asymptotic perfect tracking is guaranteed.
Tu11.04: A non-parametric method for nonlinear J-J’ spectral factorisation.
Dr Andrew Shenton
University of Liverpool
Abstract: This paper presents a Newton-iteration method for obtaining a J-J0 spectral factorisation of
systems from non-parameteric characterisations using identification techniques.Systems are assumed
to be Fréchet differentiable discrete-time maps.The technique may be used on nonlinear nonparametric time-response representations. The scheme requires stabilised identification and stabilised inverse
identification and with such can be used to iterate on NARMAX controller structures.
48
Abstracts for Tuesday, Sep. 2
Tu12. Decision and control (Invited)
Room: Conference Room 5
Time: 16:00
Chaired by: Prof Inouk, Prof Deng
Tu12.01: Decision-Making of Football Agents with Support Vector Machine
Dr. Hisashi Handa
Okayama University
Mr. Satoshi Kajiyama
Okayama University
Abstract: Robocup has attracted much attention for Artificial and Computational Intelligence researchers. Robocup involves various aspects of problems, i.e., coorporation with team mates, dynamic
problems, imperfect information, uncertainness caused by noise, and so on. Therefore, it is quite difficult
to design football agents. In this paper, Support Vector Machines, one of the most famous machine
learning algorithms, are used to decide if the agents carry out basic skills, such as shoot and through
balls, which are given in advance. That is, firstly, data, i.e., the position and directions of balls and
players, is collected by playing given skills naively. Then, labels indicating the success/fault of the skills
are added to the data. Secondly, SVM learns the data. Finally, the SVM decides if the skill should be
carried out. Several experiments on game plays with stronger team binaries at Japan Open elucidate
the effectiveness of the proposed method.
Tu12.02: OPERATOR BASED ROBUST NONLINEAR CONTROL SYSTEM DESIGN OF MIMO NONLINEAR FEEDBACK CONTROL SYSTEMS
Dr. Shuhui Bi
Okayama University
Dr. Mingcong Deng
Okayama University
Dr. Akira Inoue
Okayama University
Abstract: In this paper, operator based robust nonlinear control system design of a multi-input multioutput nonlinear feedback control system is proposed, that is, robust stability of the MIMO system is
studied by using operator based robust right coprime factorization approach. Some sufficient conditions for the MIMO nonlinear systems to be robust stable are derived. As a result, robust nonlinear
control system is designed for the MIMO system. Final, an example is given to initially demonstrate the
theoretical analysis.
Tu12.03: LS-SVM based motion control of a mobile robot in dynamic environment
Dr. L. Jiang
Okayama University
Dr. M. Deng
Okayama University
Dr. A. Inoue
Okayama University
Abstract: In this paper, least squares support vector machine (LS-SVM) based motion control of a mobile robot in dynamic environment is proposed under the measured data with uncertainties. The proposed scheme can control the robot by consideration of local minima, where the controller is based
on Lyapunov function candidate and considers virtual forces information. Comparing with standard
support vector machine (SVM) method, LS-SVM method is used for estimating the control parameters
from the measured data with uncertainties. Simulation results are presented to show the effectiveness
of the proposed scheme.
Tu12.04: OPERATOR BASED FAULT DETECTION SYSTEM DESIGN TO AN ACTUATOR FAULT OF A THERMAL
PROCESS
Dr. Mingcong Deng
Okayama University
Dr. Akira Inoue
Okayama University
Dr. Kazunori Edahiro
Okayama University
Abstract: This paper proposes a fault detection method for an actuator fault of an aluminum plate
thermal process with input constraints. Operator-based robust right coprime factorization approach
is utilized in this method. In details, after creating a mathematical model, a robust tracking operator
system is designed. Following this, design of the fault detection system is given. Finally, experiment is
conducted to support the proposed design method.
Tu12.05: COMARISION OF CONTROL DESIGN TECHNIQUES FOR A NUCLEAR REACTOR
Mr Zakwan Skaf
The University of Manchester
Prof Hong Wang
The University of Manchester
Abstract: This paper presents a comparative study of different control design methods applied to a
nuclear reactor. A nuclear reactor temperature controller is designed using the H-infinity control. This
advanced controller is compared with a conventional PID controller and a traditional optimal controller
design using LQG method.
49
Abstracts for Tuesday, Sep. 2
Tu13. Fuzzy Control Systems
Room: Conference Room 6
Time: 16:00
Chaired by: Prof. G. Liu, Dr. Samia Nefti
Tu13.01: A new engineering method for fuzzy reliability analysis of surge detection and isolation in
centrifugal compressor
HAFAIFA Ahmed
University of DJELFA
LAAOUAD Ferhat
BOUMERDES University
LARAOUSSI Kouider
University of DJELFA
Abstract: A new dual fuzzy controller for the nonlinear model of the compression system is proposed in
this paper. The surge phenomenon in the centrifugal compressor, the non-linearities and uncertainties
of the compression system make it impossible to use a conventional controller over a wide range of
operation. This fuzzy controller is designed to consist of a active surge control and phase control without
any explicit system models, but driven in the human thinking mechanism. A simulation example of
compression system is given to demonstrate the validity of the proposed control scheme. It is shown
that the fuzzy controller can be simplified, and good tracking control performance can be achieved
by choosing appropriate fuzzy roles. However, the dual fuzzy controller can successfully intervene in
the control surge of the compression system. This new fuzzy control methodology suggested in this
work reproduced well the main characteristics of the turbo compressor dynamic model developed by
Moore and Gretzer and give place to a more precise and easy to handle representation. It is about
a inaccuracies reproducing with a certain degree of satisfaction of the real process without being as
much complex.
Tu13.02: MODELLING AND CONTROL OF FES-ASSISTED INDOOR ROWING EXERCISE
Mr Zakaria Hussain
The University of Sheffield
Dr M Osman Tokhi
The University of Sheffield
Dr C Samad Gharooni
The University of Sheffield
Mrs Siti Fauziah Toha
The University of Sheffield
Abstract: This paper present the development of a model of indoor rowing exercise for paraplegics.
Indoor rowing exercise is introduced as a hybrid exercise for restoration of function of lower extremities
for paraplegics through the application of functional electrical stimulation (FES). Two stimulated muscle
model, quadriceps and hamstrings are developed for knee extension and flexion. A novel fuzzy logic
control strategy is designed to control the rowing manoeuvre. Simulation results verifying the control
strategy are presented and discussed.
Tu13.03: Adaptive Fuzzy Model-based Predictive Control Using Fuzzy Decision Making
Dr. Yue Wu
BP
Prof. Arthur Dexter
University of Oxford
Abstract: Motivated by the need to develop more effective methods of controlling uncertain nonlinear systems, this paper focus on developing an adaptive fuzzy model-based controller, in which
the optimisation variables remain in fuzzy domain. The scheme uses an on-line fuzzy identification
scheme, which is able to generate a fuzzy relational model using the training data from the system.
The proposed control system is applied to the supply air temperature control in a simulated cooling coil
system of an air-conditioning system to evaluate the improvement of the proposed scheme compare
to the non-adaptive version of the controller.
Tu13.04: FUZZY CONTROLLER DEVELOPMENT FOR A PEM FUEL CELL SYSTEM
Dr Kary Thanapalan
University of Glamorgan, UK
Prof Guoping Liu
University of Glamorgan, UK
Mr Jonathan Williams
University of Glamorgan, UK
Dr David Rees
University of Glamorgan, UK
Abstract: A Polymer Electrolyte Membrane (PEM) fuel cell system model that is suitable for control study
is presented in this paper. The PEM mathematical model is then used for the controller development
to improve system performance. Within the University research facilities, there is a PEM Fuel Cell Test
station (PEM L’ÛÒFCT) available, so the PEM-FCT is used for the modelling and controller study. A fuzzy
set-point weighted PID controller is designed to improve the performance of the fuel cell system. The
underlying idea of our controller design is to use a fuzzy based system to support the operation of a PID
controller. The new control strategy is implemented on a PC based computer model of the FCT system
and simulated. The results indicate that the control strategy has improved the system performance
dramatically.
50
Abstracts for Tuesday, Sep. 2
Tu13.05: Reinforcement Learning for Probabilistic Fuzzy Controllers
Mr William Hinojosa
Salford University
Dr Samia Nefti
Salford University
Prof John Gray
Salford University
Prof Uzay Kaymak
Erasmus University Rotterdam
Abstract: In this paper a new hybrid approach combining Reinforcement Learning and a Probabilistic
Fuzzy controller is proposed. This structure is based on a reinforcement learning agent that measures the
performance of a system and uses this to reinforce and adapt the rule base and related probabilities
in order to achieve its goal. The proposed reinforcement learning algorithm is based on a modified
version of the actor-critic architecture for dynamic reactive compensation. Experiments based on
simulations using a DC motor numerical model were carried out in order to validate the proposed
approach. The obtained numerical results show that our proposed algorithm outperforms the classic
Reinforcement Learning in term of learning time and accuracy.
Tu14. Systems control using neural networks
Room: Weston Room 2
Time: 16:00
Chaired by: Prof Tan, Prof. Hong. Wang
Tu14.01: Controller Design for Nonlinear Systems with Stochastic Time Delays Using Neural Networks and
Information Entropy
Dr. J.H. Zhang
North China Electric Power University
Dr. A.P. Wang
Anhui University
Dr. Hong Wang
University of Manchester
Abstract: In this paper, a novel controller is proposed for unknown discrete-time nonlinear systems with
uncertain output-channel time delays using RBF neural networks and information entropy. The controller is designed by minimizing the quadratic Renyi entropy. The probability density function (PDF) of
the closed loop tracking error is estimated by Parzen windowing technique, where the Jacobian information of the system is estimated by an RBF neural network. The convergent condition of the proposed
control algorithm is given. A simulation example is included to show the effectiveness of the proposed
algorithm.
Tu14.02: Controller Design of Nonlinear TITO Systems with Uncertain Delays via Neural Networks and
Error Entropy Minimization
Dr. J.H. Zhang
North China Electric Power University
Dr. A.P. Wang
Anhui University
Dr. Hong Wang
University of Manchester
Abstract: In this paper, a novel control algorithm for nonlinear two input and two output (TITO) systems
with random input and output delays is presented. Due to the stochastic characteristics induced by
uncertain time delays, TITO feedback control systems are cast into a general framework, where the
controllers are designed based upon minimizing the entropies of tracking errors. The controllers that
have been implemented by BP neural networks are obtained without decoupling. The convergence
in the mean square sense is analyzed. Simulation results show the effectiveness of the proposed approaches.
51
Abstracts for Tuesday, Sep. 2
Tu14.03: Single Network Adaptive Critic for Vibration Isolation Control
Dr. Jia Ma
Chinese Academy of Sciences
Dr. Tao Yang
Chinese Academy of Sciences
Dr. Zeng-Guang Hou
Chinese Academy of Sciences
Dr. Min Tan
Chinese Academy of Sciences
Abstract: Vibration isolation control is the critical issue to guarantee the performance of various
vibration-sensitive instruments and sensorsin practical engineering systems. In this paper, single network adaptive critic (SNAC) based controllers are developed for vibration isolation applications. The
SNAC approach differs from the typical action-critic dual network structure in adaptive critic designs
(ACDs) by eliminating the action network, which leads to substantial computational savings. Two training methods, i.e., the off-line and online methods are proposed to adapt the SNAC controllers respectively. In contrast with the existing off-line SNAC training method, the off-line method proposed in
this paper adopts the least mean square (LMS) training algorithm with variable learning rate to make
the training procedure converge faster. Furthermore, for real-time control purpose, the online learning
method is presented for tuning the weights of the critic networks along the real-timestate trajectories of
the isolation system. Additionally, the “shadow critic" training strategy used in the online method further
improves the convergence rate. Simulation results have shown that the developed SNAC controllers
using the different training methods can converge to the continuous-time optimal control solution at
satisfactory speed. Moreover, the designed SNAC controllersalleviate vibration disturbance more effectively and have better control performance in comparison with the passive isolator.
Tu14.04: Discrete-Time Decentralized Neural Identification and Control for a 2 DOF Robot Manipulator
M.C. R. Garcia-Hernandez
CINVESTAV, Unidad Guadalajara.
Dr. E.N. Sanchez
CINVESTAV, Unidad Guadalajara.
Dr. A.G. Loukianov
CINVESTAV, Unidad Guadalajara.
Dr. E. Bayro-Corrochano
CINVESTAV, Unidad Guadalajara.
Dr. V. SantibaÌśez
Instituto Tecnologico de la Laguna
Abstract: This paper presents a discrete-time decentralized control schemefor identification and trajectory tracking of a 2 DOF robotmanipulator. A recurrent high order neural network (RHONN)structure
is used to identify the plant model and based on thismodel, a discrete-time control law is derived,
which combinesdiscrete-time block control and sliding modes techniques. Theneural network learning
is performed on line by Kalman filtering.A controller is designed for each joint, using only local angularposition and velocity measurements. These simple local jointcontrollers allow trajectory tracking with
reduced computations.The applicability of the proposed scheme is illustrated viasimulations.
Tu14.05: Neural Predictive Control for Wide Rage of Process Systems
Mr. Seyed Ali Jazayeri Moghadas
K. N. Toosi University of Technology
Dr. Alireza Fatehi
K. N. Toosi University of Technology
Dr. Houman Sadjadian
K. N. Toosi University of Technology
Prof. Ali Khaki-Sedigh
K. N. Toosi University of Technology
Abstract: In this paper a Neural Predictive Controller (NPC) designed to control wide range of process
systems. Neural Network identification yields nonlinear global map of the unknown system. LevenbergMarquardt (L-M) optimization method is used to find optimal control signal to minimize future errors of
the objective function of predictive controller. Inequality constraints of actuators are added to the
objective function through a penalty term which increases drastically as it approaches limitations. To
use the controller for wide range of process systems, an initial phase runs before the main controller
to determine parameters. This phase moves the system output to operating point and applies PID
controller with APRBS reference signal. The gathered data are used to estimate parameters such as
pure delay, prediction horizon, control signal term coefficient and identification order. To validate the
approaches, the controller has implemented in level, pressure and flow plants and compared with
conventional controller which shows faster and smoother tracking results.
52
Abstracts for Tuesday, Sep. 2
Tu15. Modeling and Simulation
Room: Weston Theatre
Time: 16:00
Chaired by: Prof. Rees, Prof.Su
Tu15.01: MODELLING, PARAMETER ESTIMATION AND VALIDATION OF A 300W PEM FUEL CELL SYSTEM
Dr Kary Thanapalan
University of Glamorgan, UK
Mr Bo Wang
University of Glamorgan, UK
Mr Jonathan Williams
University of Glamorgan, UK
Prof Guo-Ping Liu
University of Glamorgan, UK
Dr David Rees
University of Glamorgan, UK
Abstract: In this paper a 300W PEM FC Stack dynamic model is developed and implemented in MATLAB/Simulink. Using semi-empirical equations for modelling a Proton Exchange Membrane (PEM) fuel
cell is proposed for providing a tool for the design and analysis of fuel cell stack systems. The modelling
results are compared with experimental results. The comparison shows good agreements between the
modelling results and experimental data. The model could be used in PEM fuel cell control related
studies.
Tu15.02: Modelling and Parameter Identification of Electrochemical Cu-Cu Cell
Mr Alexander Mendelson
Helsinki University of Technology
Dr Robert Tenno
Helsinki University of Technology
Abstract: An electrochemical cell consisting of two copper electrodes and copper sulphate solutions
is modeled. The presented model takes into account both electrode interfaces and the activity of
copper(II) ions. The current-potential equation is derived and a method for identifying mass-transfer
parameters as well as kinetic parameters is proposed for a specific case. The created model is simulated and verified against measurements.
Tu15.03: Phase Model for the relaxed van der Pol oscillator and its application to synchronization analysis
Dr. Joaquin Collado
Automatic Control Department CINVESTAV-IPN
M.C. Olivia Mimila-Prost
Automatic Control Department CINVESTAV-IPN
Abstract: A one dimensional phase model for the classic two dimensional van der Pol oscillator is developed. This model is restricted to the relaxed case, and its construction is based on the slow and fast
transitions the phase goes through during its cycle. An application of the phase model is included in
which synchronization of two coupled van der Pol oscillators is analyzed and even used to calculate
the coupling strength needed for their synchronization.
Tu15.04: FPGA IMPLEMENTATION OF WHEEL-RAIL CONTACT LAWS
Mr. Yongji Zhou
University of Leeds
Dr. T.X. Mei
University of Leeds
Dr. Steven Freear
University of Leeds
Abstract: This paper presents the development of an accelerator for the real-time simulation of wheelrail contact laws (Hertz and Fastsim), which would enable the use of hardware-in-the-loop for experimental studies of latest active control technology for wheelset stabilization and steering. The complex
wheel-rail contact laws are implemented using a single FPGA chip that outperforms modern generalpurpose CPU or DSP in the aspects of processing time, configuration flexibility and cost. Fastsim algorithm is restructured to utilize FPGA’s parallel processing feature. Reusable IP cores (FPU) are used for
the floating point operations. The scheduling of the operations is optimised to ensure effective and
efficient allocation of the FPGA’s resources.
53
Abstracts for Wednesday, Sep. 3
IChemE1. IChemE Mini Symposium (A)
Room: Weston Room 2
Time: 10:00
Chaired by: Jon Love
IChemE1.01: Process Control and Process Systems in the Pharmaceutical Industry
Dr. Dora Kourti
Senior Technical Director, GlaxoSmithKline
Abstract: TBC
IChemE1.02: Improved strategies for monitoring, control and optimisation of process cleaning
Prof. Gary Montague
University of Newcastle
Abstract: TBC
IChemE1.03: Taken for granted? Real-time control in the water industry
Dr. Laurie Reynolds
Independent Consultant, Laurie Reynolds Associates (UK) Ltd.
Abstract: The paper will briefly review two generations of control systems applied in the water industry
and reasons for the characteristics and drivers for the technical solutions adopted. The UK industry
is approaching the fourth 5-year asset investment period and many of the older systems are due for
replacement. Looking forward, the paper will set out some of the technical, economic and functional
challenges facing the industry in 2008. New performance requirements, and a large legacy of installed
equipment makes planning for the future particularly difficult.
IChemE1.04: Integration of control, manufacturing and enterprise systems
Prof. Nina Thornhill
Process Control and Manufacturing Systems Manager, Sabic UK
Petrochemicals
Dr. Chris Hamlin
Sabic UK Petrochemicals
Abstract: This article discusses technology directions, emerging standards and organizational issues of
integration between the control, manufacturing and enterprise systems in chemical process manufacture. It describes the approach taken in Sabic in the implementation of such systems in a new polyethylene plant on Teeside and attempts to identify new trends that may be of interest to researchers.
IET1. IET Mini Symposium (A)
Room: Weston Theatre
Time: 10:00
Chaired by:
IET1.01: Intelligent Actuators
Dr. Martin Cheetham
Exeeco
Dr. Shelley Pike
Rotork Controls
Abstract: TBC
IET1.02: Implementation of Non-linear Control Techniques on Power Plant
Dr. Megan Boardman
RWE nPower
Abstract: TBC
IET1.03: Remote Control of CCGTs
TBC
Siemens
Abstract: TBC
54
Abstracts for Wednesday, Sep. 3
IMechE1. IMechE Mini Symposium (A)
Room: Conference Room 1
Time: 10:00
Chaired by: Prof. Andrew Plummer
IMechE1.01: Automotive Active Stability Systems
Prof. Bob Williams
Principal Technical Specialist, Dynamical Systems, Land Rover
and Jaguar Research
Abstract: Until 20 years ago control of a motor car in a limit manoeuvre was down to the skill of the
driver. The situation changed with the introduction of brake based stability systems, which are liable to
become mandatory within the next few years. More recently manufactures have started to introduce
active stability systems based on the steering system, active suspension and drive line. The presentation compares the capabilities of these actuators, and the type of control, and integration problems
encountered.
IMechE1.02: Search Methodologies in Automotive Control Applications
Dr. Paul Stewart
University of Sheffield
Abstract: TBC
IMechE1.03: New Directions in Gasoline Power Train Control
Dr. Tom Shenton
University of Liverpool
Abstract: This paper presents a view of new research directions in gasoline engine and driveline control.
The need both for reduced fuel consumption and reduced emissions means there is a rapidly escalating complexity in the technology that must be deployed. Current ways of calibrating vehicle controls
may not be sufficiently convergent when applied on these more complex systems. Several research
projects aimed at developing control oriented calibration by reducing ‘the gap’ between advanced
control and automotive practice are described. The overall philosophy is one of closely linking controller development to experimental based and validated ‘advanced-control-enabling’ methodologies and technologies. A particular focus is on non-parametric techniques.
InstMC1. InstMC Mini Symposium (A)
Room: Conference Room 6
Time: 10:00
Chaired by: John Gray
InstMC1.01: Food industry automation, Opportunities and Limitations
Dr. John Reed
Technical Director, Silsoe Technology Ltd.
Abstract: This presentation will start by comparing the uptake of robotics in the food sector with those
in the motor and other industries. Examples of robots being used in a range of food applications
will then be shown in the form of videos. Reasons why these applications have been successfully
automated yet the majority of foods handling operations are still performed manually will be discussed.
Technical, financial and attitudinal barriers that have inhibited more widespread uptake of automation
will then be compared with technical, legislational and cost drivers that are currently pushing the
industry towards more automation. The availability of appropriate robot end-effectors capable of
reliably handling food objects is one of the keys to successful automation. Examples of end-effector
designs will be presented.
InstMC1.02: Dexterous robotic handling of an unstructured mass to form a structured assembly in food
industry
Dr. Jian S. Dai
Centre for Mechatronics and Manufacturing Systems (CMMS),
King’s College, London
Abstract: This paper will present a challenge in the food industry when dealing with a mass of unstructured items that might require a solution for fast and reconfigurable handling to manage the vast quantity of food items. The paper will then resort to mathematical modelling and reconfigurable robotic
technology to attempt the problem, present solutions in relevant areas for reconfigurable assembly
and packaging and identify techniques in sorting, isolating and reorienting a large quantity of items.
55
Abstracts for Wednesday, Sep. 3
InstMC1.03: Neural Network Techniques in NIR spectra chemometrics
Dr. Yin Wang
City University, London
Dr. Panos Liatsis
City University, London
Dr. Dimitris Kalamatianos
Hamilton Institute, Maynooth. Eire
Dr. Peter E. Wellstead
Hamilton Institute, Maynooth. Eire
Abstract: NIR spectroscopy permits the analysis of certain substances at the molecular level to determine materialsÕ composition. When combined with chemometric data analysis techniques, it offers
a means of quantifying the relative concentrations of the constituent molecules. In addition to the
increasing need to monitor the contents and quality of foodstuffs at the production level, there is the
necessity to ensure quality at the food processing stage in terms of hygiene, consistency of taste and
colour and nutritional constituents. For instance, in the case of wheat used in flour production, it is
essential to know the protein and moisture contents of the wheat grain, as their relative concentrations (affected by seasonal and growing conditions) have a significant effect on the bread-making
properties of the flour. In this work, we examine the use of Principal Component Analysis (PCA) in the
decomposition of composite NIR spectra into the two Principal Components spectra, i.e., protein and
moisture, as a means of reducing the complexity of the subsequent steps of classification and regression of their relative concentrations. For the task of classification, we compare the performance of the
k-Nearest Neighbour classifier to those of the Multi-Layer Perceptron, and the Learning Vector Quantisation network. Next, we evaluate the neural networks performance in regression tasks, focusing on the
use of Multi-Layer Perceptrons and Radial Basis Functions networks. We carry out a systematic analysis
of the network architectures, in terms of the number of inputs and hidden units, while overtraining is
prevented through the use of a validation set, as an early stopping criterion.
InstMC2. InstMC Mini Symposium (B)
Room: Weston Room 2
Time: 14:00
Chaired by: John Reed
InstMC2.01: Wireless Technology for Process Industry Application
Dr. Mike Ferris
Emerson Process Management
Abstract: The focus of this presentation will be to highlight the capabilities and applications for this innovative new technology. Many manufacturers in the process industry are investigating the viability of
deploying wireless technology in order to improve process performance and/or optimize their asset utilization.With the prospect of being able to solve virtually any process or asset monitoring application,
many people throughout the process industry view wireless technology as an exciting new innovation path for addressing issues which were deemed either cost prohibitive, not technically feasible, or
lacking in Ôdevice-to-hostÕ dependability. This excitement is well justified with the expectation that
knowing more about what is going on within the process, physical assets, and overall operations will
lead to a safer and more profitable enterprise. New wireless technologies, if properly deployed, offer
managers some new tools in optimizing their plant operations by breaking the cost barriers associated
with collecting more process and asset information. Some applications could be as simple as adding
measurement monitoring points to eliminate manual collection of field data, thereby improving operator labour productivity. Or, in more sophisticated applications with a centralized asset management
interface, wireless innovations will enable users to cost effectively extract full diagnostics data and predictive intelligence from measurement devices. Self Organizing Networks are proving to be a very
robust wireless technology for the process industry and already have industry standard approval with
the recent ratification of the WirelessHART standard.
InstMC2.02: Sensitive, hygienic and flexible grippers for robotic food handling.
Dr. A. Petterrson
The Swedish Insitute for Food and Biotechnology, Goteborg, Sweden.
Abstract: In this work a novel gripper has been developed, based on the Bernoulli principle, for hygienic handling of non packed food products. The gripper has been designed to handle both different
product shapes (round, flat, cylindrical) and to exert very low forces on to the product. Unlike previous Bernoulli gripper designs which consist of a flat gripping surface (only suited for flat products) the
new gripper is able to deform to the shape of the object to be grasped and gripping of 3D objects
is demonstrated. The gripper consists of a Òpin boardÓ covered by a thin rubber sheet which when
gently pressed against the product shapes itself to the products contours. This shape is then locked
and the gripper is then lifted slightly creating the necessary air gap and the airflow is turned on, creating the lifting force. An hygienic advantage over a vacuum gripper is that no particles can be sucked
up into the tubing where they could clog the system or cause bacterial growth as a positive supply
pressure is used. Data of lifting forces achieved by the novel gripper compared to lifting forces of a
standard Bernoulli gripper will be presented as well as the grippers ability to lift different shapes.
56
Abstracts for Wednesday, Sep. 3
InstMC2.03: The design of a low cost robot for the food industry
Dr. S. Davis
Italian Institute of Technology
Dr. R. Moreno-Masey
University of Sheffield
Dr. J. O. Gray
University of Sheffield
Abstract: A wider adoption of automation and robotics in the food industry would benefit food manufacturers by reducing production costs and increasing competitiveness in what is becoming an increasingly difficult market. At present however the majority of industrial robots are not well suited to the
specific needs of the food industry. Additionally low profit margins and the high cost of robotic systems
mean that it is very difficult for food manufacturers to financially justify the use of this technology. This
paper describes the specifications and design features of a low cost robotic arm developed specifically for use in the food industry. Considerations for the mechanical design of the robot in addition
to industrial requirements for hygienic design, pick and place speed, safety for operation alongside
human workers and ease of reprogramming are discussed in detail.
IET2. IET Mini Symposium (B)
Room: Conference Room 1
Time: 14:00
Chaired by:
IET2.01: TBC
Dr. Keith Chappell
Emerson Process Controls
Abstract: TBC
IMechE2. IMechE Mini Symposium (B)
Room: Weston Theatre
Time: 14:00
Chaired by: Prof. Andrew Plummer
IMechE2.01: Automotive Model-based Systemic Integration
Dr. Will Suart
Jaguar
Abstract: Functional CAE is used to understand the behavior of complex vehicle systems and their
interactions. A number of factors within the Automotive industry are driving major changes on how
control functions and attributes are developed. These are largely driven by increasing the complexity
of features, complexity of software, reduced product development time and failure mode avoidance.
To address these challenges Jaguar Land Rover has set up a centrally based organisation to influence
PD towards model-based development. The goal of the model based system design is to provide a
high level of robustness of software functions and there interactions within an electrical, mechanical
and control system, by relying more heavily on mathematical modelling and Simulation within the PD
Functional areas.This presentation (paper) will demonstrate the process of a coordinated approach to
model based development and validation of models within vehicle programmes.
IMechE2.02: HIL application in the automotive industry
Dr. Phil Clarke
dSPACE
Abstract: The increased use of electronic control systems and the greater functionality that they support has led to a demand for test systems and strategies. In this short presentation we outline the current
state of the art in Hardware in the Loop testing technology to support the development of electronic
control systems. We see how understanding and managing networking behaviour has become critical, and that the provision of accurate modelling tools and easy to use test management suites is also
a key aspect of a successful test. We show how Hardware in the Loop simulators are used in industry
and how their closed loop testing has led to more reliable products.
IMechE2.03: Controlling Automotive Test Rigs
Prof. Andrew Plummer
University of Bath
Abstract: The dynamic testing of vehicle structures and components in the laboratory to determine
their mechanical properties (dynamic characteristics, durability etc.) is an essential part of automotive
R & D. Test apparatus designed to replicate real-world forces and motions needs accurate control
of actuators over a wide range of frequencies. Due to the demanding performance requirements
electrohydraulic actuation is usually used. In this presentation industrial control methods for dynamic
vehicle and component testing are reviewed. Both established methods and new approaches are
covered, including iterative control, multi-axis control and non-linear model-based techniques.
57
Abstracts for Wednesday, Sep. 3
We01. Control Applications: Low complexity control
Room: Conference Room 5
Time: 14:00
Chaired by: Dr. Afshar
We01.01: Study of Reduced-order and Non-linear Local Optimal Control Application to Aero Gas Turbines
Zukhra Kamalova
The University of Manchester
Mahmoud Ashry
The University of Manchester
Tim Breikin
The University of Manchester
Abstract: In this work second order linear model, reduced order (first order) linear model and second
order non-linear model of a gas turbine engine have been obtained from the engine input-output data
using evolutionary optimization technique. These three models have then been used in local optimal
control design. The obtained controllers have been applied to the second order non-linear engine
model and their performance has been compared.
We01.02: Equalisation Tuning Method
Dr. Damir Vrancic
Stefan Institute
Prof. Raymond Gorez
University of Louvain
Prof. Stanko Strmcnik
Stefan Institute
Abstract: The paper presents a novel tuning method for different types of controllers. Since the tuning
method is trying to equalise the closed-loop response to the open-loop response, it is named L’ÛÏEqualisation tuning methodL’Û?. The main advantage of this method is that it does not require any
additional data from the operator except the measurement of the process steady-state change in an
open-loop experiment. The equalisation method is also relatively insensitive to process output noise.
Simplicity and efficiency of the method is demonstrated on several process models and on a hydraulic
laboratory plant. Matlab and Simulink files are provided.
We01.03: Low Complexity Control of Hybrid Systems with Application to Control of Step-down DC-DC
Converters
Dr. Jalal Habibi
University of Tehran
Prof. Behzad Moshiri
University of Tehran
Prof. Ali Khaki Sedigh
KN Toosi University of Technology
Abstract: Control of hybrid systems as those systems with mixed time-drivenand event-driven dynamics faces the computational complexity as amain challenging problem. Explicit solution to the optimal controlproblems has been proposed as a tool to reduce the on-linecomputational burden. The
complexity of the explicit solution isagain prohibitive for large problems. This paper shows that how
arecently-proposed approach by the authors can be utilized to reducethe computational complexity
in explicit predictive control ofhybrid systems. The proposed approach generates a family ofsuboptimal controllers for which the complexity and error can becontrolled by a tuning parameter. The closed
loop stability isguaranteed by a contractive constraint and is preserved in allsuboptimal controllers.
Application of the proposed scheme to hybridcontrol of synchronous step-down DC-DC converters
clarifies thesteps for modeling and controller design as well as the achievedcomputational benefits.
We01.04: A Comparative study on charge system modelling in fine paper production
Dr. Puya Afshar
The Univ. of Manchester
Prof. Hong Wang
The Univ. of Manchester
Mr. Neil Strain
The Univ. of Manchester
Abstract: This application-oriented paper provides a comparative study on modelling methods with
application to a functional fine paper production machine. The aim is to develop a model for the
charge measurement system in wet-end paper making systems for future control purposes. However,
a Multi Input Multi Output (MIMO) model has been proposed to further generalisethe proposed model.
A series of six-month worth machine’s input-output data are employed to develop different models.
The three models, namely linear, dynamical Neural Network (NN),and a so-called hybrid model are
developed to model the paper machine’s behaviour. The hybrid model consists of a dynamical linear
part and dynamical NN part. The linear part will modelthe machine around each operating point.
The dynamical NN part will help to extract further un-modeled nonlinearities. Simulation results and
variety of validation tests confirm that the hybrid model can effectively represent the paper machine
dynamics.
58
Abstracts for Wednesday, Sep. 3
We01.05: Robust H-Infinity Control of a Steerable Marine Radar Tracker
Dr Stuart Crawshaw
BAE Systems Integrated System Technologies Ltd
Dr Daniel Auger
The MathWorks Ltd
Mr Stephen Hall
BAE Systems Integrated System Technologies Ltd
Abstract: This paper describes the application of a robust control technique to a steerable marine
radar tracker intended to provide good performance with minimum operator intervention over the
course of its lifecycle. The paper shows that the sightline steering problem can be decoupled from
the target observation problem and uses a well-known robust control technique (H∞ loop-shaping) to
synthesize a controller. Analytic bounds on the stability of the closed loop are stated by considering
a model set parameterized on VinnicombeL’Ûłs nu-gap metric. Experimental verification exercises are
briefly described, and proposals for formal validation work using interpolation techniques are made.
We02. Control Applications : Optimization and Networks
Room: Conference Room 6
Time: 14:00
Chaired by: Prof. Sano, Dr. Breikin
We02.01: Nonparametric Collocation ODE Parameter Estimation: Application in Biochemical Pathway
Modelling
Mr. Fei He
The University of Manchester
Dr. Martin Brown
The University of Manchester
Mr. Choujun Zhan
City University of Hong Kong
Dr. Lam Fat Yeung
City University of Hong Kong
Abstract: Parameter estimation of non-linear differential equations has long been an active and challenge research area. Conventionally methods are computationally intensive and often poorly conditioned. In the context of biochemical pathway modeling, a new method focused on this paper is
the so-called "collocation" method, which is a nonparametric data smoothing based approach. The
statistical property of a sort of linear smoothing spline based collocation methods is explicitly analyzed.
It is concluded that this approach is computational efficient, but leads a non-zero estimation bias and
it changes the independence assumption in the additive noise.
We02.02: Load Minimization Design for Internet-based Control
Prof. Shuang-Hua Yang
Loughborough University
Mr Z Zhang
National University of Singapore
Ms Y Li
Loughborough University
Prof. Q-G Wang
National University of Singapore
Abstract: This paper presents a design method for Internet-based control systems in a dual-rate configuration to achieve load minimization and dynamic performance specifications. It avoids the complexity
of large scale system design by focusing on individual control systems. In the dual-rate configuration,
the plant under control is first stabilized by a local controller with a high sampling rate. The remote PID
controller, which regulates the output according to the desirable reference, adopts a low sampling
rate to reduce load on the network. The upper bound of the remote PID controller’s sampling time
which meets the requirement on control performance is derived and a simple tuning method for the
remote PID controller is presented. Simulation and real-time examples are provided for illustration.
We02.03: Adaptive Feedforward Control via Virtual Error Approach with Application to Predistortion of
Nonlinear HPA
Prof. Akira Sano
Keio University
Mr. Tomohiro Ohno
Keio University
Abstract: A novel virtual error approach is proposed for fully adaptive feedforward control, which plays
an importnat role in nonlinear active noise control and predistortion for nonlinear high power amplifier
(HPA). To attenuate the compensation error, two kinds of virtual error are introduced and are forced
into zero by adjusting three nonlinear adaptive filters in an on-line manner. It is shown that the convergence of the compensation error to zero can be assured by forcing the virtual errors to zero separately.
The proposed method can adjust the predistorter directly without identification of a post-inverse model
of HPA as adopted in previous predistortion methods. The effectiveness of the proposed virtual error
approach is clarified in comparison with an ordinary nonlinear filtered-x algorithm in the adaptive predistortion for nonlinear HPA used in OFDM communication systems.
59
Abstracts for Wednesday, Sep. 3
We02.04: Design and Implementation of Brushless Motor Controller Based on SOPC
Stu. liu qingqiang
Beijing University of Technology
Pro. Qi Hui
Beijing University of Technology
Abstract: In this paper, a kind of design of BLDM (Brushless DC motor) controller based on SOPC (System
on programmable chip) is introduced. CPU, BLDM switching, PWM generator, and data acquisition
module are integrated in a single FPGA chip. This design improves the integration, anti-interference
and makes the system easy to promote. Experiment result has proved that the steady and dynamic
performance of BLDM controller based on SOPC is so good meet the requirement of servo-system.
We02.05: Motion stabilization in the presence of friction and backlash: a hybrid system approach
Dr Lorinc Marton
Sapientia Hungarian University of Transylvania
Dr. Bela Lantos
Budapest University of Technology and Economics
Abstract: In this paper a hybrid system approach is considered to deal with backlash andfriction induced nonlinearities in mechanical control systems. To describe the low velocity frictional behaviour a
linearized friction model is proposed. The novelty of this study is that based on the introduced friction
model, the stability theorems developed for hybrid systems can directly be applied for controller design
of mechanical systems in the presence of Stribeck frictionand backlash. During the controller design it
is assumed that the size of the backlash gap is unknown and the load side position and velocity cannot
be measured. For motion control an LQcontroller is applied. A condition is formulated for the control
law parameters to guarantee theasymptotic stability of the control system. Simulation measurements
were performed to confirm the theoretical results.
IChemE2. IChemE Mini Symposium (B)
Room: Weston Theatre
Time: 16:00
Chaired by: Barry Lennox
IChemE2.01: Process Manufacturing Execution Solutions: Industrial Needs and Future Directions
Dr. Andrew Ogden Swift
Director of Advanced Development, Honeywell Process Solutions
Abstract: Over the last decade process control and process management information systems have
been widely deployed in many sectors of the process industries, driving improvements in safety, reliability and efficient operation. Some industry drivers continue and there are new ones such as retirement
of babyboomers and globalization. These, combined with new technology challenges and opportunities will continue to require newer capabilities in control systems. This talk will address some key areas
where new directions are required with particular focus on the management of abnormal situations
and their impact on overall process manufacturing performance.
IChemE2.02: Use of Dynamic Modelling and Plant Historian Data for Improved Control Design
Dr. Phil Masding
Process Control Manager, IneosChlor Ltd.
Abstract: Dynamic models have long been used to assist process control design. In the early days
there was relatively little plant data available to verify and improve the accuracy of these models.
Consequently there was always some uncertainty as to whether the resulting design would perform as
well as expected. Modern Process Historian systems contain a wealth of data that can be exploited
to calibrate and improve any process model. In the case of a dynamic model the opportunity exists
to inject specific disturbances into the model based exactly on historical data and check that the
model can produce the same output as the plant. This talk will use two case studies to illustrate how
dynamic modelling can be made more effective with the use of plant data. In the first example, a
dynamic model was verified using plant data and then used to design a simple but effective control
improvement which subsequently fully matched the predicted performance and therefore justified the
investment in new equipment. The second case study will show how matching a model to a poorly
performing system led directly to the diagnosis of the problem and its subsequent solution.
IChemE2.03: Control challenges for the upstream oil and gas industry
Dr. Paul Oram
SETA Control Automation, BP Exploration.
Abstract: Oil company operations are moving into more inhospitable and remote locations. In turn this
has placed greater dependence on reliable process control and oil field automation technology. By
way of example this paper will investigate the industryÕs current control priorities and the challenges
we now face to maximize production and extend oil field life. It will be emphasized that, in many
respects, upstream remains ÔvirginÕ territory for the exploitation of modern control techniques and
there remains significant potential for academia to help address some specific control issues.
60
Abstracts for Wednesday, Sep. 3
IChemE2.04: Future Directions For Advanced Process Control - Bridging the Gap Between Academia
and The Needs in the Field
Dr. Paul Turner
Director, APC Practice Leadership, Aspen Technology Inc.
Abstract: APC has matured from a differentiating technology enjoyed by only the largest refining and
bulk chemical entities to a must-have technology for all continuous process companies. Driven by industry consolidation, market volatility, the reduced availability of skilled human resources and the need
to broaden the applicability of APC to smaller and less complex processing units, MPC technology vendors are focusing on reducing the complexity, broadening the footprint and standardizing the delivery
and support of MPC solutions. The current market demands for MPC technology require a balanced
technical and business focus with emphasis on integration with other systems, reduced cost and ease
of use, faster time-to-benefit, maintainability and sustained value. This paper will discuss the changing
landscape in advanced process control and how this impacts both APC deployment and academic
research.
We03. Advanced Process Control
Room: Conference Room 5
Time: 16:00
Chaired by: Prof. Yang, Prof. Visioli
We03.01: Modeling and Control of a Fluidised Bed Dryer
Dr Javier Villegas
University of Oxofrd
Dr Stephen Duncan
University of Oxofrd
Dr Haigang Wang
University of Manchester
Prof Wuqiang Yang
University of Manchester
Mr Rambali Raghavan
University of Manchester
Abstract: In this paper, the modeling and control of the moisture content of the particles in a batch
fluidised bed dryer are studied. First, a lumped mechanistic model is developed to describe the heat
and mass transfer between solid, gas and bubble phases andexperimental validation shows that the
model can be used to predict the particle moisture content and temperature profiles duringthe drying
process in the bed dryer. Feedback control of material moisture content in a bed dryer is studied
where the moisture content is obtained by measuring the humidity and temperature of the outlet gas.
A controller is designed to achieve a desireddrying rate for wet materials.
We03.02: MEMBRANE MODELING FOR SIMULATION AND CONTROL OF REVERSE OSMOSIS IN DESALINATION PLANTS
Dr. Fernando Tadeo
Univ. Valladolid
Dr. S. Syafiie
Univ. Valladolid
Mr. Luis Palacin
Centro Tecnologia Azucarera
Prof. Cesar de Prada
Univ. Valladolid
Abstract: A mathematical model of Reverse Osmosis membranes is proposed for use in the testing and
comparison of control strategies in Reverse Osmosis plants. The model has been developed so that
it canbe used within off-the-shelf software and the parameters are simple to obtain from available
plant measurements. Some simulations of the proposed model show that it correctly reproduces the
expectedprocess responses and can be used for testing different control strategies.
We03.03: CONTROLLING WATER QUALITY USING REVERSE OSMOSIS: THE DEVELOPMENT OF SIMPLIFIED
DYNAMIC MODEL
Dr. Mohammad Al-haj Ali
King Saud University
Prof. AbdulHamid Ajbar
King Saud University
Prof. Khalid Alhumaizi
King Saud University
Prof. Emad Ali
King Saud University
Abstract: Reverse osmosis (RO) is a compact process for the removal of ionic and organic pollutants
from contaminated water. This study deals with the development of dynamic model for tubular reverse
osmosis unit. The proposed model describes the unit as a series of single tubes, each tube is described
by two ordinary differential equations (ODE) and the whole module is to be described by sets of differential algebraic equations. The tubes are modeled and solved sequentially where the output of any
tube becomes the input for the next one. The predictions of steady state and dynamic models are in
good agreement with the experimental results of a lab scale RO unit. This model is simpler than the
currently used distributed models; besides it gives more insight than black box models. This model can
be used to improve the understanding of RO processes as well as to develop different model-based
control algorithms for this process.
61
Abstracts for Wednesday, Sep. 3
We03.04: Noncausal open-loop control with combined system identification and PID controller tuning
Prof. Antonio Visioli
University of Brescia
Dr. Claudio Carnevale
University of Brescia
Prof. Aurelio Piazzi
University of Parma
Abstract: In this paper we propose a systematic methodology that integrates the three main phases
of the design ofan industrial control system, namely, the identification phase, the tuning of the (PID)
feedback controllerand the design of a (noncausal) open-loop action. In particular, a first-order-plusdead-time model of the processis estimated after having filtered properly the data collected in the
identification experiment.Then, the tuning of the controller is basedon frequency loop shaping where
the target closed-loop system bandwidth is selected by considering the desiredoutput transition time
from one set-point value to another. Finally, the noncausal open-loop command inputis synthesised
by applying a stable input-output inversion procedure.Simulation results show the effectiveness of the
methodology.
We04. Control Applications: Automotive
Room: Weston Room 2
Time: 16:00
Chaired by: Prof G-Weiss, Prof. Sano
We04.01: Fuel consumption optimization for a city bus
Dr NOUVELIERE Lydie
IBISC/UEVE - LCPC/LIVIC
Dr BRACI Mohamed
LCPC/LIVIC
MENHOUR Lghani
LCPC/LIVIC
LUU Hong Tu
LCPC/LIVIC
Dr MAMMAR SaÌød
IBISC/UEVE - LCPC/LIVIC
Abstract: This paper deals with the optimization of the fuel consumption for a city bus of the city of
Rouen, in France. This work takes part from the ANGO project, a french PREDIT-ANR project. The aim
consists in modelling the bus and its fuel consumption in order to formulate a problem of optimmization
of the consumption (criterium definition, constraints, initialized variables, ...). Some simulation results are
shown under an advisory system to the bus driver and experimental works are presented.
We04.02: Semi-active ride control of human seated model and robustness analysis.
Dr Georgios Tsampardoukas
JaguarLandRover
Dr Alexandros Mouzakitis
JaguarLandRover
Miss Foteini Tsampardouka
Aristotle University of Thessaloniki
Abstract: Abstract:The objective of this paper is to synthesize a novel hybrid semi-active control algorithm as well as to compare the semi-active relative to conventional passive system in terms of human
body unweighted RMS acceleration values. A theoretical model of the human seated model is developed in order to simulate the vertical motion of the truck driver. The seated human model is attached
on the truck seat model and semi-active control is applied between the excitation base and the moving mass of the truck seat. Algorithm robustness to parametric variations as well as to real-life implementation issues such as feedback signals noise are investigated as well. The results indicate that the
injected noise slightly affects the system performance. The vertical acceleration of the human body
is significantly reduced using the novel hybrid control algorithm relative to passive system. Hence, the
human comfort due to vertical vibrations is substantially increased. Similar results are observed when
random excitation (using spectral densities) is employed.
We04.03: Asymptotic Tracking applied to the Control of a Turbocharged Diesel Engine
Mr Marcelin Dabo
Institut de Recherche en SystÌňmes Electroniques EMbarquÌl’es
Dr Nicolas Langlois
Institut de Recherche en SystÌňmes Electroniques EMbarquÌl’es
Pr Houcine Chafouk
Institut de Recherche en SystÌňmes Electroniques EMbarquÌl’es
Abstract: In this paper we propose to present Asymptotic Tracking applied to the tracking problem
for a Turbocharged Diesel Engine (TDE). Our goal is to track desired values of TDE which are the gas
pressure in the intake manifold and the compressor mass flow rate. Nevertheless for this system with
its chosen outputs one faces to the known problem of non-minimum phase systems. To avoid this, the
problem of tracking of desired values of the original output y is replaced by that of tracking a suitable
constructed modified output y for which the values to be tracked are specifically chosen: namely,
when the modified output approaches them, the original output converges to the desired values.
Simulation results are presented to highlight efficiency of the controller.
62
Abstracts for Wednesday, Sep. 3
We04.04: Constrained Variance Control of Peak Pressure Position by Spark Ionization Feedback
Dr Andrew Shenton
University of Liverpool
Mr Nicholas Rivara
University of Liverpool
Dr Paul Dickinson
University of Liverpool
Abstract: A neural-network (NN) based scheme is presented for control of cylinder peak pressure position (PPP) by spark ignition (SI) timing in a gasoline internal combustion (IC) engine. Spark-ionization
current from the spark plug is used to act as a virtual PPP sensor. Off-line training using principal component analysis (PCA) data predicts the cylinder peak pressure position under varying engine load, speed
and spark advance (SA) settings. Results demonstrate that the PPP prediction of the NN correlates well
with those measured from in-cylinder pressure sensors. A constrained-variance (CV) technique, which
is a robustified form of minimum-variance (MV) controller, is designed and applied to regulate the PPP
by SA control action. This is validated by experimental implementation on a port fuel-injected (PFI)
4-cylinder 1.6l gasoline internal combustion (IC) engine.
We05. Hybrid Vehicles (invited)
Room: Conference Room 1
Time: 16:00
Chaired by: Dr Economou Dr. K. Knowles
We05.01: Modelling and Control of a novel SOFC-IC Engine Hybrid System
Mr Alexandros Plianos
Loughborough Uni
Miss Anita Chaudhari
Loughborough Uni
Prof Richard Stobart
Loughborough Uni
Abstract: A novel configuration of a Solid Oxide Fuel Cell-Internal Combustion(SOFC-IC) engine is presented and a nonlinear dynamic model thatcaptures the transient phenomena of this system is developed. Avariable geometry turbocharger and a throttle present at the airinlet is used to regulate the
interacting flows in the combinedsystem. A controller is developed to regulate the output to demandspecific setpoints which correspond to the required power output ofthe hybrid vehicle. The controller
is derived by means of identifiedlinear models. It consists of a feedback term, an integral term anda
feedforward term. An observer is used for the estimation of thesystem states. The nonlinear system is
assessed under closed-loopcontrol with simulations.
We05.02: ELECTRICAL ARCHITECTURES FOR HYBRID VEHICLES: IMPLICATIONS FOR MODELLING AND
CONTROL
Dr James Marco
Cranfield University
Abstract: Contained within this paper is a discussion into the modelling and control of the electrical
architecture for a HEV. Two configurations of electrical architecture are discussed; a system in which
the bus voltage is allowed to vary during vehicle acceleration and regenerative braking and secondly,
a fixed bus voltage system in which the voltage is held constant by the inclusion of a bi-directional
DC-DC converter. The relative merits of each solution are discussed. Consideration is given to the
component sizing of the energy storage device, the associated control system complexity and finally
the performance of the HEV
63
Abstracts for Wednesday, Sep. 3
We05.03: A highly modular simulation model for hybrid electric fuel cell power drive trains
Dr Volker Pickert
Newcastle University
Mr Steve Naylor
Newcastle University
Abstract: Recent computer simulation has demonstrated that there are currently no hybrid electric
fuel cell power drive train topologies that give both high performance and high efficiency [1], [2].
In [2] more then ten different hybrid power drive trains have been studied and compared based on
simulation. This paper describes for the first time the simulation tool and control algorithms used. The
challenge was to design a single simulation model for power drive trains which could simulate more
then 10 completely different power drive trains within a limited time period. Prudent design sense
suggested that instead of designing a new simulation model for each topology, designing a library of
modular components and then creating each topology from these components would be the most
efficient way of creating the simulation models. Not only would it ensure that common components
are the same across all topologies, but also that if any changes needed to be made to any part of the
model the change could be implemented across all topologies with speed and ease. Maintaining up
to 10 different models for each of the topologies would quickly have become unmanageable, hard
to document and cast doubt on the comparability and reliability of the simulation data.To enable the
modular design, interconnections between the different components of the drive trains were defined
and standardised to ensure that a single architecture control system could control each and every
topology with only minor changes of control system parameters. The control system was designed using
a single control loop to ensure that the simulations could be run on a standard desktop computer in
an acceptable time.The simulation software Matlab/Simulink was chosen for the study published in [1]
and [2] because it is a proven, industry standard package. The paper will discuss in detail the models,
standardisation of parameters and the implemented control algorithm. It will discuss the weaknesses
and advantages of the developed simulation tool and will address common design errors.[1]Pickert V,
Naylor S. Overview of Power Drive Trains for Hybrid Fuel Cell Electric Vehicles. EET-2007 European EleDrive Conference Brussels, Belgium, May 30 L’ÛÒ June 01, 2007.[2] Pickert V, Naylor S. A review of power
drive trains for hybrid fuel cell electric vehicles (HFCEV). 3rd IET Conference on Automotive Electronics,
Warwick, 28-29 June 2007.
We05.04: NEDC Based Compensated Forward Simulation Approach with Energy Management for Parallel Hybrid Electric Vehicles
Dr John Economou
Cranfield University
Mr Piranavan Suntharalingam
Cranfield University
Prof Kevin Knowles
Cranfield University
Abstract: This paper presents the power managementstrategy for a parallel hybrid electric vehicle
(PHEV). The vehicle is powered by dual energy sources consisting of internal combustion engine (IC
engine) as the peak power source and the electric battery as the secondary energy source. The
operational principle of the power management strategy and the possible powerflow patterns are
described. Based on the power flow and energy availability of the energy sources, the decision-making
and the relevant switching function are designed to facilitate the effective power sharing between the
two sources. The standard NEDC velocityprofile has been utilized via a suitable compensator thatfeed
the data into the forward mathematical model. The obtained results indicated the strengths of such a
hybrid topology.
We05.05: Block-Control Methods for Low-Order Automotive Control
Dr Andrew Shenton
University of Liverpool
Mr Christopher Ward
University of Liverpool
Abstract: Robust linear and nonlinear control is a continuing requirement for automotive powertrain
controls. Newton iteration techniques have been proposed for both nonparametric linear and recently
nonlinear control. Such nonparametric methods may eventually allow benefits of both low-order controllers and more rapid calibration time.This paper evaluates the feasibility of such Newton iteration
techniques by an experimental comparison of a standard Riccati method,a Riccati J-spectral factorisation and a novel l2 algebraic J-spectral factorisation using Newton iteration techniques in a SI
engine idle controller.The methods are each applied in a 2-block H∞ formulation. The results of experimentally implementing robust idle speed controllers show broadly similar outcomes for all the methods
compared and thus indicate the potential of the Newton iteration methods for further development in
more advanced nonparametric, low-order and nonlinear control.
64
Abstracts for Wednesday, Sep. 3
We06. Robotics: Vision and tracking
Room: Conference Room 4/4A
Time: 16:00
Chaired by: Prof.Xu Dr Perez-Cisneros
We06.01: Visual Tracking System for the Welding of Narrow Butt Seams in Container Manufacture
Mr Zhiguo Yan
Chinese Academy of Sciences
Mr De Xu
Chinese Academy of Sciences
Abstract: In this paper, a vision based seam tracking system is proposed for the butt welding in the
container manufacture. First, the system structure is designed. Then, the main parts of the system
are discussed. The systemL’Ûłs working principle is analyzed. And the algorithms especially the image processing algorithm and control algorithm are proposed. Finally, experiments are conducted to
demonstrate the effectiveness of the designed system and the proposed method.
We06.02: Homing, Calibration and Model-Based Predictive Control for Planar Parallel Robots
Kvetoslav Belda
Institute of Information Theory and Automation
Pavel Pisa
CTU
Abstract: Parallel robots represent way to considerably improve accuracy and speed of industrial machine tools and their centres. This paper deals with the preparatory operations: homing and calibration, which precede start-up of the robot work, i.e. real control process. Their procedures are discussed
with respect to planar parallel robots and their control. In this paper, as a control strategy, the modelbased predictive control is considered. The predictive control offers operator to continously influence
the control process. The control issues of planar parallel robots are discussed here.
We06.03: Visual servoing control for line and object detection and following using a robotic arm manipulator mounted real time camera system
Dr James Buckle
Univ. of Liverpool
Mr Andrew Tickle
Univ. of Liverpool
Dr Fan Wu
Univ. of Liverpool
Mr Paul Harvey
Univ. of Liverpool
Prof Jeremy Smith
Univ. of Liverpool
Abstract: This paper presents an investigation into compliant robotic systems, focusing on the use of
high speed visual servoing without modelling to correct manipulator elasticity when working either
above the manufacturers recommended velocities or load levels. This work is based on a PUMA 500
series manipulator in SLAVE control, interfaced with a PC running RTAI Real-time Linux and a PixeLINK
CMOS camera. This paper focuses on the details of how the system was designed from the special
compliant link to mount the camera, with the associated resonance calculations, to the testing mechanism which consists of trying to get the robot to find the centre of a target line and how it responds
to target step-change input. The control response graphs and the accuracy of the system will be
discussed in detail. Also included here is how the same system could be implemented using Altera’s
DSP Builder graphical block interface that could see the systems control mechanism improve in performance and cost.
We06.04: Walking Control Algorithm based on Polynomial Trajectory Generation
Dr. Marco Perez-Cisneros
University of Guadalajara
Dr. Erik Cuevas-Jimenez
University of Guadalajara
Dr. Daniel Zaldivar-Navarro
University of Guadalajara
Abstract: Humanoid walking trajectory is a complicated task because of the high number of degrees
of freedom (DOF) and the variable mechanical structure during walking. A non-trivial problem in
bipedal robot walking is the instability produced by violent transitions between different walk phases.
This work presents a trajectory generation algorithm for a biped robot. The algorithm is based on cubic Hermitian polynomial interpolation of the initial conditions of the robot. This guarantees a smooth
transition in the walking phases reducing significantly the tendency for falling down when the walking
speed increases or the terrain conditions changes. The algorithm was successfully tested on the biped
robot "Dany walker", which was designed at the Freie Universitat Berlin, Germany and the University of
Guadalajara, MÌl’xico.
65
Abstracts for Wednesday, Sep. 3
We06.05: Experimental Evaluation of Haptic Control for Human Activated Command Devices
Mr. Andrew Zammit Mangion
University of Malta
Dr. Simon G. Fabri
University of Malta
Abstract: Haptics refers to a widespread area of research that focuses on the interactionbetween
humans and machine interfaces as applied to the sense of touch. A haptic interface is designed to
increase the realism of tactile and kinesthetic sensations in applications suchas virtual reality, teleoperation, and other scenarios where situational awareness is considered important, if not vital. This paper
investigates the use of electric actuators and non-linearalgorithms to provide force feedback to an
input command device for providing haptics to the human operator. In particular, this work involves
the study and implementation of a special caseof feedback linearization known as inverse dynamics
control and several outer loop impedance control topologies. It also investigates the issues concerned
with force sensing and the application of model based controller functions in order to vary the desired inertia and the desired mass matrix. Results of the controllersL’Ûł abilities to display any desired
impedance and provide the required kinesthetic constraint of virtual environments are shown on two
experimental test rigsdesigned for this purpose.
We06.06: Path Planning Generation in Mobile Robots using Evolutionary Harmonic Potential Field Technique
Dr Luis Gonzalez
Instituto Politecnico Nacional
MC Roberto Reyes
Universidad Autonoma de Baja California
Abstract: This paper describes a path planning technique for mobile robotics working on cluttered
environments. By means of sensor recognition and with a technique of evolutionary harmonic potential
fields, the general path planning is reduced to the union of local paths derived by using an optimal
genetic algorithm
We07. Control Applications : Aerospace
Room: Conference Room 6
Time: 16:00
Chaired by: Dr Whidborne, Prof. Wu
We07.01: Robust, Power Aware Mobile Agent Tracking using an 802.15.4 Wireless Sensor Network.
Mr. Michael Walsh
University of Limerick
Dr. Martin Hayes
University of Limerick
Abstract: This work presents an experimental analysis for a lean power, 802.15.4 wireless sensor network
based mobile agent tracking problem. A localization procedure is designed that robustly tracks a moving agent despite significant uncertainty existing on the received signal strength vector. The benefits
of dynamic power control are considered at two separate levels within the network topology. Firstly,
active management of the uplink connection between the stationary tracking reference nodes and
a base station is critically assessed. The cost performance benefit that arises from the use of additional
feedback bandwidth, where available, and also the design of effective time delay compensation is
discussed within this paradigm. Secondly, an additional power control loop is presented where the
effects of Raleigh fading and varying time delay on the uplink between mobile node and base station
are major factors influencing system performance.
We07.02: Real-time trajectory generation technique for dynamic soaring UAVs
Mr Naseem Akhtar
Cranfield University
Dr James Whidborne
Cranfield University
Dr Alastair Cooke
Cranfield University
Abstract: This paper addresses the problem of generating real time trajectoriesfor the dynamic soaring
of UAVs (unmanned aerial vehicles). The aircraftsoar using the wind shear available over the oceans.
TheUAVs utilize the energy from low-altitude wind gradients to reduce fuelconsumption. For a propeller driven UAV, a performance index isselected to minimize the average power required per cycle.
The control problem is formulated byconsidering the equations of motion, operational constraints,initial
conditions and terminal conditions that enforce a periodicflight. The differential flatness property of the
equations of motion are used to transform the problem to the output space, which permits rapid solution using standard nonlinear programming. The results obtained are compared with those achieved
for a collocation technique and a constrained optimizationtechnique.
66
Abstracts for Wednesday, Sep. 3
We07.03: A Lateral Directional Flight Control System for the MOB Blended Wing Body Planform
Mr Naveed Rahman
Cranfield University
Dr James Whidborne
Cranfield University
Abstract: In this work, analysis and design of a lateral directional flight control system for a Blended
Wing Body (BWB) aircraft is considered. The BWB configuration chosen for this purpose is the Europeon
MOB (Multidisciplinary Optimization Blended Wing Body) planform. The MOB configuration does not
have vertical control surfaces for directional stability, instead small winglets with rudders are used. The
lateral directional behavior of the baseline MOB configuration is analyzed and the inherent deficiencies
both in terms of directional stability and control power are highlited. A modification to the MOB BWB
configuration is then proposed in which two vertical rudders are placed at the trailing edge of the
center body. The improvement gained in the stability and directional stiffness is then compared with
the baseline configuration. The open loop analysis is then followed by the design of a yaw damper for
both configurations. It is concluded that the baseline MOB configuration with winglet rudders does not
have enough trim/control authority especially under asymmetric thrust conditions. Rudder control has
to be modified in order to make this a practical design.
We07.04: Suppressing aeroelastic vibrations via stability region maximization and numerical continuation techniques
Dr Max Demenkov
De Montfort University
Dr Mikhail Goman
De Montfort University
Abstract: An active flutter suppression using linear sub-optimal control scheme is investigated for a 2dof
airfoil system with nonlinear torsional stiffness and limited deflection amplitude of its single actuator. The
suppression of limit cycle oscillations in the nonlinear closed-loop system is achieved through maximization of the stability region of its linearized system. The critical value of the control input amplitude is
determined via numerical continuation of closed-loop limit cycle. At this value, the cycle experiences
saddle-node bifurcation and disappears, satisfying the necessary condition for the global stability in
the closed-loop system.
We07.05: ANFIS Network Design Method for Modelling of the Twin Rotor MIMO System (TRMS)
Mrs. Siti Fauziah Toha
University of Sheffield
Dr. M. O. Tokhi
University of Sheffield
Mr. Zakaria Hussain
University of Sheffield
Abstract: Interest in system identification especially in the field of nonlinear system has alarmingly increased in the past few decades. Soft-computing methods which concern computation in an imprecise environment have gained significant attention amid widening studies of explicit mathematical
modelling. In this research, adaptive neurofuzzy inference systems (ANFIS) network design is deployed
and used for modelling a Twin Rotor MIMO system. The system is perceived as a challenging engineering problem due to its high nonlinearity, cross coupling between two axes and inaccessibility of some
of its states and outputs for measurements. Accurate modelling of the system is thus required to be
developed to achieve control objectives satisfactorily. It is demonstrated experimentally that ANFIS
can be effectively used as a mean of nonparametric modelling with a highly accurate result. Model
validation tests including training and test validation and correlation tests were finally carried out in
order to validate the model.Keywords: Soft-computing, Adaptive Neurofuzzy Inference Systems, TRMS,
Nonparametric modelling
We07.06: The optimisation of stator vane settings in multi-stage axial compressors using a particle swarm
optimisation
Mr Hongsuk Roh
University of Sheffield
Prof. Steve Daley
University of Sheffield
Abstract: Abstract L’ÓÛ Axial flow compressors are required to operate over a wide range of mass flow
rate and rotational speeds at high efficiency in industrial gas turbines. However, the useful range of
operation of the axial compressor is limited by the onset of two instabilities known as surge and rotating stall. To resolve these problems, variable stator blades or VGVs are considered by optimising the
blade setting in order to avoid the stall and subsequent surge. To investigate performance, particularly
obtaining acceptable convergence time for practical purposes, a steady state model of a 15 stage
multi-axial compressor is utilised. For the effective search for an optimum setting, the variation in VGVs
with respect to a different combination of objective functions is considered. In this paper, a particle
swarm optimisation method with time-varying inertia weight factor was proposed and utilised to obtain
the best value for a normalised objective function. The results of PSO demonstrate the effectiveness
and the suitability of its use in this proposed application.Index Terms L’ÓÛ axial compressor, particle
swarm optimisation, variable guide vanes (VGVs)
67
Abstracts for Thursday, Sep. 4
Th01. Control Theory: Discrete systems
Room: Conference Room 1
Time: 10:00
Chaired by: Prof. Goodall, Prof. Liu
Th01.01: IMPLEMENTATION OF NON-UNIFORM SAMPLING FOR L’ÛœALIAS-FREE PROCESSINGL’Ûł IN DIGITAL CONTROL
Mr Mohammad Samir Khan
Loughborough University
Prof Roger Goodall
Loughborough University
Dr Roger Dixon
Loughborough University
Abstract: A non-uniform additive pseudo-random sampling pattern (mainly proposed in the signal processing communities) can be used for performing an L’Ûœalias-free signal samplingL’Ûł process. The
carefully designed sampling scheme can mitigate the effects of aliasing and permit significant reductions in the average sampling frequency, leading to more efficient processor utilization. Despite the
fact that the sampling scheme potentially yields a number of advantages, has previously received no
significant attention in the field of Control theory for research. This paperhighlights the implementation
of this technique in digital control compensators, discussing theimportance of selecting a suitable form
for implementation and illustrates the potential benefits in terms of alias avoidance.
Th01.02: Extraproximal Method for Markov Chains Finite Games
M.S. Samuel Moya
CINVESTAV-IPN
P.hD. Alexander Poznyak
CINVESTAV-IPN
Abstract: In this paper a regularized version of the"extraproximal method" is suggested to be applied
for finding a Nash equilibrium in a multi-participant finite game where the dynamics of each player
is governed by a finite controllable Markov chain. The suggested iterative technique realizes the application of a two-step procedure at each iteration: at the first (or preliminary) step some "predictive
approximation" of the a current approximation is calculated; at the second step (the main step of the
iteration) this prediction is used to complete the current iteration. The convergence of the suggested
procedure to one of Nash-equilibrium is analyzed. The conditions guaranteeing this convergence are
discussed. The numerical example demonstrates a good workability of the proposed approach.
Th01.03: L2 gain analysis for linear discrete switched delay systems
Dr. Xi-Ming Sun
University of Glamorgan
Abstract: The problem of L2 gain for a class of linear discrete switched systems with disturbance input
is considered in this paper. It is assumed that not all of the subsystems have normal L2 -gain. Based on
the average dwell time method, we search for switching signals to make the switched systems achieve
the weighted L2 gain. As a special case, the criterion of normal L2 gain under arbitrary switching is
also developed. Without considering delays, the proposed result degenerates to existing one.
Th01.04: Development of second order plus time delay (SOPTD) model from orthonormal basis filter
(OBF) model
Dr Ramasamy M
Universiti Teknologi PETRONAS
Mr. Lemma D Tufa
Universiti Teknologi PETRONAS
Prof Patwardhan Sachin C
Indian Institute of Technology
Dr Shuhaimi M
Universiti Teknologi PETRONAS
Abstract: A novel method to determine the parameters of a second order plus time delay (SOPTD)
model from a step response is presented. The method is uniquely effective in developing SOPTD models
from Orthonormal Basis Filter (OBF) model. A noise free OBF model can be easily developed from
a noisy response data and any type of input with a crude estimate of time constants and no-prior
knowledge of time delay. The OBF model developed in this manner can capture the dynamics of a
process with only a few numbers of terms (parsimonious in parameters) and do not have the problem
of inconsistency which is commonly encountered in ARX models. In addition, the OBF model gives the
liberty to use any type of input sequence for identification so that we can design the best possible
input sequence. However, the time delay in OBF models is estimated by a non-minimum phase zero
and current methods of developing SOPTD model from a step response cannot be applied effectively.
In this paper, an effective method to identify SOPTD systems or for approximating higher order systems
by SOPTD mode from OBF models is proposed. The efficacy of the proposed method is demonstrated
through simulation studies.
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Abstracts for Thursday, Sep. 4
Th01.05: Improved FOPDT model estimation with Delayed-relay feedback for constant time dominant
processes
Ms. Zeinab Tehrani Zamani
University of Tehran
Mr. Behzad Moshiri
University of Tehran
Mr. Ali Khaki Sedigh
K. N. Toosi University of Technology
Mr. Alireza Fatehi
K. N. Toosi University of Technology
Abstract: In this paper with reference to analytical results of different well-known relay feedback methods, we illustrate a main deficiency in parameter estimation of processes with a small ratio of time delay
to time constant. Then to rectify this problem we introduce a modified relay feedback structure with
additional delay to estimate the parameters of the FOPDT transfer function of the system.The significance of this method lies in the fact that many industrial plants perform fairly such as FOPDT systems,
and a wide range of processes have negligible dead time versus their long constant time. Also, the estimated FOPDT transfer function from proposed relay feedback test can be used as a priori knowledge in
advanced control strategies which need a FOPDT model of the system. The method is straightforward
and simulation results illustrate the effectiveness, and simplicity of the proposed method.
Th01.06: Reduced-order Local Optimal Controller for a Higher Order System
Miss Zukhra Kamalova
The University of Manchester
Mr Mahmoud Ashry
The University of Manchester
Dr Tim Breikin
The University of Manchester
Abstract: In this paper, a reduced order local optimal controller is designed for a higher order system.
A reduced order model is obtained for the higher order system and its parameters are used for the
reduced order local optimal controller. Also, genetic algorithm is used with the reduced order local
optimal controller structure to design the controller parameters instead of obtaining them from the reduced order model. These results obtained are compared with the results obtained from full order local
optimal controller. Finally, analogy between reduced order local optimal controller and PI controller
parameters is represented. As such, this reduced order local optimal controller can be used for tuning
PI controller parameters. Experimental results on a lab-based test rig confirm the effectiveness of the
reduced order local optimal controller.
Th02. Robotics: Control and recognition
Room: Conference Room 5
Time: 10:00
Chaired by: Prof.Caro Lucas, Prof. Yang
Th02.01: EXPERIMENTAL STUDIES OF MULTI-ROBOT FORMATION AND TRANSFORMING
Mr. Lei Liu
Loughborough university
Prof. Yongji Wang
Loughborough university
Prof. Shuanghua Yang
Loughborough university
Mr. Graham Watson
Loughborough university
Mr. Brian Ford
Loughborough university
Abstract: Focusing on multi-robot flocking, this paper develops a formation holding and transforming
method by using the leader-follower strategy on the double or triple robot groups. With this method
the state and role of each robot can be identified, and the most suitable topology of the multi-robot
formation is decided in order to go through a gap or avoid an obstacle. Furthermore, the algorithms
and strategies are implemented on the Koala Robots of SEIC/BAe systems, and the communication
between each robot is based on the Internal Communication Engine (ICE), which is a popular middleware used for building distributed communication environments. Finally, the experimental results
demonstrate the efficiency of the proposed method.
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Abstracts for Thursday, Sep. 4
Th02.02: Control Laws Design and Simulation Validation of Autonomous Mobile Robot Off-Road Trajectory Tracking
Dr. Yang Yi
Beijing Institue of Technology
Pr. Fu Mengyin
Beijing Institue of Technology
Pr. Sun Changsheng
Beijing Institue of Technology
Pr. Wang Meiling
Beijing Institue of Technology
Abstract: Abstract: Autonomous wheeled skid-steering mobile robot off-road trajectory tracking is focused on. According to the kinematics and dynamics analysis of the robot, a constraint of the robot
motion is put forward. As uncertain disturbance factors exist during the robot off-road running, a novel
fuzzy lateral control law is proposed, which makes the robot motion globally asymptotically stable.
According to the requirement of off-road running, the longitudinal control law and the sensor pan-tilt
control law are also presented. Based on ATRV2 mobile robot and the off-road terrain information, using
virtual prototype technology, ADAMS and MATLAB co-simulation platform is established, and the robot
simulation running experiment, the off-road trajectory tracking, is performed in the environment. The
simulation results indicate that the control laws are robust and effective for the mobile robot off-road
running.
Th02.03: Fast Gabor Filters for Object Recognition of Mobile Robot
Xiaorong Wang
Nanjing University of Technology
Yingkai Zhao
Nanjing University of Technology
Jinguo Lin
Nanjing University of Technology
Abstract: Gabor filters have been used extensively in areas related to feature extraction of images due
to their localization in space and bandlimited properties. Since 2-D Gabor filters have more complexity
of computation, they have been used in static image decompositions rather than for mobile robots. In
an attempt to reduce complexity of computation of 2-D Gabor filters for mobile robots, in this paper,
a method of fast Gabor filters is presented. In the method, 2-D Gabor filters are decomposed into 1D Gabor filters along non-orthogonal axes with different variances first, and those 1-D Gabor filters
are recursively implemented, then the image group after fast Gabor filters is extracted feature by
Principle Component Analysis (PCA), last the image would be classified by support vector machine
(SVM). Experiment results indicate that, mobile robots can reach recognition rate of more than 92%
and speed of quasi real-time image processing of 8 frames per second by the method.
Th02.04: Sub-Optimal Control Based on Passivity for Euler-Lagrange Systems.
MC JesÌijs P. Ordaz-Oliver
Universidad Politåńecnica de Pachuca
PhD Omar A. Dominguez-Ramirez
Universidad Politåńecnica de Pachuca
MC Filiberto MuÌśoz-Palacios
Universidad Politåńecnica de Pachuca
Abstract: This paper, present a class of nonlinear control, the feedback errorscheme is proposed for trajectory tracking of an Euler-Lagrangesystem. The controller in this paper has the advantage of globalstability and robustness, moreover, we provide a passivity based onstability analysis which suggest that
the system has a condition ofstrictly semi-definite positive realness of tracking error dynamics,this is a
necessary condition for a global stability, to this endthe explicit solution of the Hamilton-Jacobi-Bellman
principle foundby solving the Lyapunov function. In order to demonstrate thecontrol approach, we
present a simulation using a 3-DOF robot, tothis case we use Phantom Haptic device dynamical model.
Th02.05: Control Based on Energy for Vertical 2 Link Underactuated Robots.
MC J. Patricio Ordaz-Oliver
Universidad Politåńecnica de Pachuca
PhD Omar A. Dominguez-Ramirez
Universidad Autåńonoma del Estado de Hidalgo
MC Eduardo S. Espinoza-Quesada
Universidad Politåńecnica de Pachuca
Abstract: A class of nonlinear control scheme for swinging up andstabilization of underactuated 2-link
robots is introduced. Tothis end, the control law proposed is applied to an benchmark system. The proposed methodology is designed based onEuler-Lagrange dynamics, energy analysis and Lyapunov
theory. Aclass of linear control doesn’t allow to compensate the no lineardynamics performance, for
example, inertia, Coriolis, gravity andtribology forces, specially when the system present theunderactuated property. The controller in this paper has theadvantage of local stability, moreover, we provide
a passivitybased on stability analysis which suggest that the system has acondition of strictly semidefinite positive realness of trackingenergy error and desired position, this is a necessary conditionfor a
local stability. Swinging control is based on an energyapproach and the passivity properties, and then
some conditions onthe parameters in the control law such that the total energy ofthe underactuated
robot converges to the potential energy of itstop upright position are given. The stabilization system is
basedon switching LQR control.
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Abstracts for Thursday, Sep. 4
Th03. Control Methodology 1
Room: Conference Room 6
Time: 10:00
Chaired by: Prof Mutoh , Prof. Fujioka
Th03.01: CHEAP COMPUTATION OF OPTIMAL REDUCED MODELS USING SYMBOLIC COMPUTATION
Mr. Akinola Falola
Obafemi Awolowo University
Prof. Oluwafemi Taiwo
Obafemi Awolowo University
Abstract: Many methods have been proposed for the reduction of single-variable and multi-variable
systems having ordinary denominators and those having delays in their numerators and denominators.
In this paper, an algorithm for this purpose is proposed that can be easily used by anybody with not too
advanced knowledge of mathematics yielding optimal reduced models. This algorithm makes use of
the symbolic capabilities of computer algebraic systems (CAS) like Mathematica, MATLAB and Maple
to carry out the model reduction. An advantage of the algorithm is that it can be easily automated
and used for rational, irrational, retarded SISO and MIMO systems.
Th03.02: On the Relative Degrees and the Interactor Matrix of Linear Multivariable Systems
prof Yasuhiko Mutoh
Sophia University
Abstract: In various types of control problems for linear multivariable systems, an interactor matrix is
often used instead of the relative degrees. The interactor is a polynomial matrix of Laplace operator
"s" which cancels all zeros at infinity of the system transfer matrix by multiplying from the left. This implies
that the interactor is another expression of zeros at infinity of the linear multivariablesystem and then
there should be a direct relation between the structure of the interactor and the structure of zeros at
infinity. However, the interactor is not determined uniquely for the given system. This paper shows that
the structure (multiplicities) of zeros at infinity of the linear multivariable system coincides with the row
degrees of its interactor, if and only if the interactor is row proper.
Th03.03: An Approach to Pole Placement Method with Output Feedback
Gra. St Selda GUNEY
Karadeniz Technical University
As Prof Ayten ATASOY
Karadeniz Technical University
Abstract: In this paper, we have presented a simple method in order to solve the pole placement problem of linear output feedback systems with state space models. Pole placement is a control method
assigned to arbitrary closed loop poles by state or output feedback. In linear systems, poles have influence on stability, system response, transient response, and band width. Pole placement methods are
used in the design of different control systems. This paper presents a numerical algorithm for pole placement with output feedback. Earlier, a method based on SylvesterL’Ûłs equation had been applied to
pole placement with state feedback. In our work, this method is applied to pole placement with output feedback. It has been obtained by using generalised inverse approach. The pseudo-inverse C+ of
an m-by-n output matrix C caused a problem while output feedback matrix Ko is calculated. The generalised inverse approach is used for overcoming this problem. It is shown that real different poles and
repeated poles are assigned via output feedback by using the given algorithm. The efficiency of the
algorithm is denoted with several extensive numerical examples. Also the performance of the method
is tested for different poles on various systems. The results are compared with generalised mapping
approach.
Th03.04: Robust output-feedback tracking control of multivariable continuous-time systems in an LMI
setting
Tansel Yucelen
Southern Illinois University
Abstract: This paper presents a new linear matrix inequalities (LMI) based approach for sub-optimal
output-feedback tracking control of continuous-time multiple-input multiple-output (MIMO) systems.
The proposed method is robust and capable of tracking any given constant or time-varying references via minimizing the error between these reference signals and the states of the MIMO system
with a desired level of attenuation. The approach here is based on H∞ performance index for statefeedback control design and H2 performance index for state-observer design. In addition, the proposed methodology has proven to be stable. The contribution of this paper is demonstrated through
a detailed multivariable system simulation for the proof of concept.
Th03.05: Stabilizing systems with aperiodic sample-and-hold devices: state feedback case
AProf. Hisaya Fujioka
Kyoto University
Mr. Toshiharu Nakai
Kyoto University
Abstract: Motivated by the widespread use of networked and/or embedded control systems, an algorithm for stabilizing sampled-data feedback control systems with uncertainly time-varying sampling
intervals is proposed, where it is assumed that the sampled state is available for feedback.The algorithm is an extension of that for stability analysis in the authors’ previous study, and is based on the
robustness against the variation of sampling intervals derived by the small-gain condition.The validity of
the algorithm is demonstrated by numerical examples.
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Abstracts for Thursday, Sep. 4
Th03.06: ROBUST CONTROLLER TUNING BASED ON COEFFICIENT DIAGRAM METHOD
Dr. Mehmet Turan Soylemez
Istanbul Technical University
Mr. Omur Ocal
Istanbul Technical University
Prof. Atilla Bir
Istanbul Technical University
Abstract: In this paper, Coefficient Diagram Method (CDM), which is a controller design method that
provides remarkable time-domain characteristics, is combined with a PI controller in order to design
robust controllers. In particular, it has been demonstrated that it is possible to provide robust tuning
rules for first order plus time delay (FOPTD) systems. Here, PI controller is used for improving the steadystate response of the system and for providing an extra parameter for tuning robustness. Pole Colouring
method is used for measuring robustness. Calculation of robust tuning rules is computationally expensive, since it is required to find the best values of the free parameter of the PI controller for different
plants. However, after using a curve fitting algorithm it is possible to obtain simple tuning rules to determine robust controllers.
Th04. Condition monitoring and fault diagnosis
Room: Weston Theatre
Time: 10:00
Chaired by: Prof Patton, Prof. Burnham
Th04.00: Fault Detection for Vehicle Suspensions Based on System Dynamic Interactions
Mr Xuejun Ding
University of Leeds
Dr Tianxiang Mei
University of Leeds
Abstract: This paper presents a novel method for the fault detection and isolation for rail vehicle suspensions that explores the additional dynamic interactions between different motions of a bogie or
body caused by the failure of suspension components by taking advantage of symmetrical mechanical configurations of railway bogies. The study is focused on the monitoring of the vertical primary
suspensions of a conventional bogie vehicle to demonstrate the general principle and effectiveness
of the proposed method in detecting damper faults, although the technique is equally applicable for
suspensions in other directions.
Th04.01: Observer-Based Residual Design for Nonlinear Systems
Mrs Tabassom Sedighi
Coventry University
Dr Ali J. Koshkouei
Coventry University
Prof Keith J. Burnham
Coventry University
Abstract: This paper presents a method for designing a full order observer for a class of nonlinear system
with unknown input in which the nonlinear functions satisfy Lipschitz conditions. The problem of detecting and isolating faults for this class of nonlinear systems are considered and the theoretical results are
applied to a mass-spring-damper system in the presence of external disturbances and uncertainties to
diagnose the sensor faults.
Th04.02: Nonlinear PCA for Transient Monitoring of an Automotive Engine
Prof George Irwin
Queen’s University Belfast
Dr Xun Wang
Queen’s University Belfast
Dr Geoff McCullough
Queen’s University Belfast
Dr Neil McDowell
Queen’s University Belfast
Dr Uwe Kruger
Petroleum Institute
Abstract: This paper reports on the application of non-linear principal component analysis to the detection of faults in an automotive gasoline engine during transient operation. An auto-associative
neural network is trained on experimental data recorded from an identification cycle in which the engine speed and throttle position inputs were varied over a wide range of the operating map at rates
similar to those experienced during normal operation. The model shows good generalisation to the
New European Drive Cycle, an absence of unwanted false alarms under fault-free engine conditions,
and successful detection of air leaks of varying magnitude in the inlet manifold.
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Abstracts for Thursday, Sep. 4
Th04.03: APPLICATION OF A PCA MODEL APPROACH FOR MISFIRE MONITORING
Dr Paul King
Jaguar Cars Ltd
Prof Keith Burnham
Coventry University
Abstract: During the calibration and development of a number of on board diagnostics there are
several situations which require the analysis of large amounts of multi-dimensional data. One problem
that often arises is the comparison of sets of data in order to determine whether there is a significant
difference between either two sets of tests or a difference in the results as a consequence of a change
in a component. In this paper we investigate this type of problem and develop a PCA model approach
to help make such a decision. Data recorded from the validation work on a misfire monitor is used to
develop our approach.
Th04.04: Robust Fault Isolation for Autonomous Coordination in NCS
Prof. Ron Patton
University of Hull
Mr. Supat Klinkhieo
University of Hull
Abstract: A recent study shows that a given hierarchical decentralized control system architecture may
be suitable for autonomous coordination of fault-tolerant control (FTC) in a network of distributed and
inter-connected subsystems. This paper focuses on the development of a robust Fault Detection and
Isolation (FDI) strategy for this Network Control System (NCS) FTC problem. By using a robust form of
the Unknown Input Observer (UIO), the subsystems can be effectively decoupled from each other
for diagnostic purposes. The effects of subsystem interactions are removed from the FDI residuals,
thus facilitating a powerful way to achieve robust local subsystem FDI. This subsystem isolation forms
a part of the decision-making process of the autonomous system coordinator, facilitating a strategy for
autonomy in FTC for NCS.
Th05. Parameter estimation and data analysis
Room: Conference Room 4/4A
Time: 10:00
Chaired by: Dr. Marjanovic, Dr. Lennox
Th05.01: multivariate statistical analysis of spectroscopic data
Dr. Ognjen Marjanovic
University of Manchester
Mr. Haisheng Lin
University of Manchester
Prof. Barry Lennox
University of Manchester
Abstract: This paper focuses on the application and comparison of Principal Component Analysis
(PCA) and Independent Component Analysis (ICA) using two generic artificially created datasets. PCA
and ICA are assessed in terms of their abilities to infer reference spectra and relative concentrations
of the constituent compounds present in the analysed samples. The results show that ICA outperforms
PCA and is able to identify the reference spectra of all the constituent compounds, while PCA fails to
identify one of the constituent compounds in the case of both data sets. Also, ICA estimates relative
concentrations of the constituent compounds more accurately than PCA does.
Th05.02: Novel algorithms based on conjunction of the Frisch scheme and extended compensated
least squares
Mr Tomasz Larkowski
Coventry University
Mr Jens Linden
Coventry University
Dr Benoit Vinsonneau
Coventry University
Prof Keith Burnham
Coventry University
Abstract: The paper presents a general framework for the Frisch scheme (FS) and the extended compensated least squares (ECLS) technique within which two new algorithms for the identification of
single-input single-output linear time-invariant errors-in-variables (EIV) models are proposed. The first
algorithm is essentially the FS using a novel model selection criterion. The second method is a modification of the ECLS technique, which utilizes not only the set of overdetermined normal equations,
but also the Frisch equation to solve the parameter estimation problem. An extensive Monte-Carlo
simulation compares the novel algorithms with existing EIV identification approaches.
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Abstracts for Thursday, Sep. 4
Th05.03: Parameter Identification for Electromechanical Servo Systems Using a High-gain Observer
Mr. Usama Abou-Zayed
The University of Manchester
Dr. Zhiwei Gao
The University of Manchester
Mr. Xuewu Dai
The University of Manchester
Dr. Tim Breikin
The University of Manchester
Abstract: In this paper, a High-gain Observer (HGO)-based identification technique is used to identify
the parameters for electromechanical servo systems. The HGO is used for estimating the system states,
disturbances due to uncertainty or parameter changing, and output noise. Then, a new model is
presented using QR factorization. The estimated observer states show good agreement with the system
actual states for noise free and bounded noisy input/output systems. Using model simulations and realtime input-output data gathered from a noisy electromechanical servo system, experimental study is
made. It is shown that HGO-based parameters identification has better performance in bounded noise
environment compared with the subspace algorithm.
Th05.04: Minimum Entropy Parameter Estimation of Bounded Nonlinear Dynamic Systems with NonGaussian state and Measurement noise
Mr George Papadopoulos
University of Manchester
Dr Martin Brown
University of Manchester
Abstract: Parameter estimation plays an important role in Systems Biology in helping to understand
the complex behavior of signal transduction networks. The problem becomes more complex as the
inherent stochasticity of the signaling mechanism involves noise components of non-Gaussian nature.
In this paper a novel stochastic parameter estimation method has been developed where the entropy
of the joint residual PDF is used as a measure of the systems uncertainty. The optimal parameter values
are selected as the ones corresponding to a minimal entropy value of the residual. The novelty of
this approach lies in that the assumptions for the system involve both state and measurement noise
of arbitrary distribution and the method is designed for general multivariable systems. The residual
PDF is approximated using well known Kernel Density Estimation methods. The analysis of the method
includes application to the RKIP regulated ERK signaling pathway and comparisons are drawn based
on the Least Squares solution of the same problem.
Th05.05: Condition Monitoring Approaches to Estimating Wheel-Rail Profile
Dr Guy Charles
Loughborough university
Prof Roger Goodall
Loughborough university
Dr Roger Dixon
Loughborough university
Abstract: The wheel and rail interaction is the main influence on the dynamic response of a rail vehicle.
Any changes in the wheel and rail will change the overall response of the vehicle. The condition monitoring challenge is to interpret these changes into useful condition information. This paper presents
the results from initial feasibility studies into model-based condition monitoring at the wheel-rail interface applied to estimating the wheel-rail profile estimation.A number of approaches are presented,
based around a Kalman Filter method and least squares methods, applied to a linearised simulation
model that included a nonlinear conicity function. The function was successfully estimated using a
Kalman Filter that included self-updating information about the shape of the conicity function, and by
a piecewise cubic least squares approach.
Th05.06: Dynamic Model for the LHIfAM Haptic Interface: Friction parameter estimation
Eng Mildred Puerto
CEIT
PhD Emilio Sanchez
CEIT
Abstract: The approach of new control strategies in the field of haptics usually implies the necessity
of having a dynamic model for the user and the haptic robot. This paper presents the procedure
applied to obtain the analytical dynamic equations and then the parameter estimation for the LHIfAM
haptic device that has been totally developed at CEIT. The proposed methodology begins with the
analytical equations computed via the Lagrange-Euler algorithm, then the calculations of masses via
CAD models and finally the friction parameters have been obtained via the Least Square method.
Finally, the paper explains the validation tests carried out on the estimation results.
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Abstracts for Thursday, Sep. 4
Th06. Control Theory: Uncertain and time varying
Room: Conference Room 1
Time: 13:30
Chaired by: Prof Wagg, Dr. Breikin
Th06.01: Relay feedback based monitoring and autotuning of processes with gain nonlinearity
Ms. Zeinab Tehrani Zamani
University of Tehran
Mr. Behzad Moshiri
University of Tehran
Mr. Alireza Fatehi
K. N. Toosi University of Technology
Mr. Ali Khaki Sedigh
K. N. Toosi University of Technology
Abstract: Performance assessment and monitoring of control systems can be used to improve the performance of industrial processes. In this paper, a novel relay feedback based method for monitoring
and automatic retuning of a class of proportional-integral (PI) controllers is proposed for the systems
with gain nonlinearity. For performance assessment of the closed loop system, a time domain evaluation criteria based on the integral of the absolute value of the error (IAE) and the normalized pick of
the error in setpoint (SP) changes are presented. Simulation results on the highly nonlinear pH process
have shown the effectiveness and feasibility of this method.
Th06.02: Design and Implementation of a Time Varying Local Optimal Controller based on RLS Algorithm
for Multivariable Systems
Mr Mahmoud Ashry
The University of Manchester
Mr Usama Abou-Zayed
The University of Manchester
Dr Tim Breikin
The University of Manchester
Abstract: Since the local optimal controller is a model based controller, the controller parameters can
be updated with the on-line parameter tuning. Recursive least squared algorithm is used for on-line
closed-loop identification of the model parameters. In this paper, the local optimal controller is designed for multivariable system and its parameters are updated on-line. The time varying local optimal
controller is implemented on a lab-based test rig. In addition to its computational efficiency and structure simplicity, the experimental results confirm the effectiveness of this controller especially when the
parameters of the system are time-variant.
Th06.03: CONTROL TECHNIQUES FOR MULTI-AXIS REAL-TIME DYNAMIC SUBSTRUCTURING
Miss Meriem Allouache
University of Bristol
Dr. David Wagg
University of Bristol
Dr. Mark Lowenberg
University of Bristol
Abstract: Real-time substructuring is a novel hybrid method for the dynamic testing of complex engineering structures. This technique involves creating a hybrid model of the entire structure by combining an experimental test piece with the remainder of the structure which is modelled numerically.
The essence of this technique is to emulate the dynamic behaviour of the original structure by using
real-time control techniques to join the two substructures together. This paper will focus on control
strategies involving delay compensation and synchronization on a multi-axis experimental rig commissioned specifically for real-time substructuring. The current application also inspires studies of coupling
in real-time.
Th06.04: FDI OF THREE-TANK SYSTEM USING NEUROFUZZY NETWORKS WITH LOCAL APPROACHES
Dr H.T. Mok
The University of Hong Kong
Dr C.W. Chan
The University of Hong Kong
Abstract: In this paper, a fault detection and isolation (FDI) scheme is derived based on fuzzy rules
extracted from the neurofuzzy network that models the residual of the system. First, a fault database
(FDB) is constructed from fuzzy rules extracted from the neurofuzzy networks that model all possible
faults in the system. By comparing the currently extracted fuzzy rules with those in the FDB using the
nearest neighbour classifier, faults are diagnosed online. As the number of rules in the FDB can be
quite large, the FDI scheme proposed here utilises the local approaches to reduce the computation
load and to improve the sensitivity of the method. The proposed FDI scheme is successfully applied to
diagnose faults in a nonlinear three-tank control system.
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Abstracts for Thursday, Sep. 4
Th06.05: A foray into P2BL in a Control Systems Course
Mr David Hamilton
CIT
Dr Tom O’Mahony
CIT
Abstract: Abstract: Project- and problem-based learning are recommended instructional models that
develop students capabilities to solve problems, work in teams and learn independently. This paper
presents a course component, developed by the authors, in which the students are presented with an
authentic problem and a blended project and problem based learning instructional model is used to
develop these transferable skills. The component also integrates international best practice from the
field of education. A number of techniques were used to evaluate the course and the results indicate
that students perceived that the component developed their ability to work in teams and are very
open to similar components being introduced into additional modules. However, the authors noted
that students experienced considerable difficulty translating prior knowledge to an unfamiliar scenario
and this prompts (as yet unanswered) questions about the effectiveness of traditional teaching models.
Th06.06: A NEW APPROACH TO INPUT-OUTPUT PAIRING ANALYSIS FOR UNCERTAIN MULTIVARIABLE PLANTS
Dr Bijan Moaveni
Shahid Rajaee Teacher Training University
Prof. Ali Khaki Sedigh
K.N. Toosi University of Technology
Abstract: In this paper, a new method to analyze the input-output pairing for uncertain multivariable
plants is proposed. Here, Hankel Interaction Index Array is used to choose the appropriate input-output
pair and a theorem will be presented to show the effect of additive uncertainties on input-output
pairing of the system. In this theorem a new approach to compute the variation bound of Hankel
Interaction Index Array elements due to additive uncertainties in state space framework is given to
study the possible change in input-output pairing. Finally, two typical plants are employed to show the
main points of the proposed methodology
Th07. Inequality Procedures(invited)
Room: Conference Room 5
Time: 13:30
Chaired by: Dr Arunsawat, Prof. Whidborne
Th07.01: Method of Inequality-Based Multiobjective Genetic Algorithm for Optimizing Cart-DoublePendulum-System
Prof. Tung-Kuan Liu
Natl Kaohsiung First Univ. of Science and Technology
Mr. Chiu-Hung Chen
Natl Kaohsiung First Univ. of Science and Technology
Prof. Zu-Shu Li
Chongqing Institute of Technology
Abstract: This article presents a multiobjective genetic algorithm to tracking the optimal parameterization problem of the controller concerning the swinging-up and handstand-control of the general
cart-double-pendulum system (CDPS). The design based on the Human-Simulated Intelligent Control (HSIC) theory is required to meet various criteria according to the expected specifications. The
proposed algorithm extends from the original method of inequality-based multiobjective genetic algorithm (MMGA) and can efficiently maintain the Pareto set of the CDPS optimal parameters in the
evolutionary population.
Th07.02: Design of Critical Control Systems Using Disturbance Cancellation Controllers
Prof. Tadashi Ishihara
Fukushima University
Dr. Takahiko Ono
Hiroshima City University
Abstract: Recently, the authors have proposed a new critical control system design which does not
require extensive numerical search. The key idea is to decompose the design problem into two simpler
design steps by the technique used in the classical loop transfer recovery method. Since the integral
action of the controller is required to deal with the rate-limited exogenous signal, our previous work
assumes the use of the Davison type integral controller. In this paper, we discuss the application of
the new tmethod to the control system design using the integral controller based on the disturbance
cancellation.
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Abstracts for Thursday, Sep. 4
Th07.03: Development of the actively-controlled beds for ambulances
Dr Takahiko Ono
Hiroshima City University
Dr Tadashi Ishihara
Fukushima University
Dr Hikaru Inooka
Research House LOGOS
Abstract: During transportation by ambulance, the inertial acceleration acts on a patientwhen an ambulance decelerates or turns a corner. Such acceleration often gives a supine patient physical stress
such as blood pressure variation and body sway, which results in pain or a feeling of discomfort. To
reduce this undesirable effect of the acceleration, the actively-controlled bed, which controls a posture of the bed to cancel the inertial acceleration by the gravitational acceleration,was developed.
This paper gives an overview of its development,including control system design and performance
evaluation.
Th07.04: Robust Multivariable Control System Design Using The Method Of Inequalities
Prof. Olufemi Taiwo
Obafemi Awolowo University
Mr. Kayode Owa
Obafemi Awolowo University
Mr. Ayodeji Akere
Obafemi Awolowo University
Mr. Temitope Ajetunmobi
Obafemi Awolowo University
Abstract: This work is concerned with the design of robust control systems for multivariable time-delayed
plants using the Method of Inequalities (MOI). It is an extension of previous applications in that the time
delays are not approximated by rational functions. A further extension is that the designed systems
were required to satisfy certain robustness conditions. This assures guaranteed stability and performance for uncertain systems.Admirable qualities of the method are that it facilitates the design of
simple controllers of predetermined structures,such as decentralized controllers,while allowing multiobjective specifications.
Th07.05: Poiseuille Flow Controller Design via the Method of Inequalities
Dr James Whidborne
Cranfield University
Dr John McKernan
King’s College London
Dr George Papadakis
King’s College London
Abstract: This paper investigates the use of the Method of Inequalities (MoI) to design output-feedback
compensators for the problem of the control of laminar plane Poiseuille flow.In common with many
flows, the dynamics of plane Poiseuille flow are very non-normal. Consequently, small perturbations
grow rapidly with a large transient that may trigger nonlinearities and lead to turbulence even though
such perturbations would, in a linear flow, eventually decay.Such a system can be described as a conditionally linear system.The sensitivity is measured using the maximum transient energy growth, which is
widely used in the fluids dynamics community. The paper considers two approaches. In the first, the MoI
is used to design low-order proportional and P+D controllers. In the second approach, the MoI is combined with McFarlane and Glover’s H-infinity loop-shaping design procedure in a mixed-optimization
approach. The results show that the low-order controllers do reduce the maximum transient energy
growth but the reduction is not satisfactory. Furthermore, the H-infinity approach does not improve the
performance.
Th07.06: Computation of Peak Output for Inputs Restricted in L2 and L∞ Norms Using Convex Optimization
Dr Suchin Arunsawatwong
Chulalongkorn University
Mr Warit Silpsrikul
Chulalongkorn University
Abstract: Control systems design by the principle of matching gives rise to problems of evaluating the
peak output. This paper proposes a practical method for computing the peak output of linear timeinvariant and non-anticipative systems for a class of possible sets that are characterized with mixed
bounding conditions on the two- and/or the nfinity-norms of the inputs and their derivatives. The associated infinite-dimensional convex optimization problem is approximated as a large-scale convex
programme defined in a Euclidean space, which are associated with sparse matrices and thus can be
solved efficiently in practice. The numerical results show that the method performs satisfactorily, and
that using a possible set with many bounding conditions can help to reduce the design conservatism
and thus yields a better match.
77
Abstracts for Thursday, Sep. 4
Th07.07: Design of Retarded Fractional Delay Differential Systems by the Method of Inequalities
Dr Suchin Arunsawatwong
Chulalongkorn University
Mr Van Quang Nguyen
Chulalongkorn University
Abstract: Methods based on numerical optimization are useful and effective in the design of control
systems. This paper describes the design of retarded fractional delay differential systems (RFDDSs) by
the method of inequalities, in which the design problem is formulated so that it is suitable for solution
by numerical methods. This is an extension of the formulation proposed by Zakian and Al-Naib (Proc.
IEE 120, pp. 1421–1427, 1973) in connection with rational systems. In using the formulation with RFDDSs,
the associated stability problems are resolved by using the stability test and the numerical algorithm recently developed by the authors, whereas the time-responses are obtained by using a known method
for numerical inversion of Laplace transforms. Two numerical examples are given, where fractional
controllers are designed, respectively, for a time-delay plant and a heat-conduction process.
Th08. Sliding Mode Control
Room: Conference Room 6
Time: 13:30
Chaired by: Prof. Spurgeon, Prof. Gessing
Th08.01: SLIDING MODE CONTROLLERS USING OUTPUT INFORMATION: AN LMI APPROACH
Mr. xiaoran Han
Leicester University
Ms. Emilia Fridman
Aviv University
Ms. Sarah Spurgeon
Leicester University
Mr. Chris Edwards
Leicester University
Abstract: This paper considers the development of Sliding mode output feedbackcontrollers. The existence problem is solved via a static outputfeedback formulation using a descriptor approach. Linear
matrixinequalities (LMI) are used to obtain the parameters of theswitching function. The paper provides
conditions in terms of thesystem structure for a stable reduced-order sliding motion to exist.A controller
is constructed to ensure the sliding mode is reached. Anumerical example from the literature illustrates
the proposedmethod.
Th08.02: Application of MPC and Sliding Mode Control To IFAC Benchmark Models
Dr Meghan McGookin
University of Glamorgan
Dr David Anderson
University of Glamorgan
Dr Euan McGookin
University of Glamorgan
Abstract: The comparison of Model Predictive Control (MPC) and Sliding Mode Control (SMC) are
presented in this paper. This paper investigates the performance of each controller as the navigation
system for IFAC benchmark ship models (cargo vessel and oil tanker). In this investigation the navigation
system regulates the heading angle of the two types of marine vessel with reference to a desired heading trajectory. In this investigation, the result obtained from MPC is compared with a well-established
control methodology, namely Sliding Mode control theory. Wave disturbances and actuator limits are
implemented to provide a more realistic evaluation and comparison for the proposed control structure.
Th08.03: SLIDING-MODE POSITION CONTROL OF A 1-DOF SET-UP BASED ON PNEUMATIC MUSCLES
Mr Javier Arenas
Ikerlan
Mr Aron Pujana-Arrese
Ikerlan
Mrs Sandra RiaÌśo
Ikerlan
Mrs Ana Martinez-Esnaola
Ikerlan
Dr Joseba Landaluze
Ikerlan
Abstract: A one-degree-of-freedom arm driven by pneumatic muscles has been designed and built
in order to research the applicability of pneumatic artificial muscles in industrial applications. The experimental set-up is very non-linear and very difficult to control properly. As a reference, an enhanced
PID controller was designed. At the same time, a sliding-mode controller based on an observer was
designed and implemented. Firstly, this paper presents the experimental set-up and the systemL’Ûłs linear models. After that, it focuses on the process of designing the sliding-mode controller. Finally, some
results obtained in simulation as well as experimentally are presented.
78
Abstracts for Thursday, Sep. 4
Th08.04: About Equivalence Between Sliding Mode and Continuous Control Systems
Prof. Ryszard Gessing
Politechnika A?l
˛ ĂÉska
Abstract: It is shown, how to create the continuous system equivalent to the system with sliding mode
control. In the case of minimum phase plants, the system arises from the replacement of the relay with
small hysteresisby the amplifier with high gain, connected in series with saturationhaving appropriate
parameters. In the case of nonminimum phase (or other difficult plants) it is noted that similar equivalence exists for the continuous and relay system with parallel compensator. The latter system may
be treated as the system with modified sliding mode control.In the equvivalent continuous system the
chattering effect, related withsliding mode control doesn’t exist. ©2008
Th08.05: Fuzzy Sliding Mode Controllers for Vehicle Active Suspensions
Dr Ali Koshkouei
Coventry University
Abstract: In this paper a method using sliding mode control and fuzzy logic techniques is presented
for controlling a quarter-vehicle hydraulic active suspension. In this method a set of linear systems
is considered which approximately describes the behaviour of the nonlinear suspension model. For
each subsystem a suitable sliding mode controller is designed and then based on the Takagi-Sugeno
fuzzy method an overall sliding mode controller for the Takagi-Sugeno model is designed. The proposed method considers two phases. In the first phase, the suspension dynamics is controlled via the
actuator between the sprung and unsprung masses. Then the spool valve displacement dynamics is
considered to control the current of the servo valve. Since there is an unknown parameter in the system
an adaptation law is proposed to yield an appropriate estimate.
Th08.06: Design of an Asymptotic Sliding Mode Algorithm for Nonlinear Systems: An Observer Based
Approach
Prof. Chieh-Li Chen
National Cheng Kung University Tainan
Mr. Chao-Chung Peng
National Cheng Kung University Tainan
Abstract: Using the concept of dynamic sliding mode control, an asymptotic robust controller for high
order nonlinear systems is presented. In this approach, a n-order nonlinear system is transformed into
a first order system through systematic backstepping design and then it will be shown that the control
objective is equivalent to design a robust control law for a 2nd order auxiliary system with only output
information available. To get an extra state value, a robust asymptotic observer was integrated into
design process that results in an asymptotic sliding mode control algorithm. The proposed method not
only preserves some features of conventional sliding mode theory but attenuates undesirable chattering action as well. A numerical example was utilized to demonstrate the applicability of the developed
approach.
Th09. Imaging and Road Traffic Control
Room: Weston Theatre
Time: 13:30
Chaired by: Dr. P. Cook, Prof Xu
Th09.01: Movement-Based Look-Ahead Traffic-Adaptive Intersection Control
dr.ir. Ronald van Katwijk
TNO
prof. Bart De Schutter
Delft University of Technology
prof. Hans Hellendoorn
Delft University of Technology
Abstract: There exist several control approaches for traffic signal control such as fixed-time, vehicleactuated, or look-ahead traffic-adaptive control. We argue that in order to flexibly deal with varying
demand levels movement-based control (which is already common in vehicle-actuated intersection
control) is required instead of stage-based control (which is still employed in the state-of-the-art in lookahead traffic-adaptive control). The movement-based approach is more flexible than the stage-based
approach as it allows green for signals in different stages to start sooner if the demand for all conflicting
movements in the current stage has cleared. Therefore, we propose a new movement-based method
for look-ahead traffic-adaptive control. The method uses dynamic programming and branch-andbound algorithms to determine the optimal traffic signal settings. We illustrate via a simulation example
that the new approach can significantly outperform vehicle-actuated and stage-based look-ahead
traffic-adaptive control.
79
Abstracts for Thursday, Sep. 4
Th09.02: Development of Knowledge-based Measurement with Monocular Vision
Prof. De Xu
Chinese Academy of Sciences
Abstract: In this tutorial, knowledge-based visual measure methods with monocular vision system are
investigated. The approaches of visual measure based on knowledge known in advance can be
classified to four basic categories according to the types of knowledge, such as point position, line, size
or shape knowledge, and motion knowledge. The principle for each category is shortly introduced.
Furthermore, visual measure methods based on environment information are also discussed. Finally,
conclusion and outlook for the development of knowledge-based visual measure are presented.
Th09.03: Multiple Kernel Learning from Sets of Partially Matching Image Features
Dr Siyao Fu
Chinese Acadedemy of Sciences
Dr Zengguang Hou
Chinese Acadedemy of Sciences
Dr Zize Liang
Chinese Acadedemy of Sciences
Dr Min tan
Chinese Acadedemy of Sciences
Dr Qi Zuo
North China University of Technology
Abstract: Kernel classifiers based on Support Vector Machines(SVM) have achieved state-of-the-art
results in severalvisual classification tasks, however, recent publications and developmentsbased on
SVMhave shown that using multiple kernelsinstead of a single one can enhance interpretability of the
decisionfunction and improve classifier performance, which motivatesresearchers to explore the use of
homogeneous model obtained aslinear combinations of kernels. Multiple Kernel Learning (MKL)allows
the practitioner to get accurate classification results andidentify relevant and meaningful features.
However, the useof multiple kernels faces the challenge of choosing the kernelweights, and an increased number of parameters that may leadto overfitting. In this paper we show that MKL problem
canbe formulated as a convex optimization problem, which can besolved efficiently using projected
gradient method. Weights oneach kernel matrix (level) are included in the standard SVMempirical risk
minimization problem with a L2 constraint toencourage sparsity. We demonstrate our algorithm on classificationtasks, including object recognition and classification, which isbased on a linear combination
of histogram intersection kernels,computed at multiple pyramid levels of image encoding, and weshow
that the proposed method is accurate and significantly moreefficient than current approaches.
Th09.04: A STUDY ON THE EFFECT OF GPS ACCURACY ON A GPS/INS KALMAN FILTER
Mr King Tin Leung
Cranfield University
Dr. James Whidborne
Cranfield University
Dr. David Purdy
Cranfield University
Dr. Alain Dunoyer
Jaguar Land Rover
Dr. Robert Williams
Cranfield University
Abstract: In this paper, a Kalman Filter (KF) is used to fuse the Integrated Navigation System (INS) and
Global Positioning System (GPS) for the problem of estimating ground vehicle dynamics. Perfect unbiased measurements of the two sensors are extracted from a simulation using IPG CarMaker at a rate
of 1 ms to represent a pseudo-analogue signal. Noise is added to the INS and GPS measurements,
and then sampled at 100 Hz and 1 Hz respectively. The sampled signals are integrated in the KF and
estimated states are compared with the perfect measurements. Results have shown that bias prediction in an INS is achievable using a KF, but highly dependent on the accuracy of GPS. A guided chart
is included to aid designers to choose the types of GPS (i.e. sampling rate and variance) against their
error criterion.
Th09.05: Control Schemes for Safe Operation of Vehicles Convoys
Dr. Peter Cook
University of Manchester
Abstract: The problem addressed is the selection of control parameters to ensure stable operation of
a vehicle convoy system, with maximum throughput, while satisfying constraints imposed by considerations of safety and passenger comfort. Several forms of control law are investigated, including single
and multiple look-ahead strategies as well as bi-directional control. By considering simple models,
typical conditions for achieving collision avoidance and jerk limitation, while maintaining stability, are
derived.
Th10. Control Methodology 2
Room: Conference Room 4/4A
Time: 13:30
Chaired by: Dr. Marjanovic, Dr. Kater
80
Abstracts for Thursday, Sep. 4
Th10.00: A hands-on approach toward vehicle velocity estimation
Prof. Ansgar Rehm
University of Applied Sciences Osnabrueck
Hui Fan
Tesis Dynaware GmbH
Abstract: Automotive vehicle velocity estimation based only on steering angle and angular wheel
velocity measurements is considered in the paper at hand. The approach is based on stationary
Kalman filter design combined with a suitable preprocessing of the wheel velocity signals. A detailed
assessment of the results by comparison with measured data is given. Possible applications include
hierarchical monitoring of vehicle dynamics sensor networks.
Th10.01: DATA-DRIVEN DIRECT ADAPTIVE MODEL BASED PREDICTIVE
Mrs Norhaliza Abdul Wahab
University of Strathclyde
Dr Reza Katebi
University of Strathclyde
Dr Jonas Balderud
University of Strathclyde
Abstract: Abstract: This paper is concerned with the design of Direct Adaptive Model Based Predictive
Control (DAMBPC) using subspace identification technique to identify and implement the controller
parameters. The direct identification of controller parameters reduces the design effort and computation load which is usually involved with classical adaptive control techniques. The proposed method
requires a single QR-decomposition for obtaining controller parameters directly from input-output data
when the model dynamic changes. The method using receding horizon approaches to collect data
and identify the controller. The paper presents a comparison of performance given by proposed control scheme when applied to a 4-tank nonlinear system with that of a linear model predictive control
scheme and multi-loop PID controllers.
Th10.02: A New Multi Agent Approach for Traffic Shaping and Buffer Allocation in Routers
Mr Mohamad Taheri Tehrani
Shiraz University
Mr Ali Akbar Safavi
Shiraz University
Mr Mohamad Raffie Kharazmi
Shiraz University
Mr Mohamad Javad Arefi
Shiraz University
Abstract: In this paper, the concepts of reinforcement learning and multi-agent systems are invoked to
develop a new traffic shaper for a reasonable utilization of bandwidth while preventing traffic overload
in other part of the network. This leads to a reduction in the total number of packet dropping in the
whole network. The method is implemented in a novel proposed intelligent simulation environment.
The results obtained from this simulation environment show satisfactory behaviors from the aspects of
keeping dropping probability low while injecting as many packets as possible into the network in order
to utilize the available bandwidth as much as possible. Furthermore, the system can perform well even
in situations that have not been previously introduced to the system.
Th10.03: Using Lagged Spectral Data in Feedback Control Using Particle Swarm Optimisation
Mr. Caleb Rascon
University of Manchester
Prof. Barry Lennox
University of Manchester
Dr. Ognjen Marjanovic
University of Manchester
Abstract: The ability to use spectral data within a control loop is beginning to be considered in many
areas, particularly in the Pharmaceutical Industry. However, typical spectral analysis tools, such as
Classical Least Squares, are very fragile when handling frequency shifts which may occur in spectral
measuring devices as a result of poor calibration or external influences. This paper shows that Particle
Swarm Optimisation can be used to offset the effect of shift in measured spectra and improve the
performance of any control system which may use this measurement.
Th10.04: Exact Controls for Superconformal Via Fill Process
Prof. Robert Tenno
Helsinki University of Technology
Mr. Antti Pohjoranta
Helsinki University of Technology
Abstract: This paper reports a means for stabilizing the microvia fill ratio on a desired level, using the
total plating time and the system galvanostat setpoint current density as optimal controls. Both control variables are solved as functions of the process state as well as selected manufacturer preference
variables that are typical for the via fill technology applied in multilayered printed circuit board production. The optimal controls are obtained as a system of two equations and solved numerically with
the gradient descent method. Results of the numerical analysis are presented and discussed.
81
Author Index
Author
Paper
Abdul Wahab, Norhaliza
Abou-Zayed, Usama
Th10.01
Tu04.02
Th05.03
Th06.02
Tu05.03
We01.04
Tu13.01
We03.03
Th07.04
Th07.04
We07.02
Tu02.05
We03.03
Tu08.03
We03.03
Tu02.05
We03.03
Tu04.03
Th06.03
Tu10.05
Th08.02
Th10.02
Th08.03
Tu01.02
Th07.06
Th07.07
We01.01
Th01.06
Th06.02
Th03.03
Tu11.02
We01.05
Tu08.03
Tu08.03
Th10.01
Tu01.06
Tu14.04
We06.02
Tu04.05
Tu12.02
Tu11.01
Th03.06
IET1.02
Tu04.02
Tu05.01
We01.01
Th01.06
Th05.03
Th06.02
Continued ...
Afshar, Puya
Ahmed, HAFAIFA
Ajbar, AbdulHamid
Ajetunmobi, Temitope
Akere, Ayodeji
Akhtar, Naseem
Al-haj Ali, Mohammad
AL-Sunni, Fouad
Alhumaizi, Khalid
Ali, Emad
Ali Naz, Shamsher
Allouache, Meriem
Alvarez, Teresa
Anderson, David
Arefi, Mohamad Javad
Arenas, Javier
AriÌśo, Carlos
Arunsawatwong, Suchin
Ashry, Mahmoud
ATASOY, Ayten
Atherton, Derek
Auger, Daniel
Azhar Ali, Syed Saad
Bakhashwain, Jamil
Balderud, Jonas
Baser, Ulviye
Bayro-Corrochano, E.
Belda, Kvetoslav
Beyer, Marc-Andre
Bi, Shuhui
bingkun, zhu
Bir, Atilla
Boardman, Megan
Breikin, Tim
Author
Brignall, Nick
Brown, Colin
Brown, Martin
Buckle, James
Bugeja, Marvin K.
Burnham, Keith J.
Burnham, Keith
C, B
Carnevale, Claudio
Chafouk, Houcine
Chan, C.W.
Changsheng, Sun
Chappell, Keith
Charles, Guy
Chaudhari, Anita
Cheetham, Martin
Chen, Jian
Chen, Chiu-Hung
Chen, Chieh-Li
Chotai, Arun
Chumalee, Sunan
Clarke, Phil
Collado, Joaquin
Cook, Peter
Cooke, Alastair
Crawshaw, Stuart
Cristea, Smaranda
Cuevas-Jimenez, Erik
D Tufa, Lemma
Dabo, Marcelin
Dai, Xuewu
DALEY, Steve
Daley, Steve
Davies, Jessica
Davis, S.
de Prada, Cesar
De Schutter, Bart
Demenkov, Max
Deng, Mingcong
Deng, M.
Deng, Mingcong
Dexter, Arthur
Dickinson, Paul
Ding, Zhengtao
83
Paper
Tu10.04
Tu04.01
We02.01
Th05.04
Tu07.02
We06.03
Tu08.06
Th04.01
Th04.03
Th05.02
IET1.03
We03.04
We04.03
Th06.04
Th02.02
IET2.01
Th05.05
We05.01
IET1.01
Tu01.02
Tu10.01
Th07.01
Th08.06
Tu01.01
Tu02.02
Tu01.05
IMechE2.02
Tu15.03
Th09.05
We07.02
We01.05
Tu10.05
We06.04
Th01.04
We04.03
Tu04.02
Tu05.01
Th05.03
Tu06.01
We07.06
Tu05.04
InstMC2.03
We03.02
Th09.01
We07.04
Tu03.04
Tu12.02
Tu12.03
Tu12.04
Tu13.03
We04.04
Tu02.01
Tu02.06
Continued ...
Author
Ding, Steven
Ding, Zhengtao
Ding, Xuejun
Dixon, Roger
Dominguez-Ramirez, Omar A.
Duncan, Stephen
Dunoyer, Alain
E. Wellstead, Peter
Economou, John
Edahiro, Kazunori
Edwards, Chris
Espinoza-Quesada, Eduardo S.
Exadaktylos, Vasileios
Fabri, Simon G.
Falola, Akinola
Fan, Hui
Fatehi, Alireza
Fei, Minrui
Feng, Ying
Ferhat, LAAOUAD
Ferris, Mike
Ford, Brian
Freear, Steven
Fridman, Emilia
Fu, Siyao
Fujioka, Hisaya
Gao, Zhiwei
Garcia-Hernandez, R.
Gasztonyi, Peter
Ge, Shuzhi
Gessing, Ryszard
Gharooni, C Samad
Goman, Mikhail
Gonzalez, Luis
Goodall, Roger
Gorez, Raymond
Gray, John
Gray, J. O.
Grimble, Mike
Paper
Tu05.02
Tu07.01
Th04.00
Tu05.04
Tu09.06
Th01.01
Th05.05
Th02.04
Th02.05
We03.01
Th09.04
InstMC1.03
We05.04
Tu12.04
Th08.01
Th02.05
Tu02.02
Tu08.06
We06.05
Th03.01
Th10.00
Tu08.04
Tu08.05
Tu14.05
Th01.05
Th06.01
Tu09.03
Tu02.03
Tu13.01
InstMC2.01
Th02.01
Tu15.04
Th08.01
Th09.03
Th03.05
Tu04.02
Th05.03
Tu14.04
Tu07.03
Tu02.03
Th08.04
Tu13.02
We07.04
We06.06
Tu05.04
Tu09.06
Th01.01
Th05.05
We01.02
Tu13.05
InstMC2.03
Tu04.03
Tu10.04
Continued ...
Author
Gu, Dawei
GUNEY, Selda
Habibi, Jalal
Hall, Stephen
Hamilton, David
Hamlin, Chris
Han, Youde
Han, xiaoran
Handa, Hisashi
Harmati, Istvan
HARRISON, ANDREW
Harvey, Paul
Hayes, Martin
He, Fei
Heath, William
Heath, Will
Hellendoorn, Hans
Hickey, Steve
Hinojosa, William
Hong Tu, LUU
Hongyi, Li
Hou, Zeng-Guang
Hou, Zengguang
Houcine, Chafouk
Hui, Qi
Hung, Peter
Hunter, Tim
Hussain, Zakaria
Inooka, Hikaru
Inoue, Akira
Inoue, A.
Inoue, Akira
Irwin, George
Ishihara, Tadashi
Jazayeri Moghadas, Seyed Ali
Jiang, L.
Jie, CHEN
Jing, Xingjian
Kajiyama, Satoshi
Kalamatianos, Dimitris
Kamalova, Zukhra
Katebi, Reza
Kaymak, Uzay
Kee, Robert
84
Paper
Tu05.05
Th03.03
We01.03
We01.05
Th06.05
IChemE1.04
Tu11.03
Th08.01
Tu12.01
Tu07.03
Tu08.01
Tu07.02
We06.03
We07.01
We02.01
Tu04.06
Tu05.01
Th09.01
Tu03.06
Tu13.05
We04.01
Tu03.01
Tu14.03
Th09.03
Tu10.02
We02.04
Tu04.01
Tu03.05
Tu13.02
We07.05
Th07.03
Tu03.04
Tu12.02
Tu12.03
Tu12.04
Tu01.02
Tu04.01
Tu10.01
Th04.02
Th07.02
Th07.03
Tu14.05
Tu12.03
Tu05.02
Tu06.06
Tu12.01
InstMC1.03
We01.01
Th01.06
Th10.01
Tu13.05
Tu04.01
Continued ...
Author
Khaki Sedigh, Ali
Khaki-Sedigh, Ali
Khan, Mohammad Samir
Khaoula, Layerle
Kharazmi, Mohamad Raffie
King, Paul
Kizilsac, Bayram Baris
Klinkhieo, Supat
Knowles, Kevin
Koshkouei, Ali J.
Koshkouei, Ali
Kouider, LARAOUSSI
Kourti, Dora
Kruger, Uwe
Landaluze, Joseba
Lang, Ziqiang
Langlois, Nicolas
Lantos, Bela
Lanzon, Alexander
Larkowski, Tomasz
Lennox, Barry
Leung, King Tin
Lghani, MENHOUR
Li, Kang
Li, Guang
Li, Y
Li, Zu-Shu
Liang, Zize
Liatsis, Panos
lihong, xu
Lin, Jinguo
Lin, Haisheng
Linden, Jens
Liu, Yang
Liu, Guoping
Liu, Guo-Ping
Liu, Lei
Liu, Tung-Kuan
Long, Wu
Loukianov, A.G.
Lowenberg, Mark
Lydie, NOUVELIERE
M, Shuhaimi
M, Ramasamy
Paper
Tu08.04
Tu08.05
We01.03
Th01.05
Th06.01
Th06.06
Tu14.05
Th01.01
Tu10.02
Th10.02
Th04.03
Tu01.06
Th04.04
We05.04
Th04.01
Th08.05
Tu13.01
IChemE1.01
Th04.02
Th08.03
Tu06.06
We04.03
We02.05
Tu09.05
Th05.02
Tu01.04
Tu05.06
Th05.01
Th10.03
Th09.04
We04.01
Tu09.03
Tu10.03
We02.02
Th07.01
Th09.03
InstMC1.03
Tu11.01
Th02.03
Th05.01
Th05.02
Tu03.03
Tu13.04
Tu15.01
Th02.01
Th07.01
Tu05.06
Tu14.04
Th06.03
We04.01
Th01.04
Th01.04
Continued ...
Author
Ma, Jia
MacDonald, Matt
malika, yaici
Marco, James
Mardi, Noor Azizi
Marjanovic, Ognjen
Martin, Peter
Martinez-Esnaola, Ana
Marton, Lorinc
Masding, Phil
McCullough, Geoff
McDowell, Neil
McGookin, Meghan
McGookin, Euan
McKernan, Adrian
McKernan, John
McLoone, Sean
McQuade, Eamonn
Mei, T.X.
Mei, Tianxiang
Meiling, Wang
Mendelson, Alexander
Mengyin, Fu
Mimila-Prost, Olivia
Mitchell, Richard
Moaveni, Bijan
Mohamed, BRACI
Mok, H.T.
Montague, Gary
Moreno-Masey, R.
Moshiri, Behzad
Mouzakitis, Alexandros
Moya, Samuel
MuÌśoz-Palacios, Filiberto
Mutoh, Yasuhiko
Naeem, Wasif
Nakai, Toshiharu
Naylor, Steve
Nefti, Samia
Nguyen, Van Quang
Nicolas, Langlois
Nobakhti, Amin
Noriega, Len
O’Mahony, Tom
Ocal, Omur
Ogden Swift, Andrew
85
Paper
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IChemE1.02
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We05.03
Tu13.05
Th07.07
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Tu03.06
Th06.05
Th03.06
IChemE2.01
Continued ...
Author
Ohno, Tomohiro
Ono, Takahiko
Oram, Paul
Ordaz-Oliver, JesÌijs P.
Ordaz-Oliver, J. Patricio
Owa, Kayode
Owens, David H
Palacin, Luis
Papadakis, George
Papadopoulos, George
Patton, Ron
Peng, Chao-Chung
Perez-Cisneros, Marco
Petterrson, A.
Peymani Foroushani, Ehsan
Piazzi, Aurelio
Piccagli, Stefano
Pickert, Volker
Pike, Shelley
Pisa, Pavel
Plianos, Alexandros
Plummer, Andrew
Pohjoranta, Antti
Postlethwaite, Ian
Poznyak, Alexander
Puerto, Mildred
Pujana-Arrese, Aron
Purdy, David
qingqiang, liu
Raghavan, Rambali
Rahiman, Wan
Rahman, Naveed
Rascon, Caleb
Reed, John
Rees, David
Rehm, Ansgar
Reinig, Gunter
Reyes, Roberto
Reynolds, Laurie
RiaÌśo, Sandra
Rivara, Nicholas
Roh, Hongsuk
Rurua, Andro
S. Dai, Jian
SaÌød, MAMMAR
Sacco, Paul
Sachin C, Patwardhan
Sadjadian, Houman
Paper
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Continued ...
Author
Safavi, Ali Akbar
Samy, Ihab
Sanchez, E.N.
Sanchez, Emilio
Sangelaji, Zahra
Sano, Akira
SantibaÌśez, V.
Scanlan, William
Scanlon, William
Sedighi, Tabassom
Shafiq, Muhammad
Shenton, Andrew
Shenton, Tom
Shenton, Andrew
Shimizu, Tatsunori
Silpsrikul, Warit
Skaf, Zakwan
Smith, Jeremy
Soylemez, Mehmet Turan
Spurgeon, Sarah
Steffen, Thomas
Stewart, Paul
Stobart, Richard
STOTEN, DAVID
Stoten, David
Strain, Neil
Strmcnik, Stanko
Su, Chun-Yi
Suart, Will
Sun, Xi-Ming
Suntharalingam, Piranavan
Sutton, Robert
Syafiie, S.
Tadeo, Fernando
Taheri Tehrani, Mohamad
Taiwo, Oluwafemi
Taiwo, Olufemi
Tan, Min
tan, Min
Tao, PENG
Taylor, C. James
Tehrani Zamani, Zeinab
Tenno, Robert
Thanapalan, Kary
86
Paper
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We03.02
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Th09.03
Tu05.02
Tu01.01
Tu02.02
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Th06.01
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Th10.04
Tu13.04
Tu15.01
Continued ...
Author
Thornhill, Nina
Tickle, Andrew
Toha, Siti Fauziah
Tokhi, M Osman
Tokhi, M. O.
Tsampardouka, Foteini
Tsampardoukas, Georgios
Tu, Jia-Ying
Turner, Duncan
Turner, Paul
van Katwijk, Ronald
Villegas, Javier
Vinsonneau, Benoit
Visioli, Antonio
Vladareanu, Luige
Vrancic, Damir
Wagg, David
Walsh, Michael
Wane, Sam
Wang, Hong
Wang, Qingqing
Wang, Hong
WANG, Jiqiang
Wang, Hong
Wang, Liuping
Wang, Hong
Wang, A.P.
Wang, Hong
Wang, Bo
Wang, Hong
Wang, Haigang
Wang, Q-G
Wang, Yin
Wang, Yongji
Wang, Xiaorong
Wang, Xun
Ward, Christopher
Watson, Graham
Wei-Hua, GUI
Whidborne, James
Paper
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Tu05.02
Tu01.05
We07.02
We07.03
Th07.05
Th09.04
Continued ...
Author
Williams, Jonathan
Williams, Bob
Williams, Robert
Wu, Buzhou
Wu, Yue
Wu, Fan
Xia, Xiao Lei
XIAO, BOHONG
Xiuhui, Fu
Xu, De
Yan, Zhiguo
Yang, Tao
Yang, Wuqiang
Yang, Shuang-Hua
Yang, Shuanghua
Yeung, Lam Fat
Yi, Yang
Young, Peter C.
Yu, Hongnian
Yuan, Qiaolin
Yucelen, Tansel
Yuechao, Wang
Zaldivar-Navarro, Daniel
Zammit Mangion, Andrew
Zhan, Choujun
Zhang, Hongwei
Zhang, J.H.
Zhang, Z
Zhao, Yingkai
Zhong, Qing-Chang
Zhou, Yongji
Zolotas, Argyrios
Zou, Yiqun
Zuo, Qi
87
Paper
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Notes
88
Notes
89
Notes
90
Manchester United
Sir Matt Busby Way
Old Trafford
Manchester
M16 0RA
to: Eccles town centre
Eccles Metrolink stop / train station
Ladywell Park & Ride
(approx 4.5 km)
Salford Quays Metrolink stop
approx 12 mins walk to MUFC
ROAD
Tel: 0161 868 8000
Fax: 0161 868 8804
enquiries@manutd.co.uk
www.manutd.com
53.69
250
to:
from:
Pendleton, Eccles
The Trafford Centre
Exchange Quay Metrolink stop
M
Hulme,
Manchester city centre
an
ch
es
TRA
FFO
RD
250
te
r
Sh
WH
ARF
Hulme,
Manchester city centre
to:
The Trafford Centre
ip
Ca
ROA
D
from:
approx 10 mins walk to MUFC
TRAFFOR
D
to:
na
© 100022610 GMPTE 2007
07-0684-72071
Map based on OS data
l
53.69
approx 15 mins walk to MUFC
from:
WHA
RFS
IDE
Pendleton, Eccles
suggest
ed walk
WA
Y
TRAFFO
RD PARK
ing rou
RD
te to/fro
m Metrol
ink
P O M O NA
‘Matchday’ Bus Specials
Direct return service to:
ER
WAT
(Piccadilly Gardens)
T
BO
D
ROA
saturday evenings
daytime & sundays
City Centre
Stop
15
30
10
10
10
30
10
15
-
Piccadilly, stand J
Piccadilly, stand L
Piccadilly, stand L
Piccadilly, stand J
Shudehill, stand B
1630,1700,
1730,1800
15
30
30
30
-
84
to:
Chorlton,
Southern Cemetery
from:
Chorlton,
Southern Cemetery
Bury
Radcliffe
Whitefield
Besses o’th’ Barn
Prestwich
Heaton Park
Crumpsall
Lancashire
County Cricket Club
(Old Trafford)
Woodlands Road
Old Trafford Metrolink stop
approx 7 mins walk to MUFC
Eccles
Victoria
Ladywell
Shudehill
Weaste
Market Street
Piccadilly
Gardens
Langworthy
Broadway
Piccadilly
Harbour City
Anchorage
Frequency (mins)
20
60
approx 10 mins walk to MUFC
Bowker Vale
Other Bus Services
mon-fri
daytime
Trafford Bar Metrolink stop
Bury / Altrincham Line
Eccles Line
Trafford Centre bus link
Metrolink Stop
Bus Interchange
Rail Interchange
Park & Ride car park
Station Parking
Disabled Parking
Bus Services to Manchester City Centre
mon-fri
daytime
Belle Vue, Longsight,
Rusholme, Hulme
GROVE
L
TA
Stretford, Urmston, Flixton,
Sale, Altrincham
Frequency (mins)
ROA
D
from:
84
AD
RO
to:
to: Trafford Park train station
(approx 2.5 km)
Manchester city centre
R
Manchester city centre,
Pendleton, Eccles
K
WIC
WAR
69.255.256.263
suggested
walking routes
to/from Metrolink
to:
TER
U
SEYMO
from:
Altrincham, Sale,
Flixton, Urmston, Stretford
Manchester city centre,
Pendleton, Eccles
69.255.256.263.264
AY
C IT Y W
AD
RO
ES
to:
Hulme, Rusholme,
Longsight, Belle Vue
250.255.256.263.291
53
Manchester city centre
WAY
R
TE
ES
H
C
to:
CH
from:
69.255.256.263
Bus
Number
53
69
84
WAY
DGE
BRI
WHITE
SBY
MATT B U
MATCHDAYS ONLY
Trains to/from Manchester Piccadilly
& Manchester Oxford Road
250
255
256
263
264
D
S
Manchester United
Football Club
(Old Trafford)
Manchester United FC Halt
Bus
Number
53
N
STRA
Bridgewater Canal
IR
Cycle Parking
is available
in car parks
E2 & N2
canal towpath
to/from
Manchester
city centre
Pomona Metrolink stop
saturday evenings
daytime & sundays
20
60
every 30-40 mins
30
60
Mosley Street
Southbound only
Salford Quays
St Peter’s Square
Exchange Quay
G-Mex
Pomona
Cornbrook
Trafford Bar
Old Trafford
Stretford
Shuttle bus link to
Trafford Centre
Dane Road
Sale
Useful Websites:
www.gmpte.com
www.metrolink.co.uk
www.nationalrail.co.uk
www.transportdirect.org.uk
Brooklands
Timperley
Navigation Road
Altrincham
How to get to the Conference Centre
http://control2008.org
Proceedings:
ISBN 978-0-9556152-1-4