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1 to 50 of 216 results
  • Repetitive control of servo systems with time delays

     Na, Jing; Ren, Xuemei; Costa Castelló, Ramon; Guo, yu
    Robotics and autonomous systems
    Date of publication: 2014-03
    Journal article

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    In many industrial robotic servo applications there is a need to track periodic reference signals and/or reject periodic disturbances. Moreover, time-delays are usually unavoidable in control systems due to the sensoring and communication delays. This paper presents an alternative repetitive control design for systems with constant time-delays in both forward and feedback control channels, which are dedicated to track/reject periodic signals. An additional delay is introduced together with the plant delays to construct an internal model for periodic signals, and a simple compensator based on the plant model inverse is utilized to stabilize the closed-loop system. Sufficient stability conditions of the closed-loop system and the robustness analysis against modeling uncertainties are studied. The proposed idea is further extended for general time-delay systems with only a delay term in the forward control channel. The "plug-in" structure used in conventional repetitive control designs is avoided, so that it leads to a simpler control configuration, i.e. only a proportional parameter and the cutoff frequency of a low-pass filter are required to be selected. Simulations based on a hard disk drive system and practical experiments on a rotary robotic servo system are provided to evaluate the effectiveness of the proposed method.

    In many industrial robotic servo applications there is a need to track periodic reference signals and/or reject periodic disturbances. Moreover, time-delays are usually unavoidable in control systems due to the sensoring and communication delays. This paper presents an alternative repetitive control design for systems with constant time-delays in both forward and feedback control channels, which are dedicated to track/reject periodic signals. An additional delay is introduced together with the plant delays to construct an internal model for periodic signals, and a simple compensator based on the plant model inverse is utilized to stabilize the closed-loop system. Sufficient stability conditions of the closed-loop system and the robustness analysis against modeling uncertainties are studied. The proposed idea is further extended for general time-delay systems with only a delay term in the forward control channel. The

  • An interactive cad tool to teach and learn nyquist criterion

     Costa Castelló, Ramon; Guzman, Jose Luis; Berenguel, Miguel; Dormido Bencomo, Sebastián
    IFAC Symposium on Advances in Control Education
    Presentation of work at congresses

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    n his 1932 seminal paper \Regeneration Theory", Harry Nyquist provided a rigorous set of measurable conditions by which to determine the stability of a feedback amplifier. Nyquist redefined feedback as a frequency-dependent phenomenon, and stability in terms of transient disturbances composed of different frequencies. Nyquists stabiliy criterion applies not only to feedback amplifiers, but to all feedback control systems. The contribution of Nyquist is now a fundamental part of current courses on Automatic Control that has been generalized in several different ways, to complex systems with many loops and to nonlinear systems. The paper describes an interactive CAD tool with the purpose to teach and learn Nyquist criterion. The tool has been developed using Sysquake, a Matlab-like language with fast execution and excellent facilities for interactive graphics, and is delivered as a stand-alone executable that is readily accessible to students and users in feedback control systems.

  • Digital repetitive control under varying frequency conditions

     Ramos Fuentes, German A.; Costa Castelló, Ramon; Olm Miras, Josep Maria
    Date of publication: 2013
    Book

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  • Repetitive control to counteract the effect of people on thermal comfort control

     Álvarez Hervás, José Domingo; Costa Castelló, Ramon; Castilla, Maria del Mar; Fernández Camacho, Eduardo
    European Control Conference
    Presentation's date: 2013-07-18
    Presentation of work at congresses

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    People usually spend most of the time inside buildings. Therefore, it is necessary to reach an optimal thermal comfort situation since thermal comfort has a direct effect on people’s productivity. The use of appropriate control strategies can highly contribute to this purpose. Usually the own people’s influence is not taken into account at the time to maintain an optimal thermal comfort. People enter and leave the building following certain pattern which is repeated from one day to another. This paper presents a Repetitive Control (RC) approach which can counteract this periodic behaviour. This controller anticipates the effects produced by the entries and outputs of the people. Moreover, this controller is complemented by a feedback controller in order to cancel the non periodic disturbances. Simulation results obtained from the application of this control strategy to a characteristic room of a building are included and commented.

  • Diseño de los controladores de los sistemas de vacío y temperatura de un reactor agitado

     Babot Branzuela, Ferran; Costa Castelló, Ramon
    Jornadas de Automática
    Presentation's date: 2013-09-04
    Presentation of work at congresses

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  • Optimal anti-windup synthesis for repetitive controllers

     Ramos Fuentes, German A.; Costa Castelló, Ramon
    Journal of process control
    Date of publication: 2013-09
    Journal article

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    Repetitive controllers use internal models that provide very high gain at a selected fundamental frequency and its harmonics, additionally, some of the internal models may result unstable, as in the high order repetitive control approach. These characteristics make the repetitive control system susceptible to exhibit wind-up when actuator saturation occurs. This paper proposes an anti-windup scheme for repetitive control based on the model recovery anti-windup strategy. The proposed scheme provides low order, low computational burden and also isolation of the controller from the saturation effects. The anti-windup compensator is constructed from the plant model and provides an additional linear feedback path aimed at enhancing system performance. This feedback path is designed to obtain a deadbeat behaviour, which makes the system recovery faster. Finally, internal stability and deadbeat features are designed in a compact procedure based on linear matrix inequalities and an optimal linear quadratic design. Experimental validation of the proposed anti-windup compensator is provided using a mechatronic plant.

    Repetitive controllers use internal models that provide very high gain at a selected fundamental fre- quency and its harmonics, additionally, some of the internal models may result unstable, as in the high order repetitive control approach. These characteristics make the repetitive control system susceptible to exhibit wind-up when actuator saturation occurs. This paper proposes an anti-windup scheme for repeti- tive control based on the model recovery anti-windup strategy. The proposed scheme provides low order, low computational burden and also isolation of the controller from the saturation effects. The anti-windup compensator is constructed from the plant model and provides an additional linear feedback path aimed at enhancing system performance. This feedback path is designed to obtain a deadbeat behaviour, which makes the system recovery faster. Finally, internal stability and deadbeat features are designed in a com- pact procedure based on linear matrix inequalities and an optimal linear quadratic design. Experimental validation of the proposed anti-windup compensator is provided using a mechatronic plant.

  • Analysis and design of a robust odd-harmonic repetitive controller for an active filter under variable network frequency

     Ramos, German A.; Costa Castelló, Ramon; Olm Miras, Josep Maria
    Control engineering practice
    Date of publication: 2012-09
    Journal article

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    Frequencyvariationsintheelectricalnetworkmaycauseadramaticperformancedecayinrepetitive controlledactivefiltersintendedtoremoveodd-harmonicdistortioninsingle-phaseACloads.This work presentsanodd-harmonicrepetitivecontrollerforashuntactivepowerfilterthataddressessuch a performanceproblem.Thisisachievedbymeansofanadaptivechangeofthesamplingperiodofthe digitalcontroller.However,thisactionimpliesstructuralchangesthatmayresultinanoverall destabilizationoftheclosed-loopsystem.Hence,asmall-gaintheorem-basedrobustcontroldesign techniqueallowstoobtainacontrollerwhichassuresBIBOstabilityintherequiredsamplingperiod interval.Experimentalresultsvalidatetheproposal.

  • Repetitive control for systems with time-delays and application to robotic servo motor

     Na, Jing; Costa Castelló, Ramon; Griño Cubero, Roberto; Guo, Y.; Ren, Xuemei
    Annual Conference on Towards Autonomous Robotic Systems
    Presentation's date: 2012
    Presentation of work at congresses

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    In many industrial robotic applications there is a need to track periodic reference signals and/or reject periodic disturbances. This paper presents a novel repetitive control design for systems with constant time-delays in both forward and feedback control channels. An additional delay is introduced together with plant delays to construct an internal model for periodic signals, and a simple proportional control is utilized to stabilize the closed-loop system. Sufficient stability conditions of the closed-loop system and the robustness analysis under modeling uncertainties are studied. Experimental results are included to evaluate the validity and effectiveness of the proposed method.

  • Control automático con herramientas interactivas

     Guzmán Sánchez, José Luis; Costa Castelló, Ramon; Berenguel, Miguel; Dormido Bencomo, Sebastián
    Date of publication: 2012-05
    Book

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  • Automatización de instrumentos musicales : un proyecto integral de ingeniería industrial

     Vallvé Navarro, J.; Costa Castelló, Ramon
    Jornadas de Automática
    Presentation's date: 2012-09
    Presentation of work at congresses

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    En las titulaciones de ingeniería es cada vez más común incorporar asignaturas basadas en la resolución de pequeños proyectos. Adicionalmente el ámbito de la ingeniería industrial es un ámbito pluridisciplinar en el que es muy habitual combinar diversas disciplinas. En este trabajo se presentan los resultados obtenidos y mecanismos utilizados durante un proyecto final de carrera realizado en la ETSEIB y que es ejemplo de integracin de diferentes tecnologías. Este proyecto puede ser interés como ejemplo en el momento de formular problemas o definir proyecto multidisciplinares en este ámbito.

  • Control GPI-repetitivo de corriente en inversores en entornos con impedancia de red incierta.

     Ramos Fuentes, German A.; Cortés Romero, John Alexander; Costa Castelló, Ramon
    Jornadas de Automática
    Presentation's date: 2012-09
    Presentation of work at congresses

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    Cada vez existen más dispositivos que inyectan o consumen energía en la red de distribución. El intercambio de energía debe realizarse buscando un factor de potencia uno en el punto de conexión. Alcanzar este comportamiento suele implicar alta ganancia en los controladores. La red de distribución presenta una impedancia que depende del punto de conexión. Dicha incertidumbre dificulta el diseño de los sistemas de control. En este trabajo se presenta una propuesta de controlador basada en combinar el control repetitivo con el control GPI. El planteamiento propuesto es que el control repetitivo ayude a garantizar el factor de potencia 1 mientras que el control GPI aporte robustez frente a la variación de impedancia.

  • Interactivity in automatic control: foundations and experiences

     Dormido Bencomo, Sebastián; Guzmán Sánchez, José Luis; Costa Castelló, Ramon; Berenguel, Miguel
    Automation, Control and Processes Conference
    Presentation's date: 2012-11-20
    Presentation of work at congresses

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    The first part of this paper presents the concepts of interactivity and visualization and its essential role in learning the fundamentals and techniques of automatic control. More than 10 years experience of the authors in the development and design of interactive tools dedicated to the study of automatic control concepts are also exposed. The second part of the paper summarizes the main features of the “Automatic Control with Interactive Tools” text that has been recently published by Pearson and whose aim is to provide a series of auto-contained tools allowing to learn different basic concepts related to the automatic control. The work has been focused on how to represent the main concepts and how to formulate them according to learning based on examples.

  • Interactive tools to learn basic concepts of nonlinear systems linearization through a case study

     Guzmán Sánchez, José Luis; Costa Castelló, Ramon; Dormido Bencomo, Sebastián; Berenguel, Miguel
    IFAC Symposium on Advances in Control Education
    Presentation's date: 2012
    Presentation of work at congresses

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  • Control automático con herramientas interactivas

     Guzmán Sánchez, José Luis; Costa Castelló, Ramon; Berenguel, Miguel; Dormido Bencomo, Sebastián
    Jornadas de Automática
    Presentation's date: 2012-09
    Presentation of work at congresses

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    Este artículo resume las principales características del texto con el mismo título que ha sido publicado recientemente por la editorial Pearson y cuyo objetivo es proporcionar una serie de herramientas autocontenidas que permitan aprender distintos conceptos básicos relacionados con el control automático. El trabajo se ha centrado en cómo representar los principales conceptos y cómo formularlos siguiendo un aprendizaje basado en ejemplos.

  • Digital Repetitive Control Under Varying Frequency Conditions  Open access

     Ramos Fuentes, German Andres
    Defense's date: 2012-09-12
    Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya
    Theses

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    The tracking/rejection of periodic signals constitutes a wide field of research in the control theory and applications area and Repetitive Control has proven to be an efficient way to face this topic; however, in some applications the period of the signal to be tracked/rejected changes in time or is uncertain, which causes and important performance degradation in the standard repetitive controller. This thesis presents some contributions to the open topic of repetitive control working under varying frequency conditions. These contributions can be organized as follows: One approach that overcomes the problem of working under time varying frequency conditions is the adaptation of the controller sampling period, nevertheless, the system framework changes from Linear Time Invariant to Linear Time-Varying and the closed-loop stability can be compromised. This work presents two different methodologies aimed at analysing the system stability under these conditions. The first one uses a Linear Matrix Inequality (LMI) gridding approach which provides necessary conditions to accomplish a sufficient condition for the closed-loop Bounded Input Bounded Output stability of the system. The second one applies robust control techniques in order to analyse the stability and yields sufficient stability conditions. Both methodologies yield a frequency variation interval for which the system stability can be assured. Although several approaches exist for the stability analysis of general time-varying sampling period controllers few of them allow an integrated controller design which assures closed-loop stability under such conditions. In this thesis two design methodologies are presented, which assure stability of the repetitive control system working under varying sampling period for a given frequency variation interval: a mu-synthesis technique and a pre-compensation strategy. On a second branch, High Order Repetitive Control (HORC) is mainly used to improve the repetitive control performance robustness under disturbance/reference signals with varying or uncertain frequency. Unlike standard repetitive control, the HORC involves a weighted sum of several signal periods. With a proper selection of the associated weights, this high order function offers a characteristic frequency response in which the high gain peaks located at harmonic frequencies are extended to a wider region around the harmonics. Furthermore, the use of an odd-harmonic internal model will make the system more appropriate for applications where signals have only odd-harmonic components, as in power electronics systems. Thus an Odd-harmonic High Order Repetitive Controller suitable for applications involving odd-harmonic type signals with varying/uncertain frequency is presented. The open loop stability of internal models used in HORC and the one presented here is analysed. Additionally, as a consequence of this analysis, an Anti-Windup (AW) scheme for repetitive control is proposed. This AW proposal is based on the idea of having a small steady state tracking error and fast recovery once the system goes out of saturation. The experimental validation of these proposals has been performed in two different applications: the Roto-magnet plant and the active power filter application. The Roto-magnet plant is an experimental didactic plant used as a tool for analysing and understanding the nature of the periodic disturbances, as well as to study the different control techniques used to tackle this problem. This plant has been adopted as experimental test bench for rotational machines. On the other hand, shunt active power filters have been widely used as a way to overcome power quality problems caused by nonlinear and reactive loads. These power electronics devices are designed with the goal of obtaining a power factor close to 1 and achieving current harmonics and reactive power compensation.

  • Desarrollo de sistemas de control para la mejora de la eficiencia y la vida útil en sistemas basados en pilas de combustible PEM

     Sarmiento Carnevali, Maria Laura; Kunusch, Cristian; Husar, Attila Peter; Riera Colomer, Jordi; Batlle Arnau, Carles; Strahl, Stephan; Massana Hugas, Immaculada; Simo Mezquita, Ester; Creemers, Tom Lambert; Costa Castelló, Ramon; Serra Prat, Maria
    Participation in a competitive project

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  • Premi Prodel

     Guzmán Sánchez, José Luis; Costa Castelló, Ramon; Berenguel, Miguel; Dormido Bencomo, Sebastián
    Award or recognition

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  • Reconeixement sexenni d'investigació (2006-2011)

     Costa Castelló, Ramon
    Award or recognition

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  • Discrete-time repetitive controller for time-delay systems with disturbance observer

     Na, Jing; Costa Castelló, Ramon; Griño Cubero, Roberto; Ren, Xuemei
    Asian journal of control
    Date of publication: 2012-09
    Journal article

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    An educational approach to the internal model principle for periodic signals  Open access

     Costa Castelló, Ramon; Olm Miras, Josep Maria; Vargas, Hector; Ramos, Germán Andres
    International journal of innovative computing information and control
    Date of publication: 2012-08
    Journal article

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    This article presents an educational approach to resonant control and repet- itive control, which are Internal Model Principle-based control techniques speci cally de- signed for the tracking/rejection of periodic signals. The analytical formulation is com- pleted by a set of simulations and physical experiments on a mechatronic educational plant integrated in a virtual/remote laboratory. The laboratory features are oriented to realize the limited performance of classic PID control to reject non-constant disturbances and, at the same time, to show the effectiveness of the Internal Model Principle for the rejection of periodic disturbances by means of resonators and repetitive control. Assess- ment based on students' perception reveals it as a useful distance learning tool. The laboratory is integrated in Automatl@bs, a Spanish interuniversity network of web-based laboratories devoted to distance learning of control engineering.

  • Power factor correction and harmonic compensation using second-order odd-harmonic repetitive control

     Ramos, Germán Andres; Costa Castelló, Ramon
    IET control theory and applications
    Date of publication: 2012-07-19
    Journal article

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    Repetitive control has proven to be an efficient control technique in power factor correction by active filtering. Unfortunately, this technique shows a dramatic performance decay when the network frequency is not exactly known or it varies with time. In order to overcome the varying/uncertain frequency problem, a robust high-order repetitive control strategy can be used; however, most internal models obtained by these approaches are unstable. Although this fact does not compromise the closed-loop stability, practical problems can arise during the implementation. This study proposes and studies a stable second-order odd-harmonic repetitive control system, presents a stability analysis of high-order internal models and describes the performance degradation of the standard repetitive control in terms of the active filter (AF) application. In this way, an experimental validation has been carried out implementing the proposed internal model in a shunt AF current controller. As a result, this high-order controller allows dealing with the grid frequency variations without using adaptive schemes.

  • Control repetitivo digital de sistemas con frecuencia incierta o variante en el tiempo

     Costa Castelló, Ramon; Ramos Fuentes, German A.; Olm Miras, Josep Maria
    Revista iberoamericana de automática e informática industrial
    Date of publication: 2012-07-01
    Journal article

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    El control repetitivo digital es una t´ecnica basada en el principio del modelo interno que permite seguir y/o rechazar se˜nales peri´odicas. Una hip´otesis clave en los dise˜nos tradicionales de control repetitivo es que la frecuencia de tales se˜nales es constante y conocida, siendo su principal desventaja la elevada degradaci´on de prestaciones que aparece cuando dicha frecuencia es incierta o var´ıa con el tiempo. En este trabajo se presenta una revisi´on de las principales estrategias introducidas hasta la fecha para resolver este problema.

  • Stability analysis of digital repetitive control systems under time-varying sampling period

     Olm Miras, Josep Maria; Ramos, Germán Andres; Costa Castelló, Ramon
    IET control theory and applications
    Date of publication: 2011-01
    Journal article

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    Digital repetitive control under non-uniform sampling: an LMI stability analysis  Open access

     Ramos Fuentes, German A.; Olm Miras, Josep Maria; Costa Castelló, Ramon
    Mathematical problems in engineering
    Date of publication: 2011-07-01
    Journal article

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    Digital repetitive control is a technique which allows tracking periodic references and/or rejecting periodic disturbances. Repetitive controllers are usually designed assuming a fixed fundamental frequency for the signals to be tracked/rejected and its main drawback being a dramatic performance decay when this frequency varies. A usual approach to overcome the problem consists of an adaptive change of the sampling period according to the reference/disturbance period variation. This paper presents a stability analysis of a digital repetitive controller working under time-varying sampling period by means of an LMI gridding approach. Theoretical developments are illustrated with experimental results, which are preceded by a detailed description of fundamental issues related to the implementation procedure.

  • Design and analysis strategies for digital repetitive control systems with time-varying reference/disturbance period

     Costa Castelló, Ramon; Olm Miras, Josep Maria; Ramos, Germán Andres
    International journal of control
    Date of publication: 2011
    Journal article

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    Virtual laboratory for simulation and learning of cardiovascular system function in BME studies  Open access

     Hernández Valdivieso, Alher Mauricio; Salazar Sánchez, Maria Bernarda; Urrego Higuita, David Alexander; Costa Castelló, Ramon; Mañanas Villanueva, Miguel Angel
    Revista Facultad de Ingeniería. Universidad de Antioquía
    Date of publication: 2011-09
    Journal article

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    The application of engineering system analysis is a very important field in biomedical engineering (BME) studies: modeling, simulation and control of the most important physiological systems. A virtual laboratory for the analysis and the study of human circulatory system is presented in this paper. This laboratory is based on the compilation of several mathematical models described in the literature. In addition, some model parameters have been tuned by means of experimental data under caffeine stimulus. The computational tool has been built using MATLAB/SIMULINK and EJS, so it combines good computation capabilities with interactivity. The virtual laboratory has been designed in order to understand the operation of the circulatory system under normal conditions, and to predict circulatory variables at different types and levels of stimuli and conditions.

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    A survey of repetitive control in varying frequency conditions  Open access

     Fuentes, G.A.R.; Olm Miras, Josep Maria; Costa Castelló, Ramon
    Ingeniería e investigación
    Date of publication: 2011-08
    Journal article

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    Digital repetitive control is a strategy that allows tracking/ rejecting periodic signals. Repetitive controllers are designed assuming that the exogenous signal period is constant and known, its main drawback being the dramatic loss of performance when signal frequency varies. This paper reviews the most relevant proposals advanced for overcoming this problem.El control repetitivo digital es una técnica que permite el seguimiento y rechazo de señales periódicas. Los controladores repetitivos son diseñados asumiendo que las señales a seguir/rechazar tienen una frecuencia fija y conocida, siendo su principal desventaja la degradación de desempeño cuando esta frecuencia varía. Este artículo presenta una revisión de las diferentes estrategias utilizadas con el fin de solventar dicha problemática.

  • Fonaments de computadors

     Peiron Guardia, Montserrat; Ribas Xirgó, Lluís; Sanchez Carracedo, Fermin; Velasco González, Antonio José; Costa Castelló, Ramon
    Date of publication: 2011-09
    Book

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    An optimal anti-windup strategy for repetitive control systems German  Open access

     Ramos Fuentes, German A.; Costa Castelló, Ramon
    IEEE Conference on Decision and Control
    Presentation's date: 2011-12-12
    Presentation of work at congresses

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    Repetitive Control includes an Internal Model with high gain and slow time response characteristics which make it prone to the windup effect. A solution to this problem is the inclusion of an Anti-Windup compensator. Although there exist many general Anti-Windup synthesis methods in literature, some problems can arise as a result of a straightforward application of them in Repetitive Control. This paper presents the analysis and adaptation of the Model Recovery Anti-Windup strategy in the Repetitive Control frame. Thus, an optimal LQ design is proposed that looks for a deadbeat recover behaviour after saturation and a global asymptotic stability for the closed loop system. Through simulation it is shown that the propounded scheme achieves better tracking performance than other similar LQ designs.

  • Repetitive control of an active filter under varying network frequency: power factor correction

     Ramos Fuentes, German A.; Olm Miras, Josep Maria; Costa Castelló, Ramon
    IEEE Latin American Conference on Automatic Control and Industry Applications
    Presentation's date: 2011-11-28
    Presentation of work at congresses

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    Prototipo sostenible para laboratorio remoto  Open access

     Ballesteros, Anderson; Costa Castelló, Ramon; Galceran Saez, Jesus Martin; Angulo Bahón, Cecilio
    Jornadas de Automática
    Presentation's date: 2011-09-07
    Presentation of work at congresses

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    El artículo describe los trabajos y diseños realizados para construir una maqueta pensada para la realización de prácticas remotas en el ámbito de la automática. El diseño tiene en cuenta diferentes aspectos de sostenibilidad y simplificación del desarrollo del laboratorio remoto.

  • Herramienta interactiva para el aprendizaje del control en modo de deslizamiento

     Carrero Candelas, Niliana Andreina; Costa Castelló, Ramon; Dormido Bencomo, Sebastián; Fossas Colet, Enric
    Jornadas de Automática
    Presentation's date: 2011-02-08
    Presentation of work at congresses

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    Study of fundamental control concepts through interactive learning objects  Open access

     Guzmán Sánchez, José Luis; Costa Castelló, Ramon; Dormido Bencomo, Sebastián; Berenguel, Miguel
    World Congress of the International Federation of Automatic Control
    Presentation's date: 2011-08-28
    Presentation of work at congresses

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    Information technology has contributed significantly to the renewal of teaching methodologies used in control systems teaching. Computer applications are becoming very popular as a support in traditional lectures and as self-learning tools. This paper describes an on-going project which tries to develop a suite of interactive learning objects composed by graphical interactive applications plus simple learning cards to cover the complete contents of an introductory control system course.

  • A comparative study of repetitive control techniques for active power filters under network frequency variations

     Ramos Fuentes, German A.; Olm Miras, Josep Maria; Costa Castelló, Ramon
    Seminar for Advanced Industrial Control Applications
    Presentation's date: 2011-11-07
    Presentation of work at congresses

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  • Técnicas de control avanzado para la mejora de la operación de convertidores vsi conectados a la red eléctrica

     Doria Cerezo, Arnau; Costa Castelló, Ramon; Olm Miras, Josep Maria; Fossas Colet, Enric; Biel Sole, Domingo; Orellana Barcelo, Marcos; Griño Cubero, Roberto
    Participation in a competitive project

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  • Premi Omron 2011/12

     Ramos Fuentes, German A.; Ballesteros, Anderson; Costa Castelló, Ramon
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  • Adaptive neural network state predictor and tracking control for nonlinear time-delay systems

     Na, Jing; Ren, Xuemei; Gao, Yan; Griño Cubero, Roberto; Costa Castelló, Ramon
    International journal of innovative computing information and control
    Date of publication: 2010-02
    Journal article

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    A new adaptive nonlinear state predictor (ANSP) is presented for a class of unknown nonlinear systems with input time-delay. A dynamical identification with neu- ral network (NN) is constructed to obtain NN weights and their derivatives. The future NN weights are deduced for the nonlinear state predictor design without iterative calcu- lations. The time-delay and unknown nonlinearity are compensated by a feedback control using the predicted states. Rigorous stability analysis for the identification, predictor and feedback control are provided by means of Lyapunov criterion. Simulations and practical experiments of a temperature control system are included to verify the effectiveness of the proposed scheme.

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    Integración de dispositivos físicos en un laboratorio remoto de control mediante diferentes plataformas: Labview, Matlab y C/C++  Open access

     Costa Castelló, Ramon; Vallés, Marina; Jiménez, Luis Miguel; Diaz-Guerra, Lluís; Valera Fernández, Ángel; Puerto Manchón, Rafael
    Revista iberoamericana de automática e informática industrial
    Date of publication: 2010-01-01
    Journal article

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  • Adaptive compensation strategy for the tracking/rejection of signals with time-varying frequency in digital repetitive control systems

     Olm Miras, Josep Maria; Ramos, German A.; Costa Castelló, Ramon
    Journal of process control
    Date of publication: 2010-04
    Journal article

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  • A repetitive control scheme for distributed solar collector field

     Álvarez, J.D.; Costa Castelló, Ramon; Berenguel, Miguel; Yebra, J.L.
    International journal of control
    Date of publication: 2010-05
    Journal article

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    The control of the output fluid temperature in a distributed solar collector field implies accounting for the excitement of its intrinsic resonance modes. Resonance mode frequencies are related to the residence time of the fluid which flows through the distributed solar collector. At the same time, this physical variable is related to the fluid velocity which is, in this kind of system, the control variable. Thus, the frequencies of the resonance modes continuously change when controlling the output temperature. The addition of a repetitive compensation controller into the control system has proved to be beneficial in terms of performance and resonance capabilities. However, this kind of controller usually works with a fixed frequency, which prevents the total cancellation of the system resonance dynamics. This article proposes an alternative structure of the repetitive controller which also works with a fixed frequency, but is tuned taking into account the uncertainty in the resonance mode frequencies in order to achieve fast, well-damped system responses.

  • Repetitive controller for time-delay systems based on disturbance observer

     Na, Jing; Griño Cubero, Roberto; Costa Castelló, Ramon; Chen, Q.; Ren, Xuemei
    IET control theory and applications
    Date of publication: 2010-11
    Journal article

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  • Odd-harmonic repetitive control of an active filter under varying network frequency: a small-gain theorem-based stability analysis  awarded activity

     Olm Miras, Josep Maria; Ramos Fuentes, German A.; Costa Castelló, Ramon; Cardoner Parpal, Rafael
    American Control Conference
    Presentation's date: 2010-06-30
    Presentation of work at congresses

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    This work deals with the design and analysis of a controller for a shunt active power filter. The design is based on combined feedforward and feedback actions, the last using repetitive control, and aims at the obtention of a good closedloop performance in spite of the possible frequency variations that may occur in the electrical network. As these changes affect the performance of the controller, the proposal includes a compensation technique consisting of an adaptive change of the digital controller’s sampling time according to the network frequency variation. However, this implies structural changes in the closed-loop system that may destabilize the overall system. Hence, this article is also concerned with closed-loop stability of the resulting system, which is analyzed using a robust control approach through the small gain theorem. Experimental results that indicate good performance of the closed-loop system are provided.

    Best Presentation in Session Award, que atorga la 2010 American Control Conference

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    Robust high-order repetitive control of an active filter using an odd-harmonic internal model  Open access

     Ramos Fuentes, German A.; Costa Castelló, Ramon; Olm Miras, Josep Maria; Cardoner Parpal, Rafael
    Annual Conference of the IEEE Industrial Electronics Society
    Presentation's date: 2010-07-07
    Presentation of work at congresses

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    Shunt active power filters have proven to be an efficient means to compensate for the negative effects of nonlinear and reactive loads on the power quality of the electrical distribution network. In this context, the control objective is to achieve a power factor close to 1, as well as load current harmonics and reactive power compensation. A useful control strategy for this purpose is repetitive control. However, the performance of repetitive controllers is strongly affected by frequency variations of the involved signals. This work analyzes the effect of such variations and describes the architecture of an odd-harmonic, high-order repetitive controller specifically designed to obtain robust closed-loop performance against frequency variations that may occur in the electrical network.

  • Odd-harmonic repetitive control of an active filter under varying network frequency: practical considerations

     Costa Castelló, Ramon; Olm Miras, Josep Maria; Ramos, Germán Andres; Cardoner Parpal, Rafael
    2010 IEEE Multi-Conference on Systems and Control
    Presentation's date: 2010-09-08
    Presentation of work at congresses

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    This work deals with the design and analysis of a controller for a shunt active power filter. The design is based on combined feedforward and feedback actions, the last using oddharmonic repetitive control, and aims at obtaining good closedloop performance in spite of the possible frequency variations that may occur in the electrical network. As these changes affect the performance of the controller, the proposal includes a compensation technique consisting of an adaptive change of the sampling time of the digital controller according to the network frequency variation. However, this implies structural changes in the closed-loop system that may eventually destabilize it. Hence, this article is also concerned with closed-loop stability of the resulting system, which is analyzed using a robust control approach that takes advantage of the small gain theorem. Experimental results reporting good performance of the closedloop system are provided.

  • Estudio interactivo de los conceptos fundamentales del control mediante objetos de aprendizaje

     Guzmán Sánchez, José Luis; Costa Castelló, Ramon; Dormido Bencomo, Sebastián; Berenguel, Miguel
    Jornadas CEA de Enseñanza a través de Internet-Web de la Ingeniería de Sistemas y Automática
    Presentation's date: 2010-06-04
    Presentation of work at congresses

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  • Herramienta interactiva para el aprendizaje del control en modo de deslizamiento en R22

     Carrero Candelas, Niliana Andreina; Costa Castelló, Ramon; Dormido Bencomo, Sebastián; Fossas Colet, Enric
    Jornadas CEA de Enseñanza a través de Internet-Web de la Ingeniería de Sistemas y Automática
    Presentation's date: 2010-06-03
    Presentation of work at congresses

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  • Second-order odd-harmonic repetitive control and its application to active filter control

     Costa Castelló, Ramon; Ramos, Germán Andres; Olm Miras, Josep Maria; Steinbuch, Maarten
    IEEE Conference on Decision and Control
    Presentation's date: 2010-12-15
    Presentation of work at congresses

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  • Using interactive tools to teach/learn sliding mode control

     Carrero Candelas, Niliana Andreina; Costa Castelló, Ramon; Dormido Bencomo, Sebastián; Fossas Colet, Enric
    IEEE Conference on Decision and Control
    Presentation's date: 2010-12-15
    Presentation of work at congresses

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  • Anti-windup schemes comparison for digital repetitive control

     Ramos, Germán Andres; Costa Castelló, Ramon; Olm Miras, Josep Maria
    IEEE International Conference on Emerging Technologies and Factory Automation
    Presentation's date: 2010-09-13
    Presentation of work at congresses

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