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    Modelling and adaptive backstepping control for TX-1570 UAV pathtracking  Open access

     Cayero Becerra, Julian Francisco; Morcego Seix, Bernardo; Nejjari Akhi-elarab, Fatiha
    Aerospace science and technology
    num. 39, p. 342-351
    DOI: 10.1016/j.ast.2014.09.022
    Date of publication: 2014-10-22
    Journal article

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    The methodology to design an aircraft longitudinal path-tracking controller is shown in this paper. First a thorough modelling process which involves the estimation of the aerodynamic and propulsion system structure and parameters is carried out. Next, the Lyapunov based backstepping methodology is applied to design a non-linear controller for the aircraft longitudinal dynamics. The used procedure ensures the convergence of the system to a reference and the robustness in presence of modelling errors. The derived controller delivers manipulated inputs for a real plant and takes into account subsystem and model constraints. Finally, the performance of the controlled system to track a realistic path is demonstrated in front of parameter uncertainty, unmodelled dynamics and adverse initial conditions.

  • Fault tolerant control of an omnidirectional robot using a switched Takagi-Sugeno approach

     Rotondo, Damiano; Nejjari Akhi-elarab, Fatiha; Puig Cayuela, Vicenç
    IEEE International Conference on Control Applications
    p. 2183-2188
    DOI: 978-1-4799-7405-4/14/$31.00 ©2014 IEEE
    Presentation's date: 2014-10-10
    Presentation of work at congresses

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    In this paper, a fault tolerant control (FTC) strategy for an omnidirectional robot using a switching Takagi-Sugeno (TS) approach is proposed. The overall solution relies on adapting the controller in order to keep the stability and some desired performances. It is shown that the design can be performed using polytopic techniques and linear matrix inequalities (LMIs). Real results obtained with a four-wheeled omnidirectional mobile robot are used to demonstrate the effectiveness of the proposed approach.

  • Model reference quasi-LPV control of a quadrotor UAV

     Rotondo, Damiano; Nejjari Akhi-elarab, Fatiha; Puig Cayuela, Vicenç
    IEEE International Conference on Control Applications
    p. 736-741
    DOI: 978-1-4799-7408-5/14/$31.00 ©2014 IEEE
    Presentation's date: 2014-10-08
    Presentation of work at congresses

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    In this paper, a solution for the attitude/altitude tracking control problem is proposed for a quadrotor Un-manned Aerial Vehicle (UAV). The solution relies on the use of a reference model, where the resulting nonlinear error model is brought to a quasi-Linear Parameter Varying (LPV) form using the embedding in the parameters approach. The quasi-LPV model is suitable for designing a controller using Linear Matrix Inequalities (LMI)-based techniques, such that the resulting closed-loop error system is stable with poles placed in some desired region of the complex plane. Simulation results are used to show the effectiveness of the proposed approach. In particular, the quadrotor can reach asymptotically the reference trajectory for all the considered simulation runs.

  • Chlorine decay model calibration and comparison: application to a real water network

     Nejjari Akhi-elarab, Fatiha; Puig Cayuela, Vicenç; Pérez Magrané, Ramon; Quevedo Casin, Joseba-jokin; Cuguero Escofet, Miquel Àngel; Sanz Estapé, Gerard; Mirats Tur, Josep Maria
    Computing and Control for the Water Industry
    p. 1221-1230
    DOI: 10.1016/j.proeng.2014.02.135
    Presentation's date: 2014-09-03
    Presentation of work at congresses

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    This work presents a methodology to efficiently calibrate chlorine decay models. The calibration consists in estimating the unknown parameters by comparing the measured and simulated chlorine concentrations at the monitored nodes within the distribution system in a least square sense using a normalized quadratic cost function. Since this function involves a non- explicit expression of the model, a genetic algorithm (GA) is applied to optimize the model parameters by minimizing the difference between the model-predicted values and the field-measured ones. The method is applied to a part of the Barcelona drinking water network.

  • A virtual actuator approach for fault tolerant control of switching LPV systems

     Rotondo, Damiano; Puig Cayuela, Vicenç; Nejjari Akhi-elarab, Fatiha
    World Congress of the International Federation of Automatic Control
    p. 11667-11672
    Presentation's date: 2014-08-29
    Presentation of work at congresses

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    In this paper, virtual actuators are proposed as a Fault Tolerant Control (FTC) strategy for switching Linear Parameter Varying (LPV) systems subject to actuator faults. The overall solution relies on the addition of a virtual actuator block that keeps the stability and some desired performances without the need of retuning the nominal controller. It is shown that the design can be performed using polytopic techniques and Linear Matrix Inequalities (LMIs). Simulation results obtained with a four-wheeled omnidirectional mobile robot example are used to demonstrate the effectiveness of the proposed approach

  • Competition on Wind Farm Fault Accomodation

     Blesa Izquierdo, Joaquin; Jiménez, P; Rotondo, Damiano; Nejjari Akhi-elarab, Fatiha; Puig Cayuela, Vicenç
    Award or recognition

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  • Model reference switching quasi-LPV control of a four wheeled omnidirectional robot

     Rotondo, Damiano; Nejjari Akhi-elarab, Fatiha; Puig Cayuela, Vicenç
    World Congress of the International Federation of Automatic Control
    p. 4062-4067
    Presentation's date: 2014-08-26
    Presentation of work at congresses

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    In this paper, the problem of trajectory tracking for a four wheeled omnidirectional robot is solved in the inertial fixed coordinate system. The solution relies on a reference model approach, where the resulting nonlinear error model is brought to a quasi-Linear Parameter Varying (LPV) form suitable for designing an LPV controller using Linear Matrix Inequalities (LMI)-based techniques. In particular, the controller is obtained within the switching LPV framework. The effectiveness of the proposed approach is shown through simulation results.

  • Fault Diagnosis of a Wind Farm using Interval Parity Equations

     Blesa Izquierdo, Joaquin; Jiménez, P.; Rotondo, Damiano; Nejjari Akhi-elarab, Fatiha; Puig Cayuela, Vicenç
    World Congress of the International Federation of Automatic Control
    p. 4322-4327
    Presentation's date: 2014-08-26
    Presentation of work at congresses

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    In this paper, the problem of fault diagnosis of a wind farm is addressed using interval parity equations. Fault detection is based on the use of parity equations and unknown but bounded description of the noise and modeling errors. The fault detection test is based on checking the consistency between the measurements and the model by finding if the formers are inside the interval prediction bounds. The fault isolation algorithm is based on analyzing the observed fault signatures on-line, and matching them with the theoretical ones obtained using structural analysis. Finally, the proposed approach is tested using the wind farm benchmark proposed in the context of the wind farm FDI/FTC competition.

  • Adaptive observer for switching linear parameter-varying (LPV) systems

     Rotondo, Damiano; Reppa, Vasso; Puig Cayuela, Vicenç; Nejjari Akhi-elarab, Fatiha
    World Congress of the International Federation of Automatic Control
    p. 1471-1476
    Presentation's date: 2014-08-25
    Presentation of work at congresses

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    In this paper, the problem of joint state and parameter estimation in switching Linear Parameter-Varying (LPV) systems is considered. The proposed solution relies on an adaptive observer, which is designed finding a solution to a system of Trilinear Matrix Inequalities (TMIs). It is shown that, under certain assumptions, the TMIs can be reduced to Linear Matrix Inequalities (LMIs) that can be solved using available software. An example of a four wheeled omnidirectional mobile robot subject to unknown offsets in the motor voltages is used to illustrate the efficiency of the proposed approach.

  • Leak localization in water networks: a model-based methodology using pressure sensors applied to a real network in Barcelona

     Pérez Magrané, Ramon; Sanz Estapé, Gerard; Puig Cayuela, Vicenç; Quevedo Casin, Joseba-jokin; Cuguero Escofet, Miquel Àngel; Nejjari Akhi-elarab, Fatiha; Meseguer Amela, Jordi; Cembrano Gennari, M.gabriela Elena; Mirats Tur, Josep Maria; Sarrate Estruch, Ramon
    IEEE control systems magazine
    Vol. 34, num. 4, p. 24-36
    DOI: 10.1109/MCS.2014.2320336
    Date of publication: 2014-08-01
    Journal article

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    The efficient distribution of water is a subject of major concern for water utilities and authorities [1]. While some leaks in water distribution networks (WDNs) are unavoidable, one of the main challenges in improving the efficiency of drinking water networks is to minimize leaks. Leaks can cause significant economic losses in fluid transportation and extra costs for the final consumer due to the waste of energy and chemicals in water treatment plants. Leaks may also damage infrastructure and cause third-party damage and health risks. In many WDNs, losses due to leakage are estimated to account up to 30% of the total amount of extracted water [2]; a very important issue in a world struggling to satisfy water demands of a growing population.

  • A bank of virtual sensors for active fault tolerant control of LPV systems

     Rotondo, Damiano; Puig Cayuela, Vicenç; Nejjari Akhi-elarab, Fatiha
    European Control Conference
    p. 252-257
    DOI: 10.1109/ECC.2014.6862299
    Presentation's date: 2014-06-25
    Presentation of work at congresses

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    In this paper, a Fault Tolerant Control (FTC) strategy based on a bank of virtual sensors is proposed for Linear Parameter Varying (LPV) systems subject to sensor faults, with the novel feature that, instead of hiding the faults as in the classical virtual sensor paradigm, the virtual sensors are used to expand the set of available sensors. An LPV state feedback controller and an LPV state observer are included in the scheme, as well as a parameter that is used by the observer to select which sensors are used among the physical and the virtual ones. An example is used to show the application of the proposed method.

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    Clustering techniques applied to sensor placement for leak detection and location in water distribution networks  Open access

     Sarrate Estruch, Ramon; Blesa Izquierdo, Joaquin; Nejjari Akhi-elarab, Fatiha
    Mediterranean Conference on Control & Automation
    p. 109-114
    DOI: 978-1-4799-5899-3/14/$31.00 ©2014 IEEE
    Presentation's date: 2014-06-17
    Presentation of work at congresses

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    This work presents an optimization strategy that maximizes the leak locatability performance of water distribution networks (WDN). The goal is to characterize and determine a sensor configuration that guarantees a maximum degree of locatability while the sensor configuration cost satisfies a budgetary constraint. The method is based on pressure sensitivity matrix analysis and an exhaustive search strategy. In order to reduce the size and the complexity of the problem the present work proposes to combine this methodology with clustering techniques. The strategy developed in this work is successfully applied to determine the optimal set of pressure sensors that should be installed in a district metered area (DMA) in the Barcelona WDN.

  • On-line model-based fault detection and isolation for PEM fuel cell stack systems

     Rosich, Albert; Sarrate Estruch, Ramon; Nejjari Akhi-elarab, Fatiha
    Applied mathematical modelling
    Vol. 38, p. 2744-2757
    DOI: 10.1016/j.apm.2013.10.065
    Date of publication: 2014-06-01
    Journal article

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    Efficient and reliable operation of Polymer Electrolyte Membrane (PEM) fuel cells are key requirements for their successful commercialization and application. The use of diagnostic techniques enables the achievement of these requirements. This paper focuses on model-based fault detection and isolation (FDI) for PEM fuel cell stack systems. The work consists in designing and selecting a subset of consistency relations such that a set of predefined faults can be detected and isolated. Despite a nonlinear model of the PEM fuel cell stack system will be used, consistency relations that are easily implemented by a variable back substitution method will be selected. The paper also shows the significance of structural models to solve diagnosis issues in complex systems.

  • Robust state-feedback control of uncertain LPV systems : an LMI-based approach

     Rotondo, Damiano; Nejjari Akhi-elarab, Fatiha; Puig Cayuela, Vicenç
    Journal of the Franklin Institute
    Vol. 351, num. 5, p. 2781-2803
    DOI: 10.1016/j.jfranklin.2014.01.018
    Date of publication: 2014-05-01
    Journal article

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    In this paper, the problem of designing an LPV state-feedback controller for uncertain LPV systems that can guarantee some desired bounds on the H-infinity and the H-2 performances and that satisfies some desired constraints on the closed-loop poles location is considered. In the proposed approach, the vector of varying parameters is used to schedule between uncertain LTI systems. The resulting idea consists in using a double-layer polytopic description so as to take into account both the variability due to the parameter vector and the uncertainty. The first polytopic layer manages the varying parameter and is used to obtain the vertex uncertain systems, where the vertex controllers are designed. The second polytopic layer is built at each vertex system so as to take into account the model uncertainties and add robustness into the design step. Under some assumptions, the problem reduces to finding a solution to a finite number of LMIs, a problem for which efficient solvers are available nowadays. The solution to the multiobjective design problem is found both in the case when a single fixed Lyapunov function is used and when multiple parameter-varying Lyapunov functions are used. The validity and performance of the theoretical results are demonstrated through a numerical example. (C) 2014 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

  • A virtual actuator and sensor approach for fault tolerant control of LPV systems

     Rotondo, Damiano; Nejjari Akhi-elarab, Fatiha; Puig Cayuela, Vicenç
    Journal of process control
    Vol. 24, num. 3, p. 203-222
    DOI: 10.1016/j.jprocont.2013.12.016
    Date of publication: 2014-03-01
    Journal article

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    In this paper, a fault tolerant control (FTC) strategy using virtual actuators and sensors for linear parameter varying (LPV) systems is proposed. The main idea of this FTC method, initially developed for LTI systems, is to reconfigure the control loop such that the nominal controller could still be used without need of retuning it. The plant with the faulty actuator/sensor is modified adding the virtual actuator/sensor block that masks the actuator/sensor fault. The suggested technique is an active FTC strategy that reconfigures the virtual actuator/sensor on-line taking into account faults and operating point changes. The stability of the reconfigured control loop is guaranteed if the faulty plant is stabilizable/detectable. The LPV virtual actuator/sensor is designed using polytopic LPV techniques and linear matrix inequalities (LMIs). A two-tank system simulator is used to assess the performance of the proposed method. In particular, it is shown that the application of the proposed technique results in an improvement, in terms of performance, with respect to the LTI counterpart

  • Sensor placement for leak detection and location in water distribution networks

     Sarrate Estruch, Ramon; Blesa Izquierdo, Joaquin; Nejjari Akhi-elarab, Fatiha; Quevedo Casin, Joseba-jokin
    IWA Specialist Conference on Efficient Use and Management of Water "Water Efficiency Strategies for Difficult Times"
    p. 1-10
    Presentation's date: 2013-10-23
    Presentation of work at congresses

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  • Fault tolerant control design for polytopic uncertain LPV systems: application to a quadrotor

     Rotondo, Damiano; Nejjari Akhi-elarab, Fatiha; Torren, Abel; Puig Cayuela, Vicenç
    International Conference on Control and Fault-Tolerant Systems
    p. 643-648
    Presentation's date: 2013-10-11
    Presentation of work at congresses

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    This paper presents a Fault Tolerant Control (FTC) design for polytopic uncertain Linear Parameter-Varying (LPV) systems, applied to an aerospace application: a quadrotor. Depending on the information available about the fault, the FTC strategy could be passive FTC, active FTC without controller reconfiguration or active FTC with controller reconfiguration. The FTC strategy is designed taking into account the robust LPV polytopic framework. The effectiveness of the proposed method is demonstrated by its application to a quadrotor.

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    Robust fault detection and isolation of wind turbines using interval observers  Open access

     Blesa Izquierdo, Joaquin; Nejjari Akhi-elarab, Fatiha; Rotondo, Damiano; Puig Cayuela, Vicenç
    International Conference on Control and Fault-Tolerant Systems
    p. 353-358
    DOI: 10.1109/SysTol.2013.6693854
    Presentation's date: 2013-10-10
    Presentation of work at congresses

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    In order to improve reliability and safety of wind turbines, it is important to detect and isolate faults as fast as possible. In this work, an approach based on interval observers is used for robust Fault Detection and Isolation (FDI) of wind turbines. Fault detection is addressed using interval observers and unknown but bounded descriptions of the noise and modeling errors, while fault isolation is based on a row-reasoning approach. The performance of the proposed robust FDI scheme is assessed using a set of fault scenarios considered in a wind turbine benchmark.

    Postprint (author’s final draft)

  • FTC of LPV systems using a bank of visual sensors: application to wind turbines

     Rotondo, Damiano; Puig Cayuela, Vicenç; Acevedo Valle, Juan M.; Nejjari Akhi-elarab, Fatiha
    International Conference on Control and Fault-Tolerant Systems
    p. 492-497
    DOI: 10.1109/SysTol.2013.6693844
    Presentation's date: 2013-10-10
    Presentation of work at congresses

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    In this paper, an FTC strategy using Linear Parameter Varying (LPV) virtual sensors is proposed and applied to the IFAC wind turbine case study. The novelty of the proposed strategy consists in that virtual sensors are applied to the FTC problem in a new original fashion. Instead of hiding the fault, the virtual sensors are used to expand the set of available sensors. Then, the state observer is designed using LPV techniques based on Linear Matrix Inequalities (LMIs) taking into account a varying parameter that is introduced in order to select which sensors are used by the observer among the physical and the virtual ones. In this sense, the proposed approach can be considered as a multisensor fusion strategy that integrates data provided by various sensors in order to obtain a better estimation.

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    Chlorine decay model calibration and comparison: application to a real water network  Open access

     Nejjari Akhi-elarab, Fatiha; Puig Cayuela, Vicenç; Pérez Magrané, Ramon; Quevedo Casin, Joseba-jokin; Cuguero Escofet, Miquel Àngel; Sanz Estapé, Gerard; Mirats Tur, Josep Maria
    Computing and Control for the Water Industry
    p. 1221-1230
    DOI: 10.1016/j.proeng.2014.02.135
    Presentation's date: 2013-09-03
    Presentation of work at congresses

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    This work presents a methodology to efficiently calibrate chlorine decay models. The calibration consists in estimating the unknown parameters by comparing the measured and simulated chlorine concentrations at the monitored nodes within the distribution system in a least square sense using a normalized quadratic cost function. Since this function involves a non- explicit expression of the model, a genetic algorithm (GA) is applied to optimize the model parameters by minimizing the difference between the model-predicted values and the field-measured ones. The method is applied to a part of the Barcelona drinking water network.

  • A shifting pole placement approach for the design of parameter-scheduled state-feedback controllers

     Rotondo, Damiano; Nejjari Akhi-elarab, Fatiha; Puig Cayuela, Vicenç
    European Control Conference
    p. 1829-1834
    Presentation's date: 2013-07-18
    Presentation of work at congresses

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    In this paper, the problem of designing a parameter-scheduled state-feedback controller is investigated. The main novelty and contribution of this paper is the extension of the classical regional pole placement problem, that will be referred to as shifting pole placement, to the design of parameter scheduled controller taking advantage of polytopes and LMIs properties. By introducing some parameters, or using existing ones, the controller can be designed in such a way that different values of these parameters imply different regions where the closed-loop poles are situated. The problem is analyzed in both linear time-invariant (LTI) and parameter-varying (LPV) cases, and some results obtained in simulation are shown so as to demonstrate the effectiveness of the proposed approach

    In this paper, the problem of designing a parameter-scheduled state-feedback controller is investigated. The main novelty and contribution of this paper is the extension of the classical regional pole placement problem, that will be referred to as shifting pole placement, to the design of parameter scheduled controller taking advantage of polytopes and LMIs properties. By introducing some parameters, or using existing ones, the controller can be designed in such a way that different values of these parameters imply different regions where the closed-loop poles are situated. The problem is analyzed in both linear time-invariant (LTI) and parameter-varying (LPV) cases, and some results obtained in simulation are shown so as to demonstrate the effectiveness of the proposed approach.

  • Passive and active FTC comparison for polytopic LPV systems

     Rotondo, Damiano; Nejjari Akhi-elarab, Fatiha; Puig Cayuela, Vicenç
    European Control Conference
    p. 2951-2956
    Presentation's date: 2013-07-18
    Presentation of work at congresses

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    Fault-tolerant control (FTC) allows to preserve performance and stability despite the presence of faults. The literature considers two main groups of techniques: the passive and the active FTC techniques. In case of the passive techniques, the fault is taken into account as a system perturbation, so that the control law has fault capabilities that allow the system to cope with the fault presence. On the other hand, in the case of the active FTC techniques, the control law uses some information given by a Fault Detection and Isolation (FDI) module, so that through some automatic adjustment in the control loop, the fault is tolerated with minimum performance degradation. In this paper, a linear parameter-varying (LPV)/linear matrix inequalities (LMIs)-based technique is used to achieve fault tolerance and to compare benefits and drawbacks of passive and active FTC. The proposed approach is applied to a twowheel differential robot.

    Fault-tolerant control (FTC) allows to preserve performance and stability despite the pres nce of faults. The literature considers two main groups of techniques: the passive and the active FTC techniques. In case of the passive techniques, the fault is taken into account as a system perturbation, so that the control law has fault capabilities that allow the system to cope with the fault presence. On the other hand, in the case of the active FTC techniques, the control law uses some information given by a Fault Detection and Isolation (FDI) module, so that through some automatic adjustment in the control loop, the fault is tolerated with minimum performance degradation. In this paper, a linear parameter-varying (LPV)/linear matrix inequalities (LMIs)-based technique is used to achieve fault tolerance and to compare benefits and drawbacks of passive and active FTC. The proposed approach is applied to a twowheel differential robot.

  • Fault tolerant control design for polytopic uncertain LPV systems

     Rotondo, Damiano; Nejjari Akhi-elarab, Fatiha; Puig Cayuela, Vicenç
    Mediterranean Conference on Control & Automation
    p. 66-72
    Presentation's date: 2013-06-26
    Presentation of work at congresses

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    This paper presents a fault tolerant control (FTC) design for polytopic uncertain linear parameter-varying (LPV) systems. Depending on the information available about the fault, the FTC strategy could be passive FTC, active FTC without controller reconfiguration or active FTC with controller reconfiguration. The FTC strategy is designed taking into account the robust LPV polytopic framework extending known results from the robust polytopic and the traditional LPV polytopic control areas. The effectiveness of the proposed method is demonstrated by its application to a two-tank system simulator.

    This paper presents a fault tolerant control (FTC) design for polytopic uncertain linear parameter-varying (LPV) systems. Depending on the information available about the fault, the FTC strategy could be passive FTC, active FTC without controller reconfiguration or active FTC with controller reconfiguration. The FTC strategy is designed taking into account the robust LPV polytopic framework extending known results from the robust polytopic and the traditional LPV polytopic control areas. The effectiveness of the proposed method is demonstrated by its application to a two-tank system simulator.

  • Quasi-LPV modeling, identification and control of a twin rotor MIMO system

     Rotondo, Damiano; Nejjari Akhi-elarab, Fatiha; Puig Cayuela, Vicenç
    Control engineering practice
    Vol. 21, num. 6, p. 829-846
    DOI: 10.1016/j.conengprac.2013.02.004
    Date of publication: 2013-03
    Journal article

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    This paper describes the quasi-linear parameter varying (quasi-LPV) modeling, identification and control of a Twin Rotor MIMO System (TRMS). The non-linear model of the TRMS is transformed into a quasi-LPV system and approximated in a polytopic way. The unknown model parameters have been calibrated by means of the non-linear least squares identification approach and validated against real data. Finally, an LPV state observer and state-feedback controller have been designed using an LPV pole placement method based on LMI regions. The effectiveness and performance of the proposed control approach have been proved both in simulation and on the real set-up.

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    Self-video recording for the integration and assessment of generic competencies  Open access

     Masip Alvarez, Albert; Hervada Sala, Carme; Pamies Gomez, Teresa; Arias Pujol, Antoni; Jaen Fernandez, Carlos; Rodriguez Sorigue, Maria Cristina; Romero Duran, David; Nejjari Akhi-elarab, Fatiha; Alvarez Del Castillo, M. Dolores; Roca Lefler, Marta; Hernández Farràs, Jorge; Montferrer Liñan, Raul
    IEEE Global Engineering Education Conference
    p. 436-441
    DOI: 0.1109/EduCon.2013.6530142
    Presentation of work at congresses

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    This document presents the use of a self-video-recording service for the integration and assessment of certain generic competences (oral and written communication, teamwork and third (English) language) in all degree programs related to the Industrial area at the Terrassa School of Engineering (EET). The resulting service allows to carry out the assessment through active and collaborative learning methodologies using ICT as a support, becoming an educational resource where students are encouraged to evaluate their own activity, individually and in groups (co-evaluation), and with which the faculty can enhance certain sections of the syllabus while also evaluating generic competences. This paper outlines the rationale and design of the system based on self-recording-video that assists work on some generic competences. A preliminary experience has taken place and it has been carried out by volunteer students and some professors from the promoting team. It consisted of following all steps to obtain the video-recording as a result and fulfil the further assessment. Preparing the defence of the final project career, explaining the way a problem is faced are examples of use of the service endowed to assist the assessment of some generic competences. A good number of students and professors have participated in this preliminary experiment carried out on some subjects and in which oral effective communication will be assessed. A specific rubric for the assessment of generic competences has been used both for students and faculty. There is a summary of qualitative feedback from both students and instructors, and where several issues related to improving the self-assessment and self-video-recording system, are discussed. Finally, a survey is proposed, whose results will be helpful for its improvement.

    This document presents the use of a self-video-recording service for the integration and assessment of certain generic competences (oral and written communication, teamwork and third (English) language) in all degree programs related to the Industrial area at the Terrassa School of Engineering (EET). The resulting service allows to carry out the assessment through active and collaborative learning methodologies using ICT as a support, becoming an educational resource where students are encouraged to evaluate their own activity, individually and in groups (co-evaluation), and with which the faculty can enhance certain sections of the syllabus while also evaluating generic competences. This paper outlines the rationale and design of the system based on self-recording-video that assists work on some generic competences. A preliminary experience has taken place and it has been carried out by volunteer students and some professors from the promoting team. It consisted of following all steps to obtain the video-recording as a result and fulfil the further assessment. Preparing the defence of the final project career, explaining the way a problem is faced are examples of use of the service endowed to assist the assessment of some generic competences. A good number of students and professors have participated in this preliminary experiment carried out on some subjects and in which oral effective communication will be assessed. A specific rubric for the assessment of generic competences has been used both for students and faculty. There is a summary of qualitative feedback from both students and instructors, and where several issues related to improving the self-assessment and self-video-recording system, are discussed. Finally, a survey is proposed, whose results will be helpful for its improvement.

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    Abnormal quality detection and isolation in water distribution networks using simulation models  Open access

     Nejjari Akhi-elarab, Fatiha; Pérez Magrané, Ramon; Puig Cayuela, Vicenç; Quevedo Casin, Joseba-jokin; Sarrate Estruch, Ramon; Cuguero Escofet, Miquel Àngel; Sanz Estapé, Gerard; Mirats Tur, Josep Maria
    Drinking water engineering and science
    num. 5, p. 67-72
    DOI: 10.5194/dwesd-5-435-2012
    Date of publication: 2012-11-16
    Journal article

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    This paper proposes a model based detection and localisation method to deal with abnormal quality levels based on the chlorine measurements and chlorine sensitivity analysis in a water distribution network. A fault isolation algorithm which correlates on line the residuals (generated by comparing the available chlorine measurements with their estimations using a model) with the fault sensitivity matrix is used. The proposed methodology has been applied to a District Metered Area (DMA) in the Barcelona network.

  • Competition Fault Detection and Fault Tolerant Control for Wind Turbines

     Nejjari Akhi-elarab, Fatiha; Rotondo, Damiano; Puig Cayuela, Vicenç; Blesa Izquierdo, Joaquin
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  • Combining health monitoring and control

     Escobet Canal, Teresa; Quevedo Casin, Joseba-jokin; Puig Cayuela, Vicenç; Nejjari Akhi-elarab, Fatiha
    Date of publication: 2012-09
    Book chapter

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  • Safeprocess 2012

     Rotondo, Damiano; Nejjari Akhi-elarab, Fatiha; Puig Cayuela, Vicenç; Blesa Izquierdo, Joaquin
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  • Optimal sensor placement for leakage detection and isolation in water distribution networks

     Rosich Oliva, Albert; Sarrate Estruch, Ramon; Nejjari Akhi-elarab, Fatiha
    IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes
    p. 776-781
    DOI: 10.3182/20120829-3-MX-2028.00232
    Presentation's date: 2012-08-30
    Presentation of work at congresses

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    In this paper, the problem of leakage detection and isolation in water distribution networks is addressed applying an optimal sensor placement methodology. The chosen technique is based on structural models and thus it is suitable to handle non-linear and large scale systems. A drawback of this technique arises when costs are assigned uniformly. A main contribution of this paper is the proposal of an iterative methodology that focuses on identifying essential sensors which ultimately leads to an improvement of the optimal search efficiency. The algorithm presented in this work is successfully applied to a District Metered Area (DMA) in the Barcelona water distribution network.

  • Fault tolerant control of the wind turbine benchmark using virtual sensors/actuators  awarded activity

     Rotondo, Damiano; Nejjari Akhi-elarab, Fatiha; Puig Cayuela, Vicenç; Blesa Izquierdo, Joaquin
    IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes
    p. 114-119
    DOI: 10.3182/20120829-3-MX-2028.00185
    Presentation's date: 2012-08-29
    Presentation of work at congresses

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    In this paper, the problem of Fault Tolerant Control (FTC) of the wind turbine benchmark is addressed. The paper proposes the use of virtual sensor/actuator approaches to deal with sensor and actuator faults, respectively. The paper suggests the reformulation of these FTC schemes that have been already proposed in state space form in input/output form. The FTC module will use the information from the Fault Detection and Isolation (FDI) module previously designed using set-membership techniques. A fault estimation scheme is also proposed based on batch least squares approach. The performance of the proposed FTC schemes will be assessed using the proposed fault scenarios considered in the FTC benchmark.

    Primer lloc de la "Competition on Fault Detection and Fault Tolerant Control for Wind Turbines", com la millor solució al problema de control tolerant a fallades per a aerogeneradors. El premi el dóna l’Aalborg University/MathWorks/kk-electronic.

  • Fault estimation and virtual actuator FTC approach for LPV systems

     Rotondo, Damiano; Nejjari Akhi-elarab, Fatiha; Puig Cayuela, Vicenç
    IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes
    p. 824-829
    Presentation's date: 2012-08-29
    Presentation of work at congresses

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    In this paper, a Fault Tolerant Control (FTC) strategy using a virtual actuator for Linear Parameter Varying (LPV) systems is proposed. The main idea of this FTC method is to reconfigure the control loop such that the nominal controller could still be used without need of retuning it. The plant with the faulty actuator is modified adding the virtual actuator block that masks the fault. The suggested strategy is an active FTC strategy that reconfigures the virtual actuator on-line taking into account faults and operating point changes. In order to implement the virtual actuator approach, a fault estimation is required. In this work, the fault estimation is formulated as a parameter estimation problem. The LPV virtual actuator is designed using polytopic LPV techniques and Linear Matrix Inequalities (LMIs). To assess the performance of the proposed approach an aeronautical application is used.

  • Model-based optimal sensor placement approaches to fuel cell stack system fault diagnosis

     Sarrate Estruch, Ramon; Nejjari Akhi-elarab, Fatiha; Rosich Oliva, Albert
    IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes
    p. 96-101
    Presentation's date: 2012-08-29
    Presentation of work at congresses

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  • Health aware control and model-based prognosis

     Escobet Canal, Teresa; Puig Cayuela, Vicenç; Nejjari Akhi-elarab, Fatiha
    Mediterranean Conference on Control & Automation
    p. 691-696
    Presentation's date: 2012-07-05
    Presentation of work at congresses

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  • Sensor placement for fault diagnosis performance maximization in distribution networks

     Sarrate Estruch, Ramon; Nejjari Akhi-elarab, Fatiha; Rosich Oliva, Albert
    Mediterranean Conference on Control & Automation
    p. 110-115
    Presentation's date: 2012-07-04
    Presentation of work at congresses

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  • Quasi-LPV modelling and non-linear identification of a twin rotor system

     Nejjari Akhi-elarab, Fatiha; Rotondo, Damiano; Puig Cayuela, Vicenç; Innocenti, Mario
    Mediterranean Conference on Control & Automation
    p. 230-234
    Presentation's date: 2012-07-04
    Presentation of work at congresses

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  • FTC design for polytopic LPV systems subject to actuator saturations

     Rotondo, Damiano; Nejjari Akhi-elarab, Fatiha; Puig Cayuela, Vicenç
    Mediterranean Conference on Control & Automation
    p. 524-529
    Presentation's date: 2012-07-04
    Presentation of work at congresses

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    In this paper, a Fault Tolerant Control (FTC) scheme using virtual actuators for discrete-time polytopic Linear Parameter Varying (LPV) systems subject to actuator saturations is proposed. The plant with the faulty actuator is augmented to take into account the saturations and modified adding the virtual actuator block that masks the fault. The elements of the FTC control loop are designed using Linear Matrix Inequalities (LMIs) in order to achieve the Pole Placement and the H2 norm specifications. To assess the performance of the proposed approach an aeronautical application is used.

  • Sensor placement for fault diagnosis performance maximization under budgetary constraints

     Sarrate Estruch, Ramon; Nejjari Akhi-elarab, Fatiha; Rosich Oliva, Albert
    International Conference on Systems and Control
    p. 178-183
    Presentation's date: 2012-06-21
    Presentation of work at congresses

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  • Fault diagnosis based on causal computations

     Rosich Oliva, Albert; Frisk, Erik; Åslund, Jan; Sarrate Estruch, Ramon; Nejjari Akhi-elarab, Fatiha
    IEEE transactions on systems man and cybernetics Part A-systems and humans
    Vol. 42, num. 2, p. 371-381
    DOI: 10.1109/TSMCA.2011.2164063
    Date of publication: 2012-03-23
    Journal article

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    This paper focuses on residual generation for model-based fault diagnosis. Specifically, a methodology to derive residual generators when nonlinear equations are present in the model is developed. A main result is the characterization of computation sequences that are particularly easy to implement as residual generators and that take causal information into account. An efficient algorithm, based on the model structure only, which finds all such computation sequences, is derived. Furthermore, fault detectability and isolability performances depend on the sensor configuration. Therefore, another contribution is an algorithm, also based on the model structure, that places sensors with respect to the class of residual generators that take causal information into account. The algorithms are evaluated on a complex highly nonlinear model of a fuel cell stack system. A number of residual generators that are, by construction, easy to implement are computed and provide full diagnosability performance predicted by the model.

  • Localización de fugas en redes de distribución de agua potable

     Pérez Magrané, Ramon; Puig Cayuela, Vicenç; Quevedo Casin, Joseba-jokin; Nejjari Akhi-elarab, Fatiha; Pascual Pañach, Josep; Sanz Estapé, Gerard; Cuguero Escofet, Miquel Àngel; Cembrano Gennari, M.gabriela Elena; Landeros, Edson; Peralta, Antoni; Mirats Tur, Josep Maria; Meseguer Amela, Jordi
    Automática e instrumentación
    num. 437, p. 36-38
    Date of publication: 2012-02
    Journal article

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  • 20th Mediterranean Conference on Control and Automation

     Pérez Magrané, Ramon; Nejjari Akhi-elarab, Fatiha; Sarrate Estruch, Ramon; Morcego Seix, Bernardo; Quevedo Casin, Joseba-jokin
    Competitive project

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  • SYSTEM HEALTH MANAGEMENT AND RELIABLE CONTROL OF COMPLEX SYSTEMS

     Puig Cayuela, Vicenç; Escobet Canal, Teresa; Saludes Closa, Jordi; Nejjari Akhi-elarab, Fatiha; Morcego Seix, Bernardo; De Las Heras Jimenez, Salvador Augusto; Escobet Canal, Antoni; Comasolivas Font, Ramon; Sarrate Estruch, Ramon; Pérez Magrané, Ramon; Tornil Sin, Sebastian; Masip Alvarez, Albert; Rotondo, Damiano; Vento Maldonado, Jorge Isaac; Blesa Izquierdo, Joaquin; Cuguero Escofet, Miquel Àngel; Romera Formiguera, Juli; Pascual Pañach, Josep; Sanz Estapé, Gerard; Cuguero Escofet, Josep; Ocampo Martinez, Carlos A.; Quevedo Casin, Joseba-jokin
    Competitive project

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  • Fault estimation and virtual sensor FTC approach for LPV systems

     Montes de Oca, Saúl; Rotondo, Damiano; Nejjari Akhi-elarab, Fatiha; Puig Cayuela, Vicenç
    IEEE Conference on Decision and Control and European Control Conference
    p. 1-6
    Presentation's date: 2011-12-13
    Presentation of work at congresses

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  • Tail motion model identification for control design of an unmanned helicopter

     Morcego Seix, Bernardo; Saldívar, Eleazar; Nejjari Akhi-elarab, Fatiha
    Research, Development and Education on Unmanned Aerial Systems
    p. 1-11
    Presentation's date: 2011-12-01
    Presentation of work at congresses

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  • Abnormal Quality Detection and Isolation in Water Distribution Networks using Simulation Models

     Nejjari Akhi-elarab, Fatiha; Pérez Magrané, Ramon; Puig Cayuela, Vicenç; Quevedo Casin, Joseba-jokin; Sarrate Estruch, Ramon; Cuguero Escofet, Miquel Àngel; Sanz Estapé, Gerard; Mirats Tur, Josep Maria
    Computing and Control for the Water Industry
    p. 461-466
    DOI: 10.5194/dwesd-5-435-2012
    Presentation's date: 2011-09-06
    Presentation of work at congresses

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    This paper proposes a model based detection and localisation method to deal with abnormal quality levels based on the chlorine measurements and chlorine sensitivity analysis in a water distribution network. A fault isolation algorithm which correlates on line the residuals (generated by comparing the available chlorine measurements with their estimations using a model) with the fault sensitivity matrix is used. The proposed methodology has been applied to a District Metered Area (DMA) in the Barcelona network.

    This paper proposes a model based fault localisation method to deal with abnormal quality levels based on the chlorine measurements and chlorine sensitivity analysis in a water distribution network. A fault isolation algorithm which correlates on line the residuals, generated by comparing the available chlorine measurements with their estimation using a model, with the fault sensitivity matrix is used. The proposed methodology has been applied to a District Metered Area (DMA) in the Barcelona network.

  • Study of the isolability of leaks in a network depending on calibration of demands

     Pérez Magrané, Ramon; Nejjari Akhi-elarab, Fatiha; Puig Cayuela, Vicenç; Quevedo Casin, Joseba-jokin; Sanz Estapé, Gerard; Cuguero Escofet, Miquel Àngel; Peralta, Antoni
    Computing and Control for the Water Industry
    p. 455-460
    Presentation's date: 2011-09-06
    Presentation of work at congresses

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    Using the simulation models a methodology was developed for leakage detection and localisation in a water distribution network [4]. Such methodology is based on fault detection and isolation techniques. Sensitivity matrix of pressures to leaks [8] is generated using simulation models [1]. Such models are available in water companies. The methodology showed promising results but two main issues appeared. Calibration in models and precision in sensors was required. Investment in sensors could be afforded [6] as long as models were well calibrated enough. The main uncertainty in models lies on demands. This paper presents a study of the effect of an improvement in demand calibration on isolability of leaks. The aim is to quantify the return of an effort in calibrating in terms of leak detection one of the main issues in water industry [2].

  • Heading control system design for an unmanned helicopter

     Nejjari Akhi-elarab, Fatiha; Saldívar, Eleazar; Morcego Seix, Bernardo
    Mediterranean Conference on Control & Automation
    p. 1373-1378
    Presentation's date: 2011-06-23
    Presentation of work at congresses

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  • LPV modelling and control of a twin rotor MIMO system

     Nejjari Akhi-elarab, Fatiha; Rotondo, Damiano; Puig Cayuela, Vicenç; Innocenti, Mario
    Mediterranean Conference on Control & Automation
    p. 1082-1087
    Presentation's date: 2011-06-23
    Presentation of work at congresses

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  • Leakage location in water distribution networks based on correlation measurement of pressure sensors

     Quevedo Casin, Joseba-jokin; Cuguero Escofet, Miquel Àngel; Pérez Magrané, Ramon; Nejjari Akhi-elarab, Fatiha; Puig Cayuela, Vicenç; Mirats Tur, Josep Maria
    IWA Symposium on Systems Analysis and Integrated Assessment
    p. 290-297
    Presentation's date: 2011-06-21
    Presentation of work at congresses

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  • Leakage isolation in water distribution networks: a comparative study of two methodologies on a real case study

     Pérez Magrané, Ramon; Puig Cayuela, Vicenç; Nejjari Akhi-elarab, Fatiha; Cuguero Escofet, Miquel Àngel; Sanz Estapé, Gerard; Mirats Tur, Josep Maria; Quevedo Casin, Joseba-jokin
    Mediterranean Conference on Control & Automation
    p. 138-143
    Presentation's date: 2011-06-21
    Presentation of work at congresses

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