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Showing papers in "IFAC Proceedings Volumes in 1988"


Journal ArticleDOI
TL;DR: Model predictive control (MPC) as mentioned in this paper is a family of controllers in which there is a direct use of an explicit and separately identifiable model and has been widely used in industrial applications.

273 citations


Journal ArticleDOI
I-Lung Chien1
TL;DR: In this article, the authors extended the PID controller design based on internal model control (IMC) design procedure by Rivera and co-workers to cover a wider range of process models.

77 citations


Journal ArticleDOI
TL;DR: A computer assisted fault diagnosis system (CAFD) is considered which allows the early detect ion and localization of process faults during normal operation or on request, based on an on-line engineering-based expert system.

73 citations


Journal ArticleDOI
TL;DR: In this paper, the authors combine model predictive controllers over state space controllers for dealing with complex feedback configurations, through the concept of observer; they offer possibilities which go far beyond those of "model in parallel to the process" structures.

66 citations


Journal ArticleDOI
TL;DR: A simple nonlinear models for a drum-boiler derived from first principles that can be characterized by a few physical parameters that are easily obtained from construction data are described.

64 citations


Journal ArticleDOI
TL;DR: This article gives a survey of basic techniques to derive and analyse algorithms for tracking time-varying systems, and explicit and semi-explicit expressions for the means square errors are derived, which demonstrate the character of the trade-off between tracking ability and noise sensitivity.

64 citations


Journal ArticleDOI
TL;DR: In this paper, the authors examine concepts of trust, both rational and irrational, and both as cause and effect, and suggest some possibilities for quantitative modeling and suggest that the effectiveness and safety of large scale technological systems of all kinds is more and more dependent on their command and control.

63 citations


Journal ArticleDOI
TL;DR: In this article, the relevance and importance of continuous-time approaches in systems and control in general and in problems of identification in particular is discussed by drawing attention to some earlier surveys, books and monographs and highlighting certain recent approaches.

58 citations


Journal ArticleDOI
TL;DR: In this paper, the identification of models for multivariable linear time invariant systems from noisy input-output observations is studied from a geometrical point of view, where the singular value decomposition allows to estimate the order of observable part of the system and its state space model matrices.

58 citations


Journal ArticleDOI
TL;DR: A laser radar system and a sensor data processing algorithm, which extracts the actual orientation and position of the robot directly from the primary range data produced by the laser sensors, are described.

48 citations


Journal ArticleDOI
TL;DR: The present workshop was organized by the Secretariat of the Convention on Biological Diversity, the United Nations Development Programme, through its Biodiversity Finance Initiative (BIOFIN), and United Nations Environment Programme (UNEP), through the UNEP World Conservation Monitoring Centre (WCMC), with financial support provided by the Government of Denmark and the European Union (EU).

Journal ArticleDOI
TL;DR: Two new algorithms for reducing Gaussian mixture distributions are presented which preserve the mean and covariance of the original mixture, and the final approximation is itself aGaussian mixture.

Journal ArticleDOI
TL;DR: In this paper, a case study of model-based predictive control of an evaporation process in a kraft pulp mill is presented, where the control objectives are formulated as a quadratic programming (QP) problem.

Journal ArticleDOI
TL;DR: A nonlinear decoupling and linearizing feedback law is obtained which yields invariant control performances over time-varying tasks in a dynamic hybrid control scheme for robot manipulators.

Journal ArticleDOI
TL;DR: A reliable self-biasing auto-tuner is thus resultant because the resultant asymmetry of the relay switching intervals can be used as an error indicator, or used to compute a self-corrective bias to restore accuracy of the estimates.

Journal ArticleDOI
TL;DR: In this paper, the authors presented a model and computer simulation results of the distributed collectors field of a solar power plant located in Tabernas (Almeria - Spain) using 100 lumped parameter submodels.

Journal ArticleDOI
TL;DR: A new tuning method which is also based on a relay feedback experiment and a new method to process the data from the experiment gives a sampled data model, ideally suited for pre-tuning of more complicated adaptive algorithms.

Journal ArticleDOI
TL;DR: The SPADE static analysis and verification tools are used to model, analyse and formally verify the LUCOL assembly code modules used in the fuel control unit of the Rolls-Royce RB211-524G jet engine, probably the first tool-supported formal proof of correctness of safety-critical assembly code in the U.K.

Journal ArticleDOI
TL;DR: A unified, recursive approach to signal processing for nonstationary time-series that allows for all aspects of signal processing, from model identification and estimation, through signal smoothing and interpolation, to adaptive prediction and forecasting.

Journal ArticleDOI
TL;DR: In this article, a new force control method was proposed which may be thought as logically derived from compliance control and impedance control for which only a reference position is usually assigned, and the attractive feature of the proposed control is that it also allows for a reference force to be assigned.

Journal ArticleDOI
TL;DR: Five complementary structuring concepts are proposed and discussed: hierarchical submodel decomposition, model types, multiple realizations, model categorization and multiple presentations, and description of interaction between submodels should be done to make the use of model libraries both safe and flexible.

Journal ArticleDOI
TL;DR: A flexible base model to describe responsibilities and access rights of project team members for software projects and an editor for the administration of responsibilities and its integration with other tools is presented.

Journal ArticleDOI
TL;DR: In this paper, a direct adaptive control scheme is proposed which has the property that it can limit its searches to the space of all stabilizing linear proper controllers for a nominal linear plant.

Journal ArticleDOI
TL;DR: The Karlsruhe Hand is a non-anthropomorphic three finger dextrous gripper with 9 degrees of freedom, which is being developed at the Institute for Real-Time Computer Control Systems and Robotics of the University of Karls Kruhe.

Journal ArticleDOI
TL;DR: In this article, an artificial muscle is introduced which responses to chemical stimulation producing an actuator for use in robotic applications, and a mathematical model of the physical and chemical processes involved has been developed and this has been incorporated into a simulation of the'muscular' actions which are occuring.

Journal ArticleDOI
TL;DR: It is shown how the introduction of decision support systems to aid individual decisionmakers can affect in unforeseen ways the performance of human decision making organizations.

Journal ArticleDOI
TL;DR: In this article, the identification of friction characteristics, inertial and coupling coefficients in robotic drives is based on the measurements of current and speed only, and the coupling coefficients are obtained by a correlation method and a simple energy balance reveals the actual friction characteristic.

Journal ArticleDOI
TL;DR: The main scope of this paper is concerned with the design of a controller based upon fuzzy logic control theory for a biological system of muscle relaxant drug administration, and the necessary linguistic rules are derived.

Journal ArticleDOI
TL;DR: The data flow language which has been used to build the tool has a simple and precise formal semantics that will allow within future extensions to apprehend the program proving.

Journal ArticleDOI
TL;DR: The primary goals are to discuss frankly the group’s recent work in this area, to outline various approaches to expert-aided CACE and their implications, and to present a balanced, realistic view of the promise, limitations, and cost of ES technology for CACE.