DESIGNING OF TWO NEW FUZZY CONTROLLERS WITH ERROR INTEGRAL AND THEIR APPLICATIONS IN FOLLOWING CONTROL OF WARSHIP-GUNS

Two new fuzzy controllers are designed, one's control rules are adjusted byerror integral, another are with feedforward of error integral. If only the control rules andparameters are selected felicitously, the static errors of the system will be eliminated. The testresults show that the controllers can assuredly improve static performances of the controlledsystem.

ON THE ERROR OF QUADRATURE FORMULAE FOR CAUCHY PRINCIPAL VALUE INTEGRALS BASED ON PIECEWISE INTERPOLATION

We consider the computation of the. Cauchy principal value mtegral by quadrature formulaeof compound type, which are obtained by replacing f by a piecewise defined function F,[;]. The behaviour of the constants m the estimates where quadrature error) is determined for fixed i and which means that not only the. order, but also the coefficient of the main term of is determined. The behaviour of these error constants is compared -with the corresponding ones obtained for the. method of subtraction of the singularity. As it turns out, these error constants have, in general, the same asymptotic behaviour.

Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation

This paper investigates the tracking control problem for unmanned underwater vehicles(UUVs)systems with sensor faults,input saturation,and external disturbance caused by waves and ocean currents.An active sensor fault-tolerant control scheme is proposed.First,the developed method only requires the inertia matrix of the UUV,without other dynamic information,and can handle both additive and multiplicative sensor faults.Subsequently,an adaptive fault-tolerant controller is designed to achieve asymptotic tracking control of the UUV by employing robust integral of the sign of error feedback method.It is shown that the effect of sensor faults is online estimated and compensated by an adaptive estimator.With the proposed controller,the tracking error and estimation error can asymptotically converge to zero.Finally,simulation results are performed to demonstrate the effectiveness of the proposed method.

Adaptive RISE Control of Winding Tension with Active Disturbance Rejection

A winding system is a time-varying system that considers complex nonlinear characteristics,and how to control the stability of the winding tension during the winding process is the primary problem that has hindered development in this field in recent years.Many nonlinear factors affect the tension in the winding process,such as friction,structured uncertainties,unstructured uncertainties,and external interference.These terms severely restrict the tension tracking performance.Existing tension control strategies are mainly based on the composite control of the tension and speed loops,and previous studies involve complex decoupling operations.Owing to the large number of calculations required for this method,it is inconvenient for practical engineering applications.To simplify the tension generation mechanism and the influence of the nonlinear characteristics of the winding system,a simpler nonlinear dynamic model of the winding tension was established.An adaptive method was applied to update the feedback gain of the continuous robust integral of the sign of the error(RISE).Furthermore,an extended state observer was used to estimate modeling errors and external disturbances.The model disturbance term can be compensated for in the designed RISE controller.The asymptotic stability of the system was proven according to the Lyapunov stability theory.Finally,a comparative analysis of the proposed nonlinear controller and several other controllers was performed.The results indicated that the control of the winding tension was significantly enhanced.

Performance enhancement of IMC-PID controller design for stable and unstable second-order time delay processes

An IMC-PID controller was proposed for unstable second-order time delay system which shows the characteristics of inverse response(RHP zero). A plot of Ms versus λ was suggested to calculate the suitable tuning parameter λ, which provides a trade-off between performance and robustness. Six different forms of process models were selected from literature to show the applicability of the present method. Performance of controller was calculated by ITAE and total variation TV and compared with recently published tuning rules. Undesirable overshoot was removed by using a set-point weighting parameter. Robustness was tested by introducing a perturbation into the various model parameters and closed-loop results show that the designed controller is robust in the case of model uncertainty. The proposed method shows an overall better closed-loop response as compared to other recently reported methods.

Chaotic Whale Optimized Fractional Order PID Controller Design for Desalination Process

The main aim of this work is to design a suitable Fractional Order Proportionl Integral Derivative(FOPID)controller with Chaotic Whale Optimization Algorithm(CWOA)for a RO desalination system.Continuous research on Reverse Osmosis(RO)desalination plants is a promising technique for satisfaction with sustainable and efficient RO plants.This work implements CWOA based FOPID for the simulation of reverse osmosis(RO)desalination process for both servo and regulatory problems.Mathematical modeling is a vital constituent of designing advanced and developed engineering processes,which helps to gain a deep study of processes to predict the performance,more efficiently.Numerous approaches have been employed for mathematical models based on mass and heat transfer and concentration of permeable flow rate.Incorporation of FOPID controllers is broadly used to improve the dynamic response of the system,at the same time,to reduce undershoot or overshoot,steady state error and hence improve the response.The performances of the FOPID controller with optimization is compared in terms of measures such as Integral Time Absolute Error(ITAE)and Integral Square Error(ISE).Simulation results with FOPID on desalination process achieved rise time of 0.0311 s,settling time of 0.0489 s and 0.7358%overshoot,better than the existing techniques available in the literatures.

Experimental and Simulation-based Investigation of a Velocity Controller Extension on a Ball Screw System

The background of this contribution is the enhancement of the achievable accuracy of servo-screw-presses. Therefore, the paper is concerned with the improvement of the dynamic precision for direct driven servo axes which is still restricted by structural vibrations. For this purpose, a ball screw test rig was analyzed for which the standard cascade control structure was extended by an additional velocity feedback. This structural extension has the potential to improve the controller performance significantly due to a better damping of low frequent vibrations. Furthermore, a parametric dynamic model for the control structure was derived to investigate the effects of the controller extension. For this analysis, the influences of the used tuning factors and filters is discussed in the frequency domain based on bode plots. The results of these cognitions are transferred to the time domain and illustrated by step responses. In addition, an evaluation by the criterion of the IAE （integral of absolute error） and the Prony analysis is carried out. Finally, the results are experimentally verified at the ball screw test rig. The paper closes with the conclusions.

ASYMPTOTIC ERROR EXPANSION FOR THE NYSTROM METHOD OF NONLINEAR VOLTERRA INTEGRAL EQUATION OF THE SECOND KIND

While the numerical solution of one-dimensional Volterra integral equations of the second kind with regular kernels is well understood, there exist no systematic studies of asymptotic error expansion for the approximate solution. In this paper,we analyse the Nystrom solution of one-dimensional nonlinear Volterra integral equation of the second kind and show that approkimate solution admits an asymptotic error expansion in even powers of the step-size h, beginning with a term in h2. So that the Richardson's extrapolation can be done. This will increase the accuracy of numerical solution greatly.

Detection and Analysis of Strong Ionospheric Scintillation in Equatorial Region

To detect the occurrence of ionospheric scintillation in the equatorial region,a coherent/non-coherent integration method is adopted on the accumulation of intermediate frequency(IF)signal and local code,in the process of signal acquisition based on software receiver.The processes of polynomial fitting and sixth-order Butterworth filtering are introduced to detrend the tracking results.Combining with ionospheric scintillation detection algorithm and preset thresholds,signal acquisition and tracking,scintillation detection,positioning solution are realized under the influence of strong ionospheric scintillation.Under the condition that the preset threshold of amplitude and carrier phase scintillation indices are set to 0.5 and 0.15,and the percentage of scin-tillation occurrence is 50%,respectively,PRN 12 and 31 affected by strong amplitude scintillation are detected effectively.Results show that the positioning errors in the horizontal direction are below 5m approximately.The software receiver holds performances of accurate acquisition,tracking and positioning on the strong ionospheric scintillation conditions,which can provide important basis and helpful guidance for relevant research on ionospheric scintillation,space weather and receiver design with high performance.

Central limit theorem for integrated square error of kernel estimators of spherical density

LetX 1,…,X n be iid observations of a random variableX with probability density functionf(x) on the q-dimensional unit sphere Ωq in Rq+1,q ? 1. Let $f_n (x) = n^{ - 1} c(h)\sum\nolimits_{i = 1}^n {K[(1 - x'X_i )/h^2 ]} $ be a kernel estimator off(x). In this paper we establish a central limit theorem for integrated square error off n under some mild conditions.

Histogram-kernel Error and Its Application for Bin Width Selection in Histograms

Histogram and kernel estimators are usually regarded as the two main classical data-based nonparametric tools to estimate the underlying density functions for some given data sets. In this paper we will integrate them and define a histogram-kernel error based on the integrated square error between histogram and binned kernel density estimator, and then exploit its asymptotic properties. 3ust as indicated in this paper, the histogram-kernel error only depends on the choice of bin width and the data for the given prior kernel densities. The asymptotic optimal bin width is derived by minimizing the mean histogram-kernel error. By comparing with Scott＇s optimal bin width formula for a histogram, a new method is proposed to construct the data-based histogram without knowledge of the underlying density function. Monte Carlo study is used to verify the usefulness of our method for different kinds of density functions and sample sizes.

Integrated Square Error of Hazard Rate Estimation for Survival Data with Missing Censoring Indicators

The problem of hazard rate estimation under right-censored assumption has been investigated extensively.Integrated square error(ISE)of estimation is one of the most widely accepted measurements of the global performance for nonparametric kernel estimation.But there are no results available for ISE of hazard rate estimation under right-censored model with censoring indicators missing at random(MAR)so far.This paper constructs an imputation estimator of the hazard rate function and establish asymptotic normality of the ISE for the kernel hazard rate estimator with censoring indicators MAR.At the same time,an asymptotic representation of the mean integrated square error(MISE)is also presented.The finite sample behavior of the estimator is investigated via one simple simulation.

Reactive power compensation of an isolated hybrid power system with load interaction using ANFIS tuned STATCOM

This paper presents an adaptive neuro fuzzy interference system （ANFIS） based approach to tune the parameters of the static synchronous compensator （STAT- COM） with frequent disturbances in load model and power input of a wind-diesel based isolated hybrid power system （IHPS）. In literature, proportional integral （PI） based controller constants are optimized for voltage stability in hybrid systems due to the interaction of load disturbances and input power disturbances. These conventional controlling techniques use the integral square error （ISE） criterion with an open loop load model. An ANFIS tuned constants of a STATCOM controller for controlling the reactive power requirement to stabilize the voltage variation is proposed in the paper. Moreover, the interaction between the load and the isolated power system is developed in terms of closed loop load interaction with the system. Furthermore, a comparison of transient responses of IHPS is also presented when the system has only the STATCOM and the static compensation requirement of the induction generator is fulfilled by the fixed capacitor, dynamic compensation requirement, meanwhile, is fulfilled by STATCOM. The model is tested for a 1% step increase in reactive power load demand at t = 0 s and then a sudden change of 3% from the 1% at t = 0.01 s for a 1% step increase in power input at variable wind speed model.

PMSM Vector Control Optimization Based on Fractional PI^(λ) of Rotational Speed Outer Loop of Dragonfly Algorithm

Aiming at the problems of slow dynamic response and weak robustness of integer-order proportional integral(PI)controller in double closed loop vector control system of permanent magnet synchronous motor(PMSM),a method of combining dragonfly algorithm with fractional order PI control is proposed for off-line parameter tuning for the outer loop of speed of the system.The parameter to be optimized is used as the spatial position of the optimal individual searching for food sources in the search space,and the error performance index integrated time and absolute error(ITAE)is used as its target fitness function.The motor speed regulation performances of traditional engineering experience setting integer order PI,particle swarm optimization algorithm tuning fractional order PI and dragonfly algorithm tuning fractional order PI are compared,respectively.Results show that the fractional order PI controller optimized by dragonfly algorithm can improve the dynamic response performance of the system,reduce overshoot and enhance robustness,which proves the feasibility and superiority of the optimization strategy.

AN EXPONENTIAL WAVE INTEGRATOR PSEUDOSPECTRAL METHOD FOR THE SYMMETRIC REGULARIZED-LONG-WAVE EQUATION

An efficient and accurate exponential wave integrator Fourier pseudospectral （EWI-FP） method is proposed and analyzed for solving the symmetric regularized-long-wave （SRLW） equation, which is used for modeling the weakly nonlinear ion acoustic and space-charge waves. The numerical method here is based on a Gautschi-type exponential wave integrator for temporal approximation and the Fourier pseudospectral method for spatial discretization. The scheme is fully explicit and efficient due to the fast Fourier transform. Numerical analysis of the proposed EWI-FP method is carried out and rigorous error estimates are established without CFL-type condition by means of the mathematical induction. The error bound shows that EWI-FP has second order accuracy in time and spectral accuracy in space. Numerical results are reported to confirm the theoretical studies and indicate that the error bound here is optimal.

The abstract of doctoral dissertation‘nonlinear wavelet density estimation and hazard rate estimation with data missing at random’

In this thesis,we establish non-linear wavelet density estimators and studying the asymptotic properties of the estimators with data missing at random when covariates are present.The outstanding advantage of non-linear wavelet method is estimating the unsoothed functions,however,the classical kernel estimation cannot do this work.At the same time,we study the larger sample properties of the ISE for hazard rate estimator.

Analysis of the Relation between Interest Rate Policy and the Stock Market in China

Based on the modern monetary theory, this paper analyze the relation between interest rate policy and Shanghai and Shenzhen Stock Exchange by using event study and co\|integration model method. We point out that the interest rate policy have some abnormal effects on the stock market in short time and have negative effects on the stock market in long run. The influence of the interest rate is different on Shanghai Stock Exchange and Shenzhen Stock Exchange.

A new recursive method for the analysis of linear time invariant dynamic systems via double-term triangular functions (DTTF) in state space environment

This paper presents a new recursive method for system analysis via double-term triangular functions （DTTF） in state space environment. The proposed method uses orthogonal triangular function sets and proves to be more accurate as compared to single term Walsh series （STWS） method with respect to mean integral square error （MISE）. This has been established theoretically and comparison of error with respect to MISE is presented for clarity. A numerical example is treated to establish the proposed method. Relevant curves for the solutions of states of the dynamic system are also presented with plots of percentage error for DTTF-based analysis.

Analysis and Design of Scaling Optimal GPM-PID Control with Application to Liquid Level Control

In this paper, a new analysis and design method for proportional-integrative-derivative （PID） tuning is proposed based on controller scaling analysis. Integral of time absolute error （ITAE） index is minimized for specified gain and phase margins （GPM） constraints, so that the transient performance and robustness are both satisfied. The requirements on gain and phase margins are ingeniously formulated by real part constraints （RPC） and imaginary part constraints （IPC）. This set of new constraints is simply related with three parameters and decoupling of the remaining four unknowns, including three controller parameters and the gain margin, in the nonlinear and coupled characteristic equation simultaneously. The formulas of the optimal GPM-PID are derived based on controller scaling analysis. Finally, this method is applied to liquid level control of coke fractionation tower, which demonstrate that the proposed method provides better disturbance rejection and robust tracking performance than some commonly used PID tuning methods.

Integrated Multi-stage LQR Power Oscillation Damping FACTS Controller

This paper presents an approach for oscillation damping with an integrated multi-stage linear quadratic regulator(MSLQR)FACTS controller combining power oscillation damping(POD)capabilities.The particle swarm optimization(PSO)technique has been used for precise tuning initial control parameters of power system stabilizers(PSS)and FACTS devices(such as STATCOM and UPFC)which results in improved controller performance.It is observed that the proposed control structure damps the oscillations adequately and is modular in design methodology.The sample power system comprising six areas is considered to demonstrate the effectiveness of the proposed concept.The states inter-relation which is shown with eigenvalues reflects better regulation with the proposed controller.The step response also validates the controller performance.