This work proposes an anti-windup dead-time compensator (DTC) based on a generalized predictive controller (GPC). At first, it is analysed the dead-time compensation properties of the GPC by its formulation in a DTC structure. Secondly, a saturation model is added in order to overcome windup problems. The proposed control structure does not use any extra tuning parameter due to the anti-windup characteristic. Simulation results are used to compare the proposed controller with others anti-windup DTCs proposed in literature.

This work proposes an anti-windup structure for the ltered Smith predictor (FSP) which belongs to a class of dead-time compensators (DTCs). The proposed FSP structure does not use any extra tuning parameter due to the anti-windup characteristic. In addition stability analysis is presented based on describing function method to show robustness properties of the controller. Simulation results are used to compare the obtained solution with other anti-windup DTCs and a constrained model-based predictive controller (MPC). Experimental results on a neonatal intensive care unit are presented in order to shown the usefulness of the proposed controller.

State space optimal controllers became popular over the last decades mainly because of its performance and robustness properties, as well as easy extension for multi-variable systems (MIMO). On the other hand, many industrial processes present dominant dead-time which may cause issues related to performance or even stability. Despite of its importance, few works from optimal control may be traced for this matter. In order to deal with dead-time effect one may use dead-time compensation (DTC) structures, mainly applied for single-variable systems (SISO). Within this context, this work proposes to modify a prediction structure recently proposed aiming to combine the best properties of both DTC and optimal control for MIMO linear systems. Simulation results along with the application to an experimental setup of a neonatal incubator prototype are presented to highlight the advantages and show the effectiveness of the proposed control strategy, as well as its practical aspect.

This paper presents the control design of a nonholonomic mobile robot with differential drive using control strategies on a linearized space state error model. In this case, a diagonal multi-variable model is obtained for which a decentralized PI controller may be designed. In this paper, PI tuning is performed through a LQR problem whose feedback gains are set as the proportional gain of the PI controller. The use of an Inertial Measuring Unit (IMU) allows for a precise posture feedback by using a Kalman Filter on the output of the sensors. For such purpose, a Sensor Fusion technique is also needed in order to combine multiple sensor output so that physical limitations of each sensor may be compensated.

This paper presents the control design of a nonholonomic mobile robot with differential drive using control strategies on a linearized space state error model. In this case, a diagonal multi-variable model is obtained for which a decentralized PI controller may be designed. In this paper, PI tuning is performed through a LQR problem whose feedback gains are set as the proportional gain of the PI controller. The use of an Inertial Measuring Unit (IMU) allows for a precise posture feedback by using a Kalman Filter on the output of the sensors. For such purpose, a Sensor Fusion technique is also needed in order to combine multiple sensor output so that physical limitations of each sensor may be compensated.

The lifetime of a battery depends mainly on the operating temperature. Thus, this paper proposes a low cost refrigeration system applied to batteries temperature control. In the proposed system, Peltier modules (thermoelectrical devices, which uses the Peltier effect for heat exchange) are used to refrigerate the system. In addition are compared the performance of two control strategies (conventional PI and P+I), applied to the system temperature control. It is shown that the P+I controller has a better performance than the conventional PI controller due to its characteristic of present higher control effort at the initial time. It is proposed, though, a structure with the P+I controller to correct the windup problem. Moreover, the transfer function of the system was obtained applying a system identification method, in order to improve the control precision and to reduce the complexity in obtaining the system model. The prototype is still in development stage, in this way, the results were obtained by simulation.

Recently, the use of the Smith Predictor was questioned due to issues related to its robustness to process dead-time uncertainties. Thus, this work presents a comparison between a structure derived from Smith Predictor, called Simplified Dead-Time Compensator (SDTC), and PI/PID controllers in terms of performance and robustness. The main results of this comparison show that the SDTC is better or similar than PI/PID controllers in terms of performance and that robustness to dead-time uncertainties can be better quantified in terms of multiplicative uncertainties and robustness index curves.

This paper presents the development and trajectory tracking control of a nonholonomic mobile robot with differential drive. The used control system is composed of two loops cascaded, with internal PID controlling the speed of the two wheels and an external loop controlling the robot position and orientation. The second one is a feedfoward kinematics controller which is tuned according to desired closed-loop characteristics specified by the user. The control strategies were embedded in a digital module based in a 32-bit ARM microcontroller. In order to evaluate the performance of the developed robot, trajectory tracking tests were carried out for different trajectories and initial conditions. Preliminary experimental results are presented for reference trajectories without obstacles.