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A Novel Discrete-time Nonlinear Model Predictive Control Based on State Space Model
Carlos Sotelo,Antonio Favela-Contreras,Francisco Beltrán-Carbajal,Graciano Dieck-Assad,Pedro Rodríguez-Cañedo,David Sotelo 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.6
This paper proposes a novel finite dimensional discrete-time Nonlinear Model Predictive Control. This technique is based on discrete-time state-space models, Taylor series expansion for prediction and performance index optimization. Furthermore, the technique extends the concept of the Lie derivative for the discrete time case using Euler backwards method. The performance validation for the discrete-time Nonlinear Model Predictive Control uses the simulation of a single-link flexible joint robot and the inverted pendulum. Comparison of the proposed finite dimensional discrete-time Nonlinear Model Predictive Control technique with Feedback Linearization Control is also discussed. Analytical and numerical results show excellent performances for both, the single-link flexible joint and inverted pendulum controllers using the proposed discrete-time Nonlinear Model Predictive Control technique.
Novus-io: An Internet of Things Platform for Academic Projects
( Camilo Lozoya ),( Alberto Aguilar-gonzalez ),( Antonio Favela-contreras ),( Arturo Zamora ) 한국인터넷정보학회 2018 KSII Transactions on Internet and Information Syst Vol.12 No.12
Internet of things (IoT) is based on a global dynamic information network with cloud services where a great number of devices (things) exchange data to provide added-value services and products. There are several commercial and open source IoT platforms available in the market to connect devices to internet; however, they have cost and operational constraints that make them not suitable for academic projects. In this work, an IoT platform, known as Novus-io, is introduced in order to support academic projects for undergraduate students. With this platform and proper training, undergraduate students from different majors (not only from information technology and electronics) are capable to upgrade their school projects with IoT functionalities. The objective of this approach is to provide to any undergraduate student skills and knowledge on IoT, so they will be prepared, in their imminent step toward professionalism, to understand the relevance of digital services in today´s world.