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Derivation And Practical Comparison Of Recursive Ls And Tls System Identification Methods
Friml, Dominik
The least squares (LS) type of methods are the most widely used methods in system identificationdespite their obvious imperfection. Such methods use a regressor, that is supposed not tocontain any error, notwithstanding that it is constructed from measured data. This can be solved byusing the total least squares (TLS) type of methods. Derivation of both batch and recursive methodsof LS and TLS for identification and their practical comparison is presented in this paper
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Quality Improvement Of Lqg Control Using H∞ Optimization
Friml, Dominik
This paper describes the method of using H¥ optimization for tweaking of the existing structured controller. This method is presented on an example of LQG controller for the classical problem of the inverted pendulum on a cart. This means, that it is applicable not only on controller problems, but also on observer problems.
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Comparison of H-infinity and LQG controller
Friml, Dominik ; Blaha, Petr (referee) ; Pohl, Lukáš (advisor)
This thesis deals with the MIMO system analysis, with a comparison of a different frequency charactersitics, and including singular values characteristic. The H2 and H norms are defined for signals and a MIMO systems. A MIMO optimal control using an LQG, an H2 and an H control is defined and described. Their general advantages, disadvantages and similarities are summed up. An H2 and an H state controller and state observer synthesis is implemented in a MATLAB using linear matrix inequalities. Control of an inverted pendulum is designed using the H optimal cascade control, the H2 state control and the H state control. The results are compared with each other. The theoretical possibility of same H2 and H optimal state controller design is presented.
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Edems - Computer Simulator For Learning
Friml, Dominik
This article introduces new educational and demonstrative tool for microprocessor technology called EDEMS, which is designed to ease teaching of microprocessors at universities, high schools and at homes of enthusiasts. It describes reasons of its creation, problems that it solved, and main advantages of this solution.
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Computer simulator for education
Friml, Dominik ; Macho, Tomáš (referee) ; Petyovský, Petr (advisor)
This bachelor thesis is divided into several parts. The first part consists of an introduction to individual parts of a processor and some of its peripheries. Next part of thesis is a research of existing educational and demonstrative tools usable in education. Results of the research were compiled into requirements for educational system. Using those requirements, and design of an architecture for educational processor for education, not only on FEEC BUT was created. As a next step, there is described a procedure, that led to a creation of a working simulator of the designed processor. Last part of this thesis is a design of several educational exercises, that demonstrates principles of computers and programming in a machine code and an assembly language.
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