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Tuning of MIMO LQ adaptive controller
Böhm, Josef
The paper deals with the adaptive multivariate controllers based on parameter estimation of a regression model and controller synthesis based on the minimization of a quadratic criterion. It discusses the posibilities to choose penalties in such a way that certain user requirements are satisfied.
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Design and simulation of predictive control of drives of planar redundant parallel robot
Böhm, Josef ; Belda, Květoslav ; Valášek, M.
Actual industrial robots have a low operation speed. This is caused mainly by the max. reachable acceleration for whole velocity interval. Parallel robots seem to be one of the promising solution of this. The paper deals with design and simulation of Generalized Predictive Control (GPC) of such robots. GPC is suitable, because the model of the robot is well known and used Quadratic criterion can be easily modified. And moreover the algorithmization of GPC is relatively simple and suitable for real control.
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Polynomial toolbox and control education
Hromčík, Martin ; Šebek, Michael
In this report we give our experience with employing thePolynomial Toolbox for Matlab version 2 at the lectures and labs of Algebraic Design Methods course taught at the Czech Technical University in Prague. Practical examples illustrating the Toolbox performance and contribution are also included. Though we have been using the tool for teaching purposes for arelatively short time, our experience is positive and we find the Polynomial Toolbox a very useful software tool for teachers.
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