Search results for: intelligent controller

Authors: Yuichi Masukake, Yoshihisa Ishida

Abstract:

In this paper, we proposed a method to design a model-following adaptive controller for linear/nonlinear plants. Radial basis function neural networks (RBF-NNs), which are known for their stable learning capability and fast training, are used to identify linear/nonlinear plants. Simulation results show that the proposed method is effective in controlling both linear and nonlinear plants with disturbance in the plant input.

Keywords: Linear/nonlinear plants, neural networks, radial basisfunction networks.

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Authors: Aye Aye Mon

Abstract:

The application of a simple microcontroller to deal with a three variable input and a single output fuzzy logic controller, with Proportional – Integral – Derivative (PID) response control built-in has been tested for an automatic voltage regulator. The fuzzifiers are based on fixed range of the variables of output voltage. The control output is used to control the wiper motor of the auto transformer to adjust the voltage, using fuzzy logic principles, so that the voltage is stabilized. In this report, the author will demonstrate how fuzzy logic might provide elegant and efficient solutions in the design of multivariable control based on experimental results rather than on mathematical models.

Keywords: Fuzzy logic system, PID Controller, control systems, controlled A V R

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Authors: Tohru Kawabe

Abstract:

In this paper, a 2DOF (two degrees of freedom) PID (Proportional-Integral-Derivative) controller based on MPC (Model predictive control) algorithm fo slip suppression of EV (Electric Vehicle) under braking is proposed. The proposed method aims to improve the safety and the stability of EVs under braking by controlling the wheel slip ration. There also include numerical simulation results to demonstrate the effectiveness of the method.

Keywords: Model predictive control, PID controller, Two degrees of freedom, Electric Vehicle, Slip suppression.

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Authors: R. Hanuma Naik, D. V. Ashok Kumar, K. S. R. Anjaneyulu

Abstract:

Several of the practical industrial control processes are multivariable processes. Due to the relation amid the variables (interaction), delay in the loops, it is very intricate to design a controller directly for these processes. So first, the interaction of the variables is analyzed using Relative Normalized Gain Array (RNGA), which considers the time constant, static gain and delay time of the processes. Based on the effect of RNGA, relative gain array (RGA) and NI, the pair (control configuration) of variables to be controlled by decentralized control is selected. The equivalent transfer function (ETF) of the process model is estimated as first order process with delay using the corresponding elements in the Relative gain array and Relative average residence time array (RARTA) of the processes. Secondly, a decentralized Proportional- Integral (PI) controller is designed for each ETF simply using frequency response specifications. Finally, the performance and robustness of the algorithm is comparing with existing related approaches to validate the effectiveness of the projected algorithm.

Keywords: Decentralized control, interaction, Multivariable processes, relative normalized gain array, relative average residence time array, steady state gain.

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Authors: M.Bensaada , A.Boudghene Stambouli , M.Bekhti, A. Bellar, L. Boukhris

Abstract:

This paper is a simple and systematic approaches to the design and analysis a pulse width modulation (PWM) based sliding mode controller for buck DC-DC Converters. Various aspects of the design, including the practical problems and the proposed solutions, are detailed. However, these control strategies can't compensate for large load current and input voltage variations. In this paper, a new control strategy by compromising both schemes advantages and avoiding their drawbacks is proposed, analyzed and simulated.

Keywords: Buck, DC/DC converters, sliding mode control, pulse width modulation.

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Authors: Wang Zhan-Xi, Zhang Yi-Ming, Chen Hang, Wang Gang

Abstract:

Manual polishing has problems such as high labor intensity, low production efficiency and difficulty in guaranteeing the consistency of polishing quality. The use of robot polishing instead of manual polishing can effectively avoid these problems. Polishing force directly affects the quality of polishing, so accurate tracking and control of polishing force is one of the most important conditions for improving the accuracy of robot polishing. The traditional force control strategy is difficult to adapt to the strong coupling of force control and position control during the robot polishing process. Therefore, based on the analysis of force-based impedance control and position-based impedance control, this paper proposed a type of adaptive controller. Based on force feedback control of active compliance control, the controller can adaptively estimate the stiffness and position of the external environment and eliminate the steady-state force error produced by traditional impedance control. The simulation results of the model show that the adaptive controller has good adaptability to changing environmental positions and environmental stiffness, and can accurately track and control polishing force.

Keywords: robot polishing, force feedback, impedance control, adaptive control

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Authors: Sergey N. Sayapin, Anatoly P. Karpenko, Suan H. Dang

Abstract:

Comparative analysis of robotic vehicles for pipe inspection is presented in this paper. The promising concept of self-propelled intelligent robotic vehicle (SPIRV) based on octahedral dodekapod for inspection and operation in active branched pipelines with variable cross-sections is reasoned. SPIRV is able to move in pipeline, regardless of its spatial orientation. SPIRV can also be used to move along the outside of the pipelines as well as in space between surfaces of annular tubes. Every one of faces of the octahedral dodekapod can clamp/unclamp a thing with a closed loop surface of various forms as well as put pressure on environmental surface of contact. These properties open new possibilities for its applications in SPIRV. We examine design principles of octahedral dodekapod as future intelligent building blocks for various robotic vehicles that can self-move and self-reconfigure.

Keywords: Modular robot, octahedral dodekapod, pipe inspection robot, spatial parallel structure.

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Authors: C. S. Bianca Sabrina, N. Egidio Raimundo, L. Alexandre Baratella, C. H. João Paulo

Abstract:

This paper aims to present a study, with the theoretical concepts and applications of the Quadcopter, using the MATLAB simulator. In order to use this tool, the study of the stability of the drone through a Proportional - Integral - Derivative (PID) controller will be presented. After the stability study, some tests are done on the simulator and its results will be presented. From the mathematical model, it is possible to find the Newton-Euler angles, so that it is possible to stabilize the quadcopter in a certain position in the air, starting from the ground. In order to understand the impact of the controllers gain values on the stabilization of the Euler-Newton angles, three conditions will be tested with different controller gain values.

Keywords: Controllers, drones, quadcopter, stability.

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Authors: M. A. Sanda, B. Johansson, J. Johansson

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The purpose of this paper is to conceptualize a futureoriented human work environment and organizational activity in deep mines that entails a vision of good and safe workplace. Futureoriented technological challenges and mental images required for modern work organization design were appraised. It is argued that an intelligent-deep-mine covering the entire value chain, including environmental issues and with work organization that supports good working and social conditions towards increased human productivity could be designed. With such intelligent system and work organization in place, the mining industry could be seen as a place where cooperation, skills development and gender equality are key components. By this perspective, both the youth and women might view mining activity as an attractive job and the work environment as a safe, and this could go a long way in breaking the unequal gender balance that exists in most mines today.

Keywords: Mining activity; deep mining; human operators; intelligent deep mine; work environment; organizational activity.

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Authors: Chiung-Hui Chen

Abstract:

With advancements in science and technology, the concept of the Internet of Things (IoT) has gradually developed. The development of the intelligent environment adds intelligence to objects in the living space by using the IoT. In the smart environment, when multiple users share the living space, if different service requirements from different users arise, then the context-aware system will have conflicting situations for making decisions about providing services. Therefore, the purpose of establishing a communication and negotiation mechanism among objects in the intelligent environment is to resolve those service conflicts among users. This study proposes developing a decision-making methodology that uses “Event Agents” as its core. When the sensor system receives information, it evaluates a user’s current events and conditions; analyses object, location, time, and environmental information; calculates the priority of the object; and provides the user services based on the event. Moreover, when the event is not single but overlaps with another, conflicts arise. This study adopts the “Multiple Events Correlation Matrix” in order to calculate the degree values of incidents and support values for each object. The matrix uses these values as the basis for making inferences for system service, and to further determine appropriate services when there is a conflict.

Keywords: Internet of things, intelligent object, event agents, negotiation mechanism, degree of similarity.

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Authors: Salim Ibrir

Abstract:

Sufficient linear matrix inequalities (LMI) conditions for regularization of discrete-time singular systems are given. Then a new class of regularizing stabilizing controllers is discussed. The proposed controllers are the sum of predictive and memoryless state feedbacks. The predictive controller aims to regularizing the singular system while the memoryless state feedback is designed to stabilize the resulting regularized system. A systematic procedure is given to calculate the controller gains through linear matrix inequalities.

Keywords: Singular systems, Discrete-time systems, Regularization, LMIs

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Authors: M.M. Namazi, S.M. Saghaiannejad, A. Rashidi

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In this paper by using the port-controlled Hamiltonian (PCH) systems theory, a full-order nonlinear controlled model is first developed. Then a nonlinear passivity-based robust adaptive control (PBRAC) of switched reluctance motor in the presence of external disturbances for the purpose of torque ripple reduction and characteristic improvement is presented. The proposed controller design is separated into the inner loop and the outer loop controller. In the inner loop, passivity-based control is employed by using energy shaping techniques to produce the proper switching function. The outer loop control is employed by robust adaptive controller to determine the appropriate Torque command. It can also overcome the inherent nonlinear characteristics of the system and make the whole system robust to uncertainties and bounded disturbances. A 4KW 8/6 SRM with experimental characteristics that takes magnetic saturation into account is modeled, simulation results show that the proposed scheme has good performance and practical application prospects.

Keywords: Switched Reluctance Motor, Port HamiltonianSystem, Passivity-Based Control, Torque Ripple Minimization

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Authors: S. Qaedi, S. Seyedtabaii

Abstract:

Non-Destructive evaluation of in-service power transformer condition is necessary for avoiding catastrophic failures. Dissolved Gas Analysis (DGA) is one of the important methods. Traditional, statistical and intelligent DGA approaches have been adopted for accurate classification of incipient fault sources. Unfortunately, there are not often enough faulty patterns required for sufficient training of intelligent systems. By bootstrapping the shortcoming is expected to be alleviated and algorithms with better classification success rates to be obtained. In this paper the performance of an artificial neural network, K-Nearest Neighbour and support vector machine methods using bootstrapped data are detailed and shown that while the success rate of the ANN algorithms improves remarkably, the outcome of the others do not benefit so much from the provided enlarged data space. For assessment, two databases are employed: IEC TC10 and a dataset collected from reported data in papers. High average test success rate well exhibits the remarkable outcome.

Keywords: Dissolved gas analysis, Transformer incipient fault, Artificial Neural Network, Support Vector Machine (SVM), KNearest Neighbor (KNN)

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Authors: N. Ploysook, R. Rugsaj, C. Suvanjumrat

Abstract:

The characteristic requirement for producing rectangular shape bottles was a uniform thickness of the plastic bottle wall. Die shaping was a good technique which controlled the wall thickness of bottles. An advance technology which was the finite element method (FEM) for blowing parison to be a rectangular shape bottle was conducted to reduce waste plastic from a trial and error method of a die shaping and parison control method. The artificial intelligent (AI) comprised of artificial neural network and genetic algorithm was selected to optimize the die gap shape from the FEM results. The application of AI technique could optimize the suitable die gap shape for the parison blow molding which did not depend on the parison control method to produce rectangular bottles with the uniform wall. Particularly, this application can be used with cheap blow molding machines without a parison controller therefore it will reduce cost of production in the bottle blow molding process.

Keywords: AI, bottle, die shaping, FEM.

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Authors: Elionai Moura, José A. da Cunha, César Analide

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This paper introduces a proposal scheme for an Intelligent System applied to Pedagogical Advising using Case-Based Reasoning, to find consolidated solutions before used for the new problems, making easier the task of advising students to the pedagogical staff. We do intend, through this work, introduce the motivation behind the choices for this system structure, justifying the development of an incremental and smart web system who learns bests solutions for new cases when it’s used, showing technics and technology.

Keywords: Case-based Reasoning, Pedagogical Advising, Educational Data-Mining (EDM), Machine Learning.

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Authors: H. Ifassiouen, M. Guisser, H.Medromi

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This paper presents an investigation into the design of a flight control system, using a robust sliding mode control structure, designed using the exact feedback linearization procedure of the dynamic of a small-size autonomous helicopter in hover. The robustness of the controller in the context of stabilization and trajectory tracking with respect to small body forces and air resistance on the main and tail rotor, is analytically proved using Lyapunov approach. Some simulation results are presented to illustrate the performance and robustness of such controller in the presence of small body forces and air resistance.

Keywords: Robust control, sliding mode, stability, Lyapunovapproach.

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Authors: Consalva J. Msigwa, Beda J. Kundy, Bakari M. M. Mwinyiwiwa,

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This paper presents a method for obtaining the desired reference current for Voltage Source Converter (VSC) of the Shunt Active Power Filter (SAPF) using Synchronous Reference Frame Theory. The method relies on the performance of the Proportional-Integral (PI) controller for obtaining the best control performance of the SAPF. To improve the performance of the PI controller, the feedback path to the integral term is introduced to compensate the winding up phenomenon due to integrator. Using Reference Frame Transformation, reference signals are transformed from a - b - c stationery frame to 0 - d - q rotating frame. Using the PI controller, the reference signals in the 0 - d - q rotating frame are controlled to get the desired reference signals for the Pulse Width Modulation. The synchronizer, the Phase Locked Loop (PLL) with PI filter is used for synchronization, with much emphasis on minimizing delays. The system performance is examined with Shunt Active Power Filter simulation model.

Keywords: Phase Locked Loop (PLL), Voltage Source Converter (VSC), Shunt Active Power Filter (SAPF), PI, Pulse Width Modulation (PWM)

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Authors: Firas A. Al Laban, Mohamed Chabi, Sammani Danwawu Abdullahi

Abstract:

There are real needs to integrate types of Open Educational Resources (OER) with an intelligent system to extract information and knowledge in the semantic searching level. The needs came because most of current learning standard adopted web based learning and the e-learning systems do not always serve all educational goals. Semantic Web systems provide educators, students, and researchers with intelligent queries based on a semantic knowledge management learning system. An ontology-based learning system is an advanced system, where ontology plays the core of the semantic web in a smart learning environment. The objective of this paper is to discuss the potentials of ontologies and mapping different kinds of ontologies; heterogeneous or homogenous to manage and control different types of Open Educational Resources. The important contribution of this research is that it uses logical rules and conceptual relations to map between ontologies of different educational resources. We expect from this methodology to establish an intelligent educational system supporting student tutoring, self and lifelong learning system.

Keywords: Knowledge Management Systems, Ontologies, Semantic Web, Open Educational Resources.

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Authors: Abdullah Bajelan, Adel Akbarimajd

Abstract:

Object manipulation techniques in robotics can be categorized in two major groups including manipulation with grasp and manipulation without grasp. The original aim of this paper is to develop an object manipulation method where in addition to being grasp-less, the manipulation task is done in a passive approach. In this method, linear and angular positions of the object are changed and its manipulation path is controlled. The manipulation path is a helix track with constant radius and incline. The method presented in this paper proposes a system which has not the actuator and the active controller. So this system requires a passive mechanical intelligence to convey the object from the status of the source along the specified path to the goal state. This intelligent is created based on utilizing the geometry of the system components. A general set up for the components of the system is considered to satisfy the required conditions. Then after kinematical analysis, detailed dimensions and geometry of the mechanism is obtained. The kinematical results are verified by simulation in ADAMS.

Keywords: Mechanical intelligence, Object manipulation, Passive mechanism, Passive non-prehensile manipulation.

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Authors: Youcef Bekakra, Djilani Ben attous

Abstract:

In this paper, a field oriented control (FOC) induction motor drive is presented. In order to eliminate the speed sensor, an adaptation algorithm for tuning the rotor speed is proposed. Based on the Model Reference Adaptive System (MRAS) scheme, the rotor speed is tuned to obtain an exact FOC induction motor drive. The reference and adjustable models, developed in stationary stator reference frame, are used in the MRAS scheme to estimate induction rotor speed from measured terminal voltages and currents. The Integral Proportional (IP) gains speed controller are tuned by a modern approach that is the Particle Swarm Optimization (PSO) algorithm in order to optimize the parameters of the IP controller. The use of PSO as an optimization algorithm makes the drive robust, with faster dynamic response, higher accuracy and insensitive to load variation. The proposed algorithm has been tested by numerical simulation, showing the capability of driving load.

Keywords: Induction motor drive, field oriented control, model reference adaptive system (MRAS), particle swarm optimization (PSO).

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Authors: C. Alexandru, P. Alexandru

Abstract:

The paper presents the virtual model of the active suspension system used for improving the dynamic behavior of a motor vehicle. The study is focused on the design of the control system, the purpose being to minimize the effect of the road disturbances (which are considered as perturbations for the control system). The analysis is performed for a quarter-car model, which corresponds to the suspension system of the front wheel, by using the DFC (Design for Control) software solution EASY5 (Engineering Analysis Systems) of MSC Software. The controller, which is a PIDbased device, is designed through a parametric optimization with the Matrix Algebra Tool (MAT), considering the gain factors as design variables, while the design objective is to minimize the overshoot of the indicial response.

Keywords: Active suspension, Controller, Dynamics, Vehicle

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Authors: Oliver Ohneiser, Francesca De Crescenzio, Gianluca Di Flumeri, Jan Kraemer, Bruno Berberian, Sara Bagassi, Nicolina Sciaraffa, Pietro Aricò, Gianluca Borghini, Fabio Babiloni

Abstract:

An increasing degree of automation in air traffic will also change the role of the air traffic controller (ATCO). ATCOs will fulfill significantly more monitoring tasks compared to today. However, this rather passive role may lead to Out-Of-The-Loop (OOTL) effects comprising vigilance decrement and less situation awareness. The project MINIMA (Mitigating Negative Impacts of Monitoring high levels of Automation) has conceived a system to control and mitigate such OOTL phenomena. In order to demonstrate the MINIMA concept, an experimental simulation set-up has been designed. This set-up consists of two parts: 1) a Task Environment (TE) comprising a Terminal Maneuvering Area (TMA) simulator as well as 2) a Vigilance and Attention Controller (VAC) based on neurophysiological data recording such as electroencephalography (EEG) and eye-tracking devices. The current vigilance level and the attention focus of the controller are measured during the ATCO’s active work in front of the human machine interface (HMI). The derived vigilance level and attention trigger adaptive automation functionalities in the TE to avoid OOTL effects. This paper describes the full-scale experimental set-up and the component development work towards it. Hence, it encompasses a pre-test whose results influenced the development of the VAC as well as the functionalities of the final TE and the two VAC’s sub-components.

Keywords: Automation, human factors, air traffic controller, MINIMA, OOTL, Out-Of-The-Loop, EEG, electroencephalography, HMI, human machine interface.

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Authors: Seong Woo Kwak, Jung-Min Yang

Abstract:

A strategy of fault diagnosis and tolerance for asynchronous sequential machines is discussed in this paper. With no synchronizing clock, it is difficult to diagnose an occurrence of permanent or stuck-in faults in the operation of asynchronous machines. In this paper, we present a fault detector comprised of a timer and a set of static functions to determine the occurrence of faults. In order to realize immediate fault tolerance, corrective control theory is applied to designing a dynamic feedback controller. Existence conditions for an appropriate controller and its construction algorithm are presented in terms of reachability of the machine and the feature of fault occurrences.

Keywords: Asynchronous sequential machines, corrective control, fault diagnosis and tolerance, fault detector.

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Authors: Qamar Saeed, Vali Uddin, Reza Katebi

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In this paper multivariable predictive PID controller has been implemented on a multi-inputs multi-outputs control problem i.e., quadruple tank system, in comparison with a simple multiloop PI controller. One of the salient feature of this system is an adjustable transmission zero which can be adjust to operate in both minimum and non-minimum phase configuration, through the flow distribution to upper and lower tanks in quadruple tank system. Stability and performance analysis has also been carried out for this highly interactive two input two output system, both in minimum and non-minimum phases. Simulations of control system revealed that better performance are obtained in predictive PID design.

Keywords: Proportional-integral-derivative Control, GeneralizedPredictive Control, Predictive PID Control, Multivariable Systems

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Authors: Ismail Algelli Sassi Ehtiwesh, Mohamed Ali Elhaj

Abstract:

The main goal of the study is to analyze all relevant properties of the electro hydraulic systems and based on that to make a proper choice of the neural network control strategy that may be used for the control of the mechatronic system. A combination of electronic and hydraulic systems is widely used since it combines the advantages of both. Hydraulic systems are widely spread because of their properties as accuracy, flexibility, high horsepower-to-weight ratio, fast starting, stopping and reversal with smoothness and precision, and simplicity of operations. On the other hand, the modern control of hydraulic systems is based on control of the circuit fed to the inductive solenoid that controls the position of the hydraulic valve. Since this circuit may be easily handled by PWM (Pulse Width Modulation) signal with a proper frequency, the combination of electrical and hydraulic systems became very fruitful and usable in specific areas as airplane and military industry. The study shows and discusses the experimental results obtained by the control strategy of neural network control using MATLAB and SIMULINK [1]. Finally, the special attention was paid to the possibility of neuro-controller design and its application to control of electro-hydraulic systems and to make comparative with other kinds of control.

Keywords: Neural-Network controller, Mechatronic, electrohydraulic

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Authors: Yu-Lin Liao, Ya-Fu Peng

Abstract:

An adaptive dynamic cerebellar model articulation controller (DCMAC) neural network used for solving the prediction and identification problem is proposed in this paper. The proposed DCMAC has superior capability to the conventional cerebellar model articulation controller (CMAC) neural network in efficient learning mechanism, guaranteed system stability and dynamic response. The recurrent network is embedded in the DCMAC by adding feedback connections in the association memory space so that the DCMAC captures the dynamic response, where the feedback units act as memory elements. The dynamic gradient descent method is adopted to adjust DCMAC parameters on-line. Moreover, the analytical method based on a Lyapunov function is proposed to determine the learning-rates of DCMAC so that the variable optimal learning-rates are derived to achieve most rapid convergence of identifying error. Finally, the adaptive DCMAC is applied in two computer simulations. Simulation results show that accurate identifying response and superior dynamic performance can be obtained because of the powerful on-line learning capability of the proposed DCMAC.

Keywords: adaptive, cerebellar model articulation controller, CMAC, prediction, identification

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Authors: P. Abhishesh, B. S. Ryuh, Y. S. Oh, H. J. Moon, R. Akanksha

Abstract:

This paper discusses about the conceptual design and development of the control system software using Programmable logic controller (PLC) for autonomous driving and agricultural operations of Multipurpose Agricultural Robot Platform (MARP). Based on given initial conditions by field analysis and desired agricultural operations, the structural design development of MARP is done using modelling and analysis tool. PLC, being robust and easy to use, has been used to design the autonomous control system of robot platform for desired parameters. The robot is capable of performing autonomous driving and three automatic agricultural operations, viz. hilling, mulching, and sowing of seeds in the respective order. The input received from various sensors on the field is later transmitted to the controller via ZigBee network to make the changes in the control program to get desired field output. The research is conducted to provide assistance to farmers by reducing labor hours for agricultural activities by implementing automation. This study will provide an alternative to the existing systems with machineries attached behind tractors and rigorous manual operations on agricultural field at effective cost.

Keywords: Agricultural operations, autonomous driving, MARP, PLC.

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Authors: H. Bouadi, M. Bouchoucha, M. Tadjine

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In this paper; we are interested principally in dynamic modelling of quadrotor while taking into account the high-order nonholonomic constraints in order to develop a new control scheme as well as the various physical phenomena, which can influence the dynamics of a flying structure. These permit us to introduce a new state-space representation. After, the use of Backstepping approach for the synthesis of tracking errors and Lyapunov functions, a sliding mode controller is developed in order to ensure Lyapunov stability, the handling of all system nonlinearities and desired tracking trajectories. Finally simulation results are also provided in order to illustrate the performances of the proposed controller.

Keywords: Dynamic modeling, nonholonomic constraints, Backstepping, sliding mode.

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Authors: O. P. Rishi, Rekha Govil, Madhavi Sinha

Abstract:

Online learning with Intelligent Tutoring System (ITS) is becoming very popular where the system models the student-s learning behavior and presents to the student the learning material (content, questions-answers, assignments) accordingly. In today-s distributed computing environment, the tutoring system can take advantage of networking to utilize the model for a student for students from other similar groups. In the present paper we present a methodology where using Case Based Reasoning (CBR), ITS provides student modeling for online learning in a distributed environment with the help of agents. The paper describes the approach, the architecture, and the agent characteristics for such system. This concept can be deployed to develop ITS where the tutor can author and the students can learn locally whereas the ITS can model the students- learning globally in a distributed environment. The advantage of such an approach is that both the learning material (domain knowledge) and student model can be globally distributed thus enhancing the efficiency of ITS with reducing the bandwidth requirement and complexity of the system.

Keywords: CBR, ITS, student modeling, distributed system, intelligent agent.

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Authors: Wookyong Kwon, Sangmoon Lee

Abstract:

In this paper, a sampled-data model predictive tracking control method is presented for mobile robots which is modeled as constrained continuous-time linear parameter varying (LPV) systems. The presented sampled-data predictive controller is designed by linear matrix inequality approach. Based on the input delay approach, a controller design condition is derived by constructing a new Lyapunov function. Finally, a numerical example is given to demonstrate the effectiveness of the presented method.

Keywords: Model predictive control, sampled-data control, linear parameter varying systems, LPV.

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