Search results for: Power System Control

Authors: Asaiel Alohaly

Abstract:

A theoretical framework for corporate governance is needed to bridge the gap between the corporate governance of private companies and State-Owned Enterprises (SOEs). The two dominant models, being shareholder and stakeholder, do not always address the specific requirements and challenges posed by ‘hybrid’ companies; namely, previously national bodies that have been privatised while the government retains significant control or holds a majority of shares. Thus, an exploratory theoretical study is needed to identify how ‘hybrid’ companies should be defined and why the state model should be acknowledged since it is the less conspicuous model in comparison with the shareholder and stakeholder models. This research focuses on the state model of corporate governance to understand the complex ownership, control pattern, goals, and corporate governance of these hybrid companies. The significance of this research lies in the fact that there is a limited available publication on the state model. This research argues for the state model, which proceeds from an understanding of the institutionally embedded characteristics of hybrid companies, where the government as a shareholder, is either a majority of the total shares, or has been granted power based on the rule of law; the company bylaws.

Keywords: Corporate governance, control, shareholders, state model.

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Authors: Hataitep Wongsuwarn, Djitt Laowattana

Abstract:

This paper summaries basic principles and concepts of intelligent controls, implemented in humanoid robotics as well as recent algorithms being devised for advanced control of humanoid robots. Secondly, this paper presents a new approach neuro-fuzzy system. We have included some simulating results from our computational intelligence technique that will be applied to our humanoid robot. Subsequently, we determine a relationship between joint trajectories and located forces on robot-s foot through a proposed neuro-fuzzy technique.

Keywords: Biped Robot, Computational Intelligence, Static and Dynamic Walking, Gait Synthesis, Neuro-Fuzzy System.

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Authors: M. R. Rouhi, S. Shafiei, A. Taghavipour, H. Adibi-Asl, A. Doosthoseini

Abstract:

This research targets at alleviating the problem of range anxiety associated with the battery electric vehicles (BEVs) by considering mechanical and control aspects of the powertrain. In this way, all the energy consuming components and their effect on reducing the range of the BEV and battery life index are identified. On the other hand, an appropriate control strategy is designed to guarantee the performance of the BEV and the extended electric range which is evaluated by an extensive simulation procedure and a real-world driving schedule.

Keywords: Battery, electric vehicles EV, ultra-capacitor.

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Authors: Dr. N.H. Mvungi

Abstract:

The control of commutation of switched reluctance (SR) motor has nominally depended on a physical position detector. The physical rotor position sensor limits robustness and increases size and inertia of the SR drive system. The paper describes a method to overcome these limitations by using magnetization characteristics of the motor to indicate rotor and stator teeth overlap status. The method is using active current probing pulses of same magnitude that is used to simulate flux linkage in the winding being probed. A microprocessor is used for processing magnetization data to deduce rotor-stator teeth overlap status and hence rotor position. However, the back-of-core saturation and mutual coupling introduces overlap detection errors, hence that of commutation control. This paper presents the concept of the detection scheme and the effects of backof core saturation.

Keywords: Microprocessor control, rotor position, sensorless, switched reluctance.

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Authors: Shaharin A. Sulaiman, Mizuan Minhat

Abstract:

This paper presents development of an ignition system using spark electrodes for application in a research explosion vessel. A single spark is aimed to be discharged with quantifiable ignition energy. The spark electrode system would enable study of flame propagation, ignitability of fuel-air mixtures and other fundamental characteristics of flames. The principle of the capacitive spark circuit of ASTM is studied to charge an appropriate capacitance connected across the spark gap through a large resistor by a high voltage from the source of power supply until the initiation of spark. Different spark energies could be obtained mainly by varying the value of the capacitance and the supply current. The spark sizes produced are found to be affected by the spark gap, electrode size, input voltage and capacitance value.

Keywords: Ignition, Spark Electrode, Flame

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Authors: Mohammad A. Talaat, Magdi A. Koutb, Hoda S. Sorour

Abstract:

In this paper we investigated a number of the Internet congestion control algorithms that has been developed in the last few years. It was obviously found that many of these algorithms were designed to deal with the Internet traffic merely as a train of consequent packets. Other few algorithms were specifically tailored to handle the Internet congestion caused by running media traffic that represents audiovisual content. This later set of algorithms is considered to be aware of the nature of this media content. In this context we briefly explained a number of congestion control algorithms and hence categorized them into the two following categories: i) Media congestion control algorithms. ii) Common congestion control algorithms. We hereby recommend the usage of the media congestion control algorithms for the reason of being media content-aware rather than the other common type of algorithms that blindly manipulates such traffic. We showed that the spread of such media content-aware algorithms over Internet will lead to better congestion control status in the coming years. This is due to the observed emergence of the era of digital convergence where the media traffic type will form the majority of the Internet traffic.

Keywords: Congestion Control, Media Traffic.

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Authors: Yin Yin Phyo, Tun Lin Naing

Abstract:

In this paper, the average input current mode control is proposed for two-phase interleaved boost converter with two separate input inductors operating in continuous conduction mode (CCM). The required mathematical model is obtained from the equivalent circuits of its different four modes of operation. The small ripple approximation is derived to find the transfer functions from dynamic model using switching function. In average input current mode control, the inner current loop and outer voltage loop are designed with PI controller using bode analysis. Anti-windup structure is applied for PI controllers in control system. Moreover, the simulation work is carried out by MATLAB/Simulink. And, the hardware prototype is implemented by using low-cost microcontroller Arduino Nano. Finally, the laboratory prototype, available from the local market, is constructed to validate the mathematical model. The results show that the output voltage response is the faster rise time and settling time with acceptable overshoot.

Keywords: Average input current mode control, interleaved boost converter, low-cost microcontroller, PI controller, switching function.

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Authors: Aiswaria Ramachandran, Balaji Haiharan

Abstract:

The importance of our country-s communication system is noticeable when a disaster occurs. The communication system in our country includes wired and wireless telephone networks, radio, satellite system and more increasingly internet. Even though our communication system is most extensive and dependable, extreme conditions can put a strain on them. Interoperability between heterogeneous wireless networks can be used to provide efficient communication for emergency first response. IEEE 802.21 specifies Media Independent Handover (MIH) services to enhance the mobile user experience by optimizing handovers between heterogeneous access networks. This paper presents an algorithm to improve congestion control in MIH framework. It is analytically shown that by including time factor in network selection we can optimize congestion in the network.

Keywords: Vertical Handoff, Heterogeneous Networks, MIH

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Authors: M. Laamim, A. Benazzouz, A. Rochd, A. Ghennioui, A. El Fadili, M. Benzaazoua

Abstract:

Smart grids have recently sparked a lot of interest in the energy sector as they allow for the modernization and digitization of the existing power infrastructure. Smart grids have several advantages in terms of reducing the environmental impact of generating power from fossil fuels due to their capacity to integrate large amounts of distributed energy resources. On the other hand, smart grid technologies necessitate many field investigations and requirements. This paper focuses on the major difficulties that governments face around the world and compares them to the situation in Morocco. Also presented in this study are the current works and projects being developed to improve the penetration of smart grid technologies into the electrical system. Furthermore, the findings of this study will be useful to promote the smart grid revolution in Morocco, as well as to construct a strong foundation and develop future needs for better penetration of technologies that aid in the integration of smart grid features.

Keywords: Smart grids, microgrids, virtual power plants, digital twin, distributed energy resources, vehicle-to-grid, advanced metering infrastructure.

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Authors: Le Hieu Giang, Truong Nguyen Luan Vu, Le Linh

Abstract:

In this paper, the analytical tuning rules of IMC-PID controller are presented for the multivariable Smith predictor that involved the ideal decoupling. Accordingly, the decoupler is first introduced into the multivariable Smith predictor control system by a well-known approach of ideal decoupling, which is compactly extended for general nxn multivariable processes and the multivariable Smith predictor controller is then obtained in terms of the multiple single-loop Smith predictor controllers. The tuning rules of PID controller in series with filter are found by using Maclaurin approximation. Many multivariable industrial processes are employed to demonstrate the simplicity and effectiveness of the presented method. The simulation results show the superior performances of presented method in compared with the other methods.

Keywords: Ideal decoupler, IMC-PID controller, multivariable Smith predictor, Maclaurin approximation.

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Authors: T. Benmiloud, A. Omari

Abstract:

This paper presents a new technique of compensation of the effect of variation parameters in the direct field oriented control of induction motor. The proposed method uses an adaptive tuning of the value of synchronous speed to obtain the robustness for the field oriented control. We show that this adaptive tuning allows having robustness for direct field oriented control to changes in rotor resistance, load torque and rotational speed. The effectiveness of the proposed control scheme is verified by numerical simulations. The numerical validation results of the proposed scheme have presented good performances compared to the usual direct-field oriented control.

Keywords: Induction motor, direct field-oriented control, compensation of variation parameters, fuzzy logic controller.

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Authors: Fan Li, Chun-Hsien Chen, Li Pheng Khoo

Abstract:

Operators of vessel traffic service (VTS) center provides three different types of services; namely information service, navigational assistance and traffic organization to vessels. To provide these services, operators monitor vessel traffic through computer interface and provide navigational advice based on the information integrated from multiple sources, including automatic identification system (AIS), radar system, and closed circuit television (CCTV) system. Therefore, this information is crucial in VTS operation. However, what information the VTS operator actually need to efficiently and properly offer services is unclear. The aim of this study is to investigate into information requirements for VTS operation. To achieve this aim, field observation was carried out to elicit the information requirements for VTS operation. The study revealed that the most frequent and important tasks were handling arrival vessel report, potential conflict control and abeam vessel report. Current location and vessel name were used in all tasks. Hazard cargo information was particularly required when operators handle arrival vessel report. The speed, the course, and the distance of two or several vessels were only used in potential conflict control. The information requirements identified in this study can be utilized in designing a human-computer interface that takes into consideration what and when information should be displayed, and might be further used to build the foundation of a decision support system for VTS.

Keywords: Vessel traffic service, information requirements, hierarchy task analysis, field observation.

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Authors: Dong Wook Lee

Abstract:

This paper presents a method to analyze the stiffness of the expansion joint with structural support using a hybrid method combining computational and analytical methods. Many expansion joints found in tubes and ducts of mechanical structures are designed to absorb thermal expansion mismatch between their structural members and deal with misalignments introduced from the assembly/manufacturing processes. One of the important design perspectives is the system’s vibrational characteristics. We calculate the stiffness as a characterization parameter for structural joint systems using a combined Finite Element Analysis (FEA) and an analytical method. We apply the methods to two sample applications: external configurations of aircraft engines and nuclear power plant structures.

Keywords: Expansion joint, expansion joint stiffness, Finite Element Analysis, FEA, nuclear power plants, aircraft engine external configurations.

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Authors: Joval P George, Dr. Zheng Chen, Philip Shaw

Abstract:

This paper deals with the application of Principal Component Analysis (PCA) and the Hotelling-s T2 Chart, using data collected from a drinking water treatment process. PCA is applied primarily for the dimensional reduction of the collected data. The Hotelling-s T2 control chart was used for the fault detection of the process. The data was taken from a United Utilities Multistage Water Treatment Works downloaded from an Integrated Program Management (IPM) dashboard system. The analysis of the results show that Multivariate Statistical Process Control (MSPC) techniques such as PCA, and control charts such as Hotelling-s T2, can be effectively applied for the early fault detection of continuous multivariable processes such as Drinking Water Treatment. The software package SIMCA-P was used to develop the MSPC models and Hotelling-s T2 Chart from the collected data.

Keywords: Principal component analysis, hotelling's t2 chart, multivariate statistical process control, drinking water treatment.

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Authors: C. Bruni, F. Delli Priscoli, G. Koch, I. Marchetti

Abstract:

The Connection Admission Control (CAC) problem is formulated in this paper as a discrete time optimal control problem. The control variables account for the acceptance/ rejection of new connections and forced dropping of in-progress connections. These variables are constrained to meet suitable conditions which account for the QoS requirements (Link Availability, Blocking Probability, Dropping Probability). The performance index evaluates the total throughput. At each discrete time, the problem is solved as an integer-valued linear programming one. The proposed procedure was successfully tested against suitably simulated data.

Keywords: Connection Admission Control, Optimal Control, Integer valued Linear Programming, Quality of Service Requirements, Robust Control.

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Authors: E. Gnapowski, S. Gnapowski

Abstract:

This study examined the effect of porous dielectric silica gel the discharge ignition voltage and input power in a plasma reactor. For the experiment was used a plasma reactor with two mesh electrodes made of stainless steel with a mesh size of 0.1x0.1mm. The study analyzed and compared with parameters such as power, ignition and operation voltage of the reactor for two dielectrics a porous and glass. During experiment were observed several new phenomena conducted for porous dielectric. The first phenomenon was the reduction the ignition voltage discharge to volume around few hundred volts. Second it was increase input power six times more compared with power those obtained for the glass dielectric. Thirdly difference it is ΔV between ignition voltage V_i and operating voltage reactor V_m for porous dielectric it was 11%, while ΔV for the glass dielectric it was 60%. Also change the discharge characteristics from DBD for glass dielectric to the streamer resistance discharge for the porous dielectric.

Keywords: Input power, mesh electrodes, onset voltage, porous dielectric.

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Authors: G.R. Ashari, N.Hedayat, S. Shalbaf, E.Hajidavalloo

Abstract:

In this paper a polymer electrolyte membrane (PEM) fuel cell power system including burner, steam reformer, heat exchanger and water heater has been considered to meet the electrical, heating, cooling and domestic hot water loads of residential building which in Tehran. The system uses natural gas as fuel and works in CHP mode. Design and operating conditions of a PEM fuel cell system is considered in this study. The energy requirements of residential building and the number of fuel cell stacks to meet them have been estimated. The method involved exergy analysis and entropy generation thorough the months of the year. Results show that all the energy needs of the building can be met with 12 fuel cell stacks at a nominal capacity of 8.5 kW. Exergy analysis of the CHP system shows that the increase in the ambient air temperature from 1oC to 40oC, will have an increase of entropy generation by 5.73%.Maximum entropy generates for 15 hour in 15th of June and 15th of July is estimated to amount at 12624 (kW/K). Entropy generation of this system through a year is estimated to amount to 1004.54 GJ/k.year.

Keywords: CHP mode, entropy, exergy, no of fuel cell stacks.

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Authors: Dengpan Wu, Dan Liu

Abstract:

In view of the present cloud security problem has increasingly become one of the major obstacles hindering the development of the cloud computing, put forward a kind of memory based on Xen cloud environment security isolation technology implementation. And based on Xen virtual machine monitor system, analysis of the model of memory virtualization is implemented, using Xen memory virtualization system mechanism of super calls and grant table, based on the virtual machine manager internal implementation of access control module (ACM) to design the security isolation system memory. Experiments show that, the system can effectively isolate different customer domain OS between illegal access to memory data.

Keywords: Cloud security, memory isolation, Xen, virtual machine.

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Authors: Muhammad Aqil, Ichiro Kita, Akira Yano, Nishiyama Soichi

Abstract:

This paper presents an alternate approach that uses artificial neural network to simulate the flood level dynamics in a river basin. The algorithm was developed in a decision support system environment in order to enable users to process the data. The decision support system is found to be useful due to its interactive nature, flexibility in approach and evolving graphical feature and can be adopted for any similar situation to predict the flood level. The main data processing includes the gauging station selection, input generation, lead-time selection/generation, and length of prediction. This program enables users to process the flood level data, to train/test the model using various inputs and to visualize results. The program code consists of a set of files, which can as well be modified to match other purposes. This program may also serve as a tool for real-time flood monitoring and process control. The running results indicate that the decision support system applied to the flood level seems to have reached encouraging results for the river basin under examination. The comparison of the model predictions with the observed data was satisfactory, where the model is able to forecast the flood level up to 5 hours in advance with reasonable prediction accuracy. Finally, this program may also serve as a tool for real-time flood monitoring and process control.

Keywords: Decision Support System, Neural Network, Flood Level

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Authors: Feddaoui Amina

Abstract:

In a broad sense, corporate governance covers the organization of the control and management. The term is also used in a narrower sense, to refer to the relationship between shareholders, and the company’s board. There are a lot of discussions devoted to the understanding of the corporate governance role and its principles. In this paper, we are going to describe the definition of corporate governance as a control system and its principles, and find the role of corporate governance and its pillars. Finally, we are going to drop the theoretical study on the case of Japan.

Keywords: Corporate governance, place, role, Japan.

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Authors: Ahmad Forouzantabar, Babak Gholami, Mohammad Azadi

Abstract:

An adaptive neural network controller for autonomous underwater vehicles (AUVs) is presented in this paper. The AUV model is highly nonlinear because of many factors, such as hydrodynamic drag, damping, and lift forces, Coriolis and centripetal forces, gravity and buoyancy forces, as well as forces from thruster. In this regards, a nonlinear neural network is used to approximate the nonlinear uncertainties of AUV dynamics, thus overcoming some limitations of conventional controllers and ensure good performance. The uniform ultimate boundedness of AUV tracking errors and the stability of the proposed control system are guaranteed based on Lyapunov theory. Numerical simulation studies for motion control of an AUV are performed to demonstrate the effectiveness of the proposed controller.

Keywords: Autonomous Underwater Vehicle (AUV), Neural Network Controller, Composite Adaptation.

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Authors: H. Noun, C. Urban-Seelmann, M. Abdelfattah, G. Zeller, G. Rajesh, I. Mozgova, R. Lachmayer

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Several modules in automotive are usually modified and adapted for various project-specific applications. Due to a standardized safety concept a high reusability is accessible. A safety element out of context (SEooC) according to ISO 26262 can be a suitable approach. Based on the same safety concept and analysis, common modules can reach high reusability. For developing according to a module out of context, an appropriate and detailed development approach is required. This paper shows how to deduce this development processes for platform modules. Therefore, the detailed approach of the SEooC is derived. The aim is to create a detailed workflow for all phases of the development and integration of any kind of system modules. As an application example, an automotive project for an actuator control module is considered.

Keywords: Functional Safety, Safety Element out of Context, System Engineering, Hardware Engineering.

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Authors: Sansanee Sansiribhan, Anusorn Rattanathanaophat, Chirapan Nuengchaknin

Abstract:

The potential feasibility of a 9.5 MW_e capacity rice straw power plant project in Thailand was studied by evaluating the rice straw resource. The result showed that Thailand had a high rice straw biomass potential at the provincial level, especially, the provinces in the central, northeastern and western Thailand, which could feasibly develop plants. The economic feasibility of project was also investigated. The financial feasibility is also evaluated based on two important factors in the project, i.e., NPV ≥ 0 and IRR ≥ 11%. It was found that the rice straw power plant project at 9.5 MW_e was financially feasible with the cost of fuel in the range of 30.6-47.7 USD/t.

Keywords: Power plant, Project feasibility, Rice straw, Thailand.

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Authors: Roberto Iglesias, Theocharis Kyriacou, Ulrich Nehmzow, Steve Billings

Abstract:

Fundamental sensor-motor couplings form the backbone of most mobile robot control tasks, and often need to be implemented fast, efficiently and nevertheless reliably. Machine learning techniques are therefore often used to obtain the desired sensor-motor competences. In this paper we present an alternative to established machine learning methods such as artificial neural networks, that is very fast, easy to implement, and has the distinct advantage that it generates transparent, analysable sensor-motor couplings: system identification through nonlinear polynomial mapping. This work, which is part of the RobotMODIC project at the universities of Essex and Sheffield, aims to develop a theoretical understanding of the interaction between the robot and its environment. One of the purposes of this research is to enable the principled design of robot control programs. As a first step towards this aim we model the behaviour of the robot, as this emerges from its interaction with the environment, with the NARMAX modelling method (Nonlinear, Auto-Regressive, Moving Average models with eXogenous inputs). This method produces explicit polynomial functions that can be subsequently analysed using established mathematical methods. In this paper we demonstrate the fidelity of the obtained NARMAX models in the challenging task of robot route learning; we present a set of experiments in which a Magellan Pro mobile robot was taught to follow four different routes, always using the same mechanism to obtain the required control law.

Keywords: Mobile robotics, system identification, non-linear modelling, NARMAX.

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Authors: Jyong Lin, Shih-Chang Chen, Yu-Tsen Shih, Shi-Huang Chen

Abstract:

This paper presents a remote on-line diagnostic system for vehicles via the use of On-Board Diagnostic (OBD), GPS, and 3G techniques. The main parts of the proposed system are on-board computer, vehicle monitor server, and vehicle status browser. First, the on-board computer can obtain the location of deriver and vehicle status from GPS receiver and OBD interface, respectively. Then on-board computer will connect with the vehicle monitor server through 3G network to transmit the real time vehicle system status. Finally, vehicle status browser could show the remote vehicle status including vehicle speed, engine rpm, battery voltage, engine coolant temperature, and diagnostic trouble codes. According to the experimental results, the proposed system can help fleet managers and car knockers to understand the remote vehicle status. Therefore this system can decrease the time of fleet management and vehicle repair due to the fleet managers and car knockers who find the diagnostic trouble messages in time.

Keywords: Diagnostic Trouble Code (DTC), Electronic Control Unit (ECU), Global Position System (GPS), On-Board Diagnostic (OBD).

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Authors: Markus Reichhartinger, Martin Horn

Abstract:

In this paper, the position control of an electronic throttle actuator is outlined. The dynamic behavior of the actuator is described with the help of an uncertain plant model. This motivates the controller design based on the ideas of higher-order slidingmodes. As a consequence anti-chattering techniques can be omitted. It is shown that the same concept is applicable to estimate unmeasureable signals. The control law and the observer are implemented on an electronic control unit. Results achieved by numerical simulations and real world experiments are presented and discussed.

Keywords: higher order sliding-mode, throttle actuator, electromechanicalsystem, robust and nonlinear control.

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Authors: Mudjiastuti Handajani

Abstract:

The national economy development affects the vehicle ownership which ultimately increases fuel consumption. The rise of the vehicle ownership is dominated by the increasing number of motorcycles. This research aims to analyze and identify the characteristics of fuel consumption, the city transportation system, and to analyze the relationship and the effect of the city transportation system on the fuel consumption. A multivariable analysis is used in this study. The data analysis techniques include: a Multivariate Multivariable Analysis by using the R software. More than 84% of fuel on Java is consumed in metropolitan and large cities. The city transportation system variables that strongly effect the fuel consumption are population, public vehicles, private vehicles and private bus. This method can be developed to control the fuel consumption by considering the urban transport system and city tipology. The effect can reducing subsidy on the fuel consumption, increasing state economic.

Keywords: city, consumption, fuel, transportation

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Authors: Byoung-Uk Nam, Hag-Seong Kim, Ho-Jung Lee, Dong-Hyun Kim

Abstract:

This paper focuses on systematic analysis and controller design of the two-inertia STABILIZATION system, considering the angular motion on a base body. This approach is essential to the stabilization system to aim at a target under three or six degrees of freedom base motion. Four controllers, such as conventional PDF(Pseudo-Derivative Feedback) controller with motor speed feedback, PDF controller with load speed feedback, modified PDF controller with motor-load speed feedback and feedforward controller added to modified PDF controller, are suggested to improve reference tracking and disturbance rejection performance. Characteristics and performance of each controller are analyzed and validated by simulation in the case of the modified PDF controller with and without a feedforward controller.

Keywords: Two-Inertia stabilization System, ITAE criterion, Speed Control.

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Authors: Aldan A. Sapargaliyev, Yerbol A. Sapargaliyev

Abstract:

Since the invention, the electric machine (EM) can be defined as oEM – one-vector electric machine, as it works due to one-vector inductive coupling with use of one-vector electromagnet. The disadvantages of oEM are large size and limited efficiency at low and medium power applications. This paper describes multi-vector electric machine (mEM) based on multi-vector inductive coupling, which is characterized by the increased surface area of ​​the inductive coupling per EM volume, with a reduced share of inefficient and energy-consuming part of the winding, in comparison with oEM’s. Particularly, it is considered, calculated and compared the performance of three different electrical motors and their power at the same volumes and rotor frequencies. It is also presented the result of calculation of correlation between power density and volume for oEM and mEM. The method of multi-vector inductive coupling enables mEM to possess 1.5-4.0 greater density of power per volume and significantly higher efficiency, in comparison with today’s oEM, especially in low and medium power applications. mEM has distinct advantages, when used in transport vehicles such as electric cars and aircrafts.

Keywords: Electric machine, electric motor, electromagnet, efficiency of electric motor.

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Authors: S. Anbu, N. Jaya

Abstract:

Nonlinearity is the inherent characteristics of all the industrial processes. The Classical control approach used for a generation often fails to show better results particularly for non-linear systems and in the systems, whose parameters changes over a period of time for a variety of reasons. Alternatively, adaptive control strategies provide very good performance. The Model Reference Adaptive Control based on Lyapunov stability analysis and classical PI control strategies are designed and evaluated for Continuous Stirred Tank Reactor, which shows appreciable dynamic nonlinear characteristics.

Keywords: Adaptive Control, CSTR, Lyapunov stability, MRAS, PID.

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