Search results for: variable structure control

Authors: Marco Soares dos Santos, Camila Nicola Boeri, Jorge Augusto Ferreira, Fernando Neto da Silva

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The highly nonlinear characteristics of drying processes have prompted researchers to seek new nonlinear control solutions. However, the relation between the implementation complexity, on-line processing complexity, reliability control structure and controller-s performance is not well established. The present paper proposes high performance nonlinear fuzzy controllers for a real-time operation of a drying machine, being developed under a consistent match between those issues. A PCI-6025E data acquisition device from National Instruments® was used, and the control system was fully designed with MATLAB® / SIMULINK language. Drying parameters, namely relative humidity and temperature, were controlled through MIMOs Hybrid Bang-bang+PI (BPI) and Four-dimensional Fuzzy Logic (FLC) real-time-based controllers to perform drying tests on biological materials. The performance of the drying strategies was compared through several criteria, which are reported without controllers- retuning. Controllers- performance analysis has showed much better performance of FLC than BPI controller. The absolute errors were lower than 8,85 % for Fuzzy Logic Controller, about three times lower than the experimental results with BPI control.

Keywords: Drying control, Fuzzy logic control, Intelligent temperature-humidity control.

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Authors: Nan-Chyuan Tsai, Chao-Wen Chiang, Bai-Lu Wang

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The three-time-scale plant model of a wind power generator, including a wind turbine, a flexible vertical shaft, a Variable Inertia Flywheel (VIF) module, an Active Magnetic Bearing (AMB) unit and the applied wind sequence, is constructed. In order to make the wind power generator be still able to operate as the spindle speed exceeds its rated speed, the VIF is equipped so that the spindle speed can be appropriately slowed down once any stronger wind field is exerted. To prevent any potential damage due to collision by shaft against conventional bearings, the AMB unit is proposed to regulate the shaft position deviation. By singular perturbation order-reduction technique, a lower-order plant model can be established for the synthesis of feedback controller. Two major system parameter uncertainties, an additive uncertainty and a multiplicative uncertainty, are constituted by the wind turbine and the VIF respectively. Frequency Shaping Sliding Mode Control (FSSMC) loop is proposed to account for these uncertainties and suppress the unmodeled higher-order plant dynamics. At last, the efficacy of the FSSMC is verified by intensive computer and experimental simulations for regulation on position deviation of the shaft and counter-balance of unpredictable wind disturbance.

Keywords: Sliding Mode Control, Singular Perturbation, Variable Inertia Flywheel.

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Authors: Sudeept Mohan, Surekha Bhanot

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The problem of manipulator control is a highly complex problem of controlling a system which is multi-input, multioutput, non-linear and time variant. In this paper some adaptive fuzzy, and a new hybrid fuzzy control algorithm have been comparatively evaluated through simulations, for manipulator control. The adaptive fuzzy controllers consist of self-organizing, self-tuning, and coarse/fine adaptive fuzzy schemes. These controllers are tested for different trajectories and for varying manipulator parameters through simulations. Various performance indices like the RMS error, steady state error and maximum error are used for comparison. It is observed that the self-organizing fuzzy controller gives the best performance. The proposed hybrid fuzzy plus integral error controller also performs remarkably well, given its simple structure.

Keywords: Hybrid fuzzy, Self-organizing, Self-tuning, Trajectory tracking.

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Authors: Gang Liu, Huimin Song, Can Wang, Runnan Zhang, Lu Fang

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Currently, resource sharing and system security are critical issues. This paper proposes a POL module composed of PRIV ILEGE attribute (PA), obligation and log which improves attribute based access control (ABAC) model in dynamically granting authorizations and revoking authorizations. The following describes the new model termed PABAC in terms of the POL module structure, attribute definitions, policy formulation and authorization architecture, which demonstrate the advantages of it. The POL module addresses the problems which are not predicted before and not described by access control policy. It can be one of the subject attributes or resource attributes according to the practical application, which enhances the flexibility of the model compared with ABAC. A scenario that illustrates how this model is applied to the real world is provided.

Keywords: Access control, attribute based access control, granting authorizations, privilege, revoking authorizations, system security.

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Authors: Rana Khalid Naeem, Asif Mansoor, Waseem Ahmed Khan, Aurangzaib

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The exact solutions of the equations describing the steady plane motion of an incompressible fluid of variable viscosity for an arbitrary state equation are determined in the (ξ,ψ) − or (η,ψ )- coordinates where ψ(x,y) is the stream function, ξ and η are the parts of the analytic function, ϖ =ξ( x,y )+iη( x,y ). Most of the solutions involve arbitrary function/ functions indicating  that the flow equations possess an infinite set of solutions. 

Keywords: Exact solutions, Fluid of variable viscosity, Navier-Stokes equations, Steady plane flows

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Authors: Amit Goyal, Alka, Rama Gupta, C. Nagaraja Kumar

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We have solved the Burgers-Fisher (BF) type equations, with time-dependent coefficients of convection and reaction terms, by using the auxiliary equation method. A class of solitary wave solutions are obtained, and some of which are derived for the first time. We have studied the effect of variable coefficients on physical parameters (amplitude and velocity) of solitary wave solutions. In some cases, the BF equations could be solved for arbitrary timedependent coefficient of convection term.

Keywords: Solitary wave solution, Variable coefficient Burgers- Fisher equation, Auxiliary equation method.

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Authors: Jožef Ritonja

Abstract:

The biochemical industry is one of the most important modern industries. Biochemical reactors are crucial devices of the biochemical industry. The essential bioprocess carried out in bioreactors is the fermentation process. A thorough insight into the fermentation process and the knowledge how to control it are essential for effective use of bioreactors to produce high quality and quantitatively enough products. The development of the control system starts with the determination of a mathematical model that describes the steady state and dynamic properties of the controlled plant satisfactorily, and is suitable for the development of the control system. The paper analyses the fermentation process in bioreactors thoroughly, using existing mathematical models. Most existing mathematical models do not allow the design of a control system for controlling the fermentation process in batch bioreactors. Due to this, a mathematical model was developed and presented that allows the development of a control system for batch bioreactors. Based on the developed mathematical model, a control system was designed to ensure optimal response of the biochemical quantities in the fermentation process. Due to the time-varying and non-linear nature of the controlled plant, the conventional control system with a proportional-integral-differential controller with constant parameters does not provide the desired transient response. The improved adaptive control system was proposed to improve the dynamics of the fermentation. The use of the adaptive control is suggested because the parameters’ variations of the fermentation process are very slow. The developed control system was tested to produce dairy products in the laboratory bioreactor. A carbon dioxide concentration was chosen as the controlled variable. The carbon dioxide concentration correlates well with the other, for the quality of the fermentation process in significant quantities. The level of the carbon dioxide concentration gives important information about the fermentation process. The obtained results showed that the designed control system provides minimum error between reference and actual values of carbon dioxide concentration during a transient response and in a steady state. The recommended control system makes reference signal tracking much more efficient than the currently used conventional control systems which are based on linear control theory. The proposed control system represents a very effective solution for the improvement of the milk fermentation process.

Keywords: Bioprocess engineering, biochemical reactor, fermentation process, modeling, adaptive control.

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Authors: Kejun Zhuang, Hailong Zhu

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In this paper, stability and Hopf bifurcation analysis of a novel hyperchaotic system are investigated. Four feedback control strategies, the linear feedback control method, enhancing feedback control method, speed feedback control method and delayed feedback control method, are used to control the hyperchaotic attractor to unstable equilibrium. Moreover numerical simulations are given to verify the theoretical results.

Keywords: Feedback control, Hopf bifurcation, hyperchaotic system, stability.

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Authors: Arishai Akraudom

Abstract:

The objective of this research was to study the themes of alcoholic beverage advertisements in Thailand after the enactment of the 2008 Alcoholic Beverage Control Act. Data was collected through textual analysis of 35 television and cinema advertisements for alcoholic beverage products broadcast in Thailand. Nine themes were identified, seven of which were themes that had previously been used before the new law (i.e. power, competition, friendship, Thainess, success, romance and safety) and two of which were new themes (volunteerism and conservation) that were introduced as a form of adaptation and negotiation in response to the new law.

Keywords: Alcoholic Beverage Control Act 2008, Alcohol Advertising, Analysis of Themes, Narrative Structure, Health Communication.

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Authors: A. Izadbakhsh, M. M. Fateh

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A model-free robust control (MFRC) approach is proposed for position control of robot manipulators in the state space. The control approach is verified analytically to be robust subject to uncertainties including external disturbances, unmodeled dynamics, and parametric uncertainties. There is a high flexibility to work on different systems including actuators by the use of the proposed control approach. The proposed control approach can guarantee the robustness of control system. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a satisfactory performance for control system under technical specifications. KeywordsModel-free, robust control, position control, PUMA 560.

Keywords: Model-free, robust control, position control, PUMA 560.

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Authors: A. Sina, A. Aeenmehr, H. Mohamadian

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Optimization and control of reactive power distribution in the power systems leads to the better operation of the reactive power resources. Reactive power control reduces considerably the power losses and effective loads and improves the power factor of the power systems. Another important reason of the reactive power control is improving the voltage profile of the power system. In this paper, voltage and reactive power control using Neural Network techniques have been applied to the 33 shines- Tehran Electric Company. In this suggested ANN, the voltages of PQ shines have been considered as the input of the ANN. Also, the generators voltages, tap transformers and shunt compensators have been considered as the output of ANN. Results of this techniques have been compared with the Linear Programming. Minimization of the transmission line power losses has been considered as the objective function of the linear programming technique. The comparison of the results of the ANN technique with the LP shows that the ANN technique improves the precision and reduces the computation time. ANN technique also has a simple structure and this causes to use the operator experience.

Keywords: voltage control, linear programming, artificial neural network, power systems

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Authors: Ahmet Turer

Abstract:

Middle-gate is located in Hasankeyf, Batman dating back to 1800 BC and is one of the important historical structures in Turkey. The ancient structure has suffered major structural cracks due to aging as well as lateral pressure of a cracked rock which is predicted to be about 100 tons. The existing support system was found to be inadequate to support the load especially after a recent rock fall in the close vicinity. Concerns were increased since the existing support system that is integral with a damaged and cracked gate wall needed to be replaced by a new support system. The replacement process must be carefully monitored by crackmeters and control mechanisms should be integrated to prevent cracks to expand while the same crack width needs to be maintained after the operation. The control system and actions taken during the intervention are explained in this paper.

Keywords: structural control, crack width, replacement, support

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Authors: Hitoshi Takata, Tomohiro Hachino, Masaki Horai, Kazuo Komatsu

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In this paper, we are concerned with the design and its simulation studies of a modified extremum seeking control for nonlinear systems. A standard extremum seeking control has a simple structure, but it takes a long time to reach an optimal operating point. We consider a modification of the standard extremum seeking control which is aimed to reach the optimal operating point more speedily than the standard one. In the modification, PD acceleration term is added before an integrator making a principal control, so that it enables the objects to be regulated to the optimal point smoothly. This proposed method is applied to Monod and Williams-Otto models to investigate its effectiveness. Numerical simulation results show that this modified method can improve the time response to the optimal operating point more speedily than the standard one.

Keywords: Extremum seeking control, Monod model, Williams- Otto model, PD acceleration term, Optimal operating point.

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Authors: Athanasios Theoharidis, Thomas Kamalakis, Ioannis Neokosmidis, Thomas Sphicopoulos

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In this paper, the application of the Mode Matching (MM) method in the case of photonic crystal waveguide discontinuities is presented. The structure under consideration is divided into a number of cells, which supports a number of guided and evanescent modes. These modes can be calculated numerically by an alternative formulation of the plane wave expansion method for each frequency. A matrix equation is then formed relating the modal amplitudes at the beginning and at the end of the structure. The theory is highly efficient and accurate and can be applied to study the transmission sensitivity of photonic crystal devices due to fabrication tolerances. The accuracy of the MM method is compared to the Finite Difference Frequency Domain (FDFD) and the Adjoint Variable Method (AVM) and good agreement is observed.

Keywords: Optical Communications, Integrated Optics, Photonic Crystals, Optical Waveguide Discontinuities.

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Authors: Vahidreza Mahmoudabadi, Omid Bahar, Mohammad Kazem Jafari

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In many applied engineering problems, structural analysis is usually conducted by assuming a rigid bed, while imposing the effect of structure bed flexibility can affect significantly on the structure response. This article focuses on investigation and evaluation of the effects arising from considering a soil-structure system in evaluation of dynamic characteristics of a steel structure with respect to elastic and inelastic behaviors. The recorded structure acceleration during Taiwan’s strong Chi-Chi earthquake on different floors of the structure was our evaluation criteria. The respective structure is an eight-story steel bending frame structure designed using a displacement-based direct method assuring weak beam - strong column function. The results indicated that different identification methods i.e. reverse Fourier transform or transfer functions, is capable to determine some of the dynamic parameters of the structure precisely, rather than evaluating all of them at once (mode frequencies, mode shapes, structure damping, structure rigidity, etc.). Response evaluation based on the input and output data elucidated that the structure first mode is not significantly affected, even considering the soil-structure interaction effect, but the upper modes have been changed. Also, it was found that the response transfer function of the different stories, in which plastic hinges have occurred in the structure components, provides similar results.

Keywords: System identification, dynamic characteristics, soil-structure system, bending steel frame structure, displacement-based design.

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Authors: Vadims Goremikins, Karlis Rocens, Dmitrijs Serdjuks

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A suspension bridge is the most suitable type of structure for a long-span bridge due to rational use of structural materials. Increased deformability, which is conditioned by appearance of the elastic and kinematic displacements, is the major disadvantage of suspension bridges. The problem of increased kinematic displacements under the action of non-symmetrical load can be solved by prestressing. The prestressed suspension bridge with the span of 200 m was considered as an object of investigations. The cable truss with the cross web was considered as the main load carrying structure of the prestressed suspension bridge. The considered cable truss was optimized by 47 variable factors using Genetic algorithm and FEM program ANSYS. It was stated, that the maximum total displacements are reduced up to 29.9% by using of the cable truss with the rational characteristics instead of the single cable in the case of the worst situated load.

Keywords: Decreasing displacements, Genetic algorithm.

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Authors: Jia-Shiun Chen, Hsiu-Ying Hwang

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Hybrid electric vehicles can reduce pollution and improve fuel economy. Power-split hybrid electric vehicles (HEVs) provide two power paths between the internal combustion engine (ICE) and energy storage system (ESS) through the gears of an electrically variable transmission (EVT). EVT allows ICE to operate independently from vehicle speed all the time. Therefore, the ICE can operate in the efficient region of its characteristic brake specific fuel consumption (BSFC) map. The two-mode powertrain can operate in input-split or compound-split EVT modes and in four different fixed gear configurations. Power-split architecture is advantageous because it combines conventional series and parallel power paths. This research focuses on input-split and compound-split modes in the two-mode power-split powertrain. Fuzzy Logic Control (FLC) for an internal combustion engine (ICE) and PI control for electric machines (EMs) are derived for the urban driving cycle simulation. These control algorithms reduce vehicle fuel consumption and improve ICE efficiency while maintaining the state of charge (SOC) of the energy storage system in an efficient range.

Keywords: Hybrid electric vehicle, fuel economy, two-mode hybrid, fuzzy control.

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Authors: Khaing Yadana Swe, Lillie Dewan

Abstract:

At present, the cascade PID control is widely used to control the superheating temperature (main steam temperature). As Main Steam Temperature has the characteristics of large inertia, large time-delay and time varying, etc., conventional PID control strategy cannot achieve good control performance. In order to overcome the bad performance and deficiencies of main steam temperature control system, Model Free Adaptive Control (MFAC) - P cascade control system is proposed in this paper. By substituting MFAC in PID of the main control loop of the main steam temperature control, it can overcome time delays, non-linearity, disturbance and time variation.

Keywords: Model free Adaptive Control, Cascade Control, Adaptive Control, PID.

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Authors: Fahad Alhussein, Huaping Liu

Abstract:

This paper compares the multipath mitigation performance of code correlation reference waveform receivers with variable and fixed window width, for binary offset carrier and multiplexed binary offset carrier signals typically used in global navigation satellite systems. In the variable window width method, such width is iteratively reduced until the distortion on the discriminator with multipath is eliminated. This distortion is measured as the Euclidean distance between the actual discriminator (obtained with the incoming signal), and the local discriminator (generated with a local copy of the signal). The variable window width have shown better performance compared to the fixed window width. In particular, the former yields zero error for all delays for the BOC and MBOC signals considered, while the latter gives rather large nonzero errors for small delays in all cases. Due to its computational simplicity, the variable window width method is perfectly suitable for implementation in low-cost receivers.

Keywords: Correlation reference waveform receivers, binary offset carrier, multiplexed binary offset carrier, global navigation satellite systems.

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Authors: Shan Gao, Zaiming Liu

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This paper treats a discrete-time batch arrival queue with single working vacation. The main purpose of this paper is to present a performance analysis of this system by using the supplementary variable technique. For this purpose, we first analyze the Markov chain underlying the queueing system and obtain its ergodicity condition. Next, we present the stationary distributions of the system length as well as some performance measures at random epochs by using the supplementary variable method. Thirdly, still based on the supplementary variable method we give the probability generating function (PGF) of the number of customers at the beginning of a busy period and give a stochastic decomposition formulae for the PGF of the stationary system length at the departure epochs. Additionally, we investigate the relation between our discretetime system and its continuous counterpart. Finally, some numerical examples show the influence of the parameters on some crucial performance characteristics of the system.

Keywords: Discrete-time queue, batch arrival, working vacation, supplementary variable technique, stochastic decomposition.

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Authors: Rahib Hidayat Abiyev

Abstract:

This paper presents the development of recurrent neural network based fuzzy inference system for identification and control of dynamic nonlinear plant. The structure and algorithms of fuzzy system based on recurrent neural network are described. To train unknown parameters of the system the supervised learning algorithm is used. As a result of learning, the rules of neuro-fuzzy system are formed. The neuro-fuzzy system is used for the identification and control of nonlinear dynamic plant. The simulation results of identification and control systems based on recurrent neuro-fuzzy network are compared with the simulation results of other neural systems. It is found that the recurrent neuro-fuzzy based system has better performance than the others.

Keywords: Fuzzy logic, neural network, neuro-fuzzy system, control system.

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Authors: S.A.M. Yatim, Z.B. Ibrahim, K.I. Othman, F. Ismail

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The implicit block methods based on the backward differentiation formulae (BDF) for the solution of stiff initial value problems (IVPs) using variable step size is derived. We construct a variable step size block methods which will store all the coefficients of the method with a simplified strategy in controlling the step size with the intention of optimizing the performance in terms of precision and computation time. The strategy involves constant, halving or increasing the step size by 1.9 times the previous step size. Decision of changing the step size is determined by the local truncation error (LTE). Numerical results are provided to support the enhancement of method applied.

Keywords: Backward differentiation formulae, block backwarddifferentiation formulae, stiff ordinary differential equation, variablestep size.

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Authors: Yogesh Pahariya, Rakesh Saxena, Biswaroop Sarkar

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The selection of control strategy depends on the converters of the drive including power, speed, performance and the possible system costs. A number of attempts were therefore made in recent times to develop novel power electronic converter structures for SRM drives, based on the utilization. Many of the converters with variable speed drives have no input power factor correction circuits. This results in harmonic pollution of the utility supply, which should be avoided. The effect of power factor variation in terms of harmonic content is also analyzed in this study. The proposed topologies were simulated using MATLAB / Simulink software package and the results are obtained.

Keywords: Harmonic Pollution, Power Electronic Converter, Power Quality, Simulation.

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Authors: N. Pekin Alakoç, A. Apaydın

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Quality control charts indicate out of control conditions if any nonrandom pattern of the points is observed or any point is plotted beyond the control limits. Nonrandom patterns of Shewhart control charts are tested with sensitizing rules. When the processes are defined with fuzzy set theory, traditional sensitizing rules are insufficient for defining all out of control conditions. This is due to the fact that fuzzy numbers increase the number of out of control conditions. The purpose of the study is to develop a set of fuzzy sensitizing rules, which increase the flexibility and sensitivity of fuzzy control charts. Fuzzy sensitizing rules simplify the identification of out of control situations that results in a decrease in the calculation time and number of evaluations in fuzzy control chart approach.

Keywords: Fuzzy set theory, Quality control charts, Run Rules, Unnatural patterns.

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Authors: Mohd Sazli Saad, Hishamuddin Jamaluddin, Intan Zaurah Mat Darus

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This paper presents the development of an active vibration control using direct adaptive controller to suppress the vibration of a flexible beam system. The controller is realized based on linear parametric form. Differential evolution optimisation algorithm is used to optimize the controller using single objective function by minimizing the mean square error of the observed vibration signal. Furthermore, an alternative approach is developed to systematically search for the best controller model structure together with it parameter values. The performance of the control scheme is presented and analysed in both time and frequency domain. Simulation results demonstrate that the proposed scheme is able to suppress the unwanted vibration effectively.

Keywords: flexible beam, finite difference method, active vibration control, differential evolution, direct adaptive controller

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Authors: A. Abbasi Moshaii, M. Soltan Rezaee, M. Mohammadi Moghaddam

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Control of some mechanisms is hard because of their complex dynamic equations. If part of the complexity is resulting from uncertainties, an efficient way for solving that is robust control. By this way, the control procedure could be simple and fast and finally, a simple controller can be designed. One kind of these mechanisms is 3-RRR which is a parallel mechanism and has three revolute joints. This paper aims to robust control a 3-RRR planner mechanism and it presents that this could be used for other mechanisms. So, a significant problem in mechanisms control could be solved. The relevant diagrams are drawn and they show the correctness of control process.

Keywords: 3-RRR, dynamic equations, mechanisms control, structural uncertainty.

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Authors: Ghada Badr, Arwa Alturki

Abstract:

The biological function of an RNA molecule depends on its structure. The objective of the alignment is finding the homology between two or more RNA secondary structures. Knowing the common functionalities between two RNA structures allows a better understanding and a discovery of other relationships between them. Besides, identifying non-coding RNAs -that is not translated into a protein- is a popular application in which RNA structural alignment is the first step A few methods for RNA structure-to-structure alignment have been developed. Most of these methods are partial structure-to-structure, sequence-to-structure, or structure-to-sequence alignment. Less attention is given in the literature to the use of efficient RNA structure representation and the structure-to-structure alignment methods are lacking. In this paper, we introduce an O(N2) Component-based Pairwise RNA Structure Alignment (CompPSA) algorithm, where structures are given as a component-based representation and where N is the maximum number of components in the two structures. The proposed algorithm compares the two RNA secondary structures based on their weighted component features rather than on their base-pair details. Extensive experiments are conducted illustrating the efficiency of the CompPSA algorithm when compared to other approaches and on different real and simulated datasets. The CompPSA algorithm shows an accurate similarity measure between components. The algorithm gives the flexibility for the user to align the two RNA structures based on their weighted features (position, full length, and/or stem length). Moreover, the algorithm proves scalability and efficiency in time and memory performance.

Keywords: Alignment, RNA secondary structure, pairwise, component-based, data mining.

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Authors: Arian Bahrami, Mojtaba Tafaoli-Masoule, Mansour Nikkhah Bahrami

Abstract:

This paper demonstrates the potential of applying PD-like fuzzy logic controller for active vibration control of piezoelectric Stewart platforms. Through simulation, the control authority of the piezo stack actuators for effectively damping the Stewart platform vibration can be evaluated for further implementation of the system. Each leg of the piezoelectric Stewart platform consists of a linear piezo stack actuator, a collocated velocity sensor, a collocated displacement sensor and flexible tips for the connections with the two end plates. The piezoelectric stack is modeled as a bar element and the electro-mechanical coupling property is simulated using Matlab/Simulink software. Then, the open loop and closed loop dynamic responses are performed for the system to characterize the effect of the control on the vibration of the piezoelectric Stewart platform. A significant improvement in the damping of the structure can be observed by using the PD-like fuzzy controller.

Keywords: Active vibration control, Fuzzy controller, Piezoelectric stewart platform.

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Authors: T.C. Manjunath, Student Member, B. Bandyopadhyay

Abstract:

This paper features the mathematical modeling of a single input single output based Timoshenko smart beam. Further, this mathematical model is used to design a multirate output feedback based discrete sliding mode controller using Bartoszewicz law to suppress the flexural vibrations. The first 2 dominant vibratory modes is retained. Here, an application of the discrete sliding mode control in smart systems is presented. The algorithm uses a fast output sampling based sliding mode control strategy that would avoid the use of switching in the control input and hence avoids chattering. This method does not need the measurement of the system states for feedback as it makes use of only the output samples for designing the controller. Thus, this methodology is more practical and easy to implement.

Keywords: Smart structure, Timoshenko beam theory, Discretesliding mode control, Bartoszewicz law, Finite Element Method, State space model, Vibration control, Mathematical model, SISO.

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Authors: A. K. Kamath, N. M. Singh, R. Pasumarthy

Abstract:

This paper investigates the control of a bouncing ball using Model Predictive Control. Bouncing ball is a benchmark problem for various rhythmic tasks such as juggling, walking, hopping and running. Humans develop intentions which may be perceived as our reference trajectory and tries to track it. The human brain optimizes the control effort needed to track its reference; this forms the central theme for control of bouncing ball in our investigations.

Keywords: Bouncing Ball, impact dynamics, intermittent control, model predictive control.

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