@article{ author = {Zakeri, Yadollah and Sheikholeslam, Farid and Haeri, Mohamm}, title = {A Unified Approach to Structural Analysis and Design of Model Predictive Controllers}, abstract ={Designing linear MPC with pre-specified closed-loop characteristics for stability and robustness consideration as well as optimal time domain performance, is an interesting issue. In this paper, we develop a new enabling formulation, which can explicitly show existence and properties of the linear controller counterpart for transfer function-based MPC, known as Generalized Predictive Control. This development allows one to transform desired closed loop specifications to constraints on new-defined variables of the GPC optimization problem along with desired time domain performance-related design parameters. Input output constraints also can be transformed to constraints on these new variables. Fantastic results are illustrated by an ongoing example. It is a unified approach to answer some key questions in both theory and application such as analysis and design for desired performance, stability and robustness, controller matching, reference governor GPC, and design of model reference predictive control in data-driven control.}, Keywords = {model predictive control, model reference predictive control, optimal control, robust control, controller matching, reference governor.}, volume = {1}, Number = {1}, pages = {1-9}, publisher = {K. N. Toosi University of Technology (KNTU)}, doi = {10.52547/jocee.1.1.1}, url = {http://jocee.kntu.ac.ir/article-1-25-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-25-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} } @article{ author = {FadaieAbras, Mehdi and Abbaszadeh, Karim and Siadatan, Alirez}, title = {An Energy-based Predictive Control with a Fast Real-Time Current-Tuning for Mono-Inverter Dual-Parallel PMSM Motors in Power Train Application}, abstract ={Economic approach and optimization in rail transportation systems led to the introduction of the mono inverter dual parallel motor (MIDP) system. Most researchers introduce the model predictive control (MPC) method to drive this system in order to overcome the problem of load torque inequality on the wheels. But the obtained control signals do not result in the proper operation of the MIDP system, because the cost function is solved online or evaluated by the limited number of control signals. The present paper introduces an energy-based predictive speed control instead of the conventional proportional-integral controller in the outer loop and uses Pontryagin’s maximum principle to regulate electrical currents in the inner loop. Since this method solved the quadratic-linear cost functions offline, the control signals of the MIDP system are obtained as linear-parametric functions. After modeling and simplifying the mathematical equations, the introduced method is simulated and compared with conventional Finite and Infinite Control Set-MPC methods. The results indicate the agility and high accuracy of the controllers in both transient and steady states.}, Keywords = {Mono Inverter Dual Parallel (MIDP), Model Predictive Control (MPC), Permanent Magnet Synchronous Motor (PMSM)}, volume = {1}, Number = {1}, pages = {11-26}, publisher = {K. N. Toosi University of Technology (KNTU)}, doi = {10.52547/jocee.1.1.11}, url = {http://jocee.kntu.ac.ir/article-1-26-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-26-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} } @article{ author = {Saberi, Mohammad Mahdi and Zamani, Iman and Ebadollahi, Saee}, title = {Stability Analysis of Switched Time-Delay Systems; a Multiple Case}, abstract ={This paper investigates the problem of exponential stability of switched systems with multiple time-varying delays. By using the multiple discontinuous Lyapunov function (MDLF) approach and the mode-dependent average dwell time (MDADT) switching signal, new conditions in the form of linear matrix inequalities (LMIs) are proposed, which is the first attempt in this area. These conditions guarantee the exponential stability of the switched system with stable and unstable subsystems where multiple time-varying delays are considered in the states. In this method all subsystems cannot be unstable, and switched system should compose of at least one stable subsystem. Furthermore, two examples are given to illustrate the effectiveness of the obtained theoretical results.}, Keywords = {Stability Analysis, Switched Systems, Multiple Time Delay, Multiple Lyapunov Function.}, volume = {1}, Number = {1}, pages = {27-36}, publisher = {K. N. Toosi University of Technology (KNTU)}, doi = {10.52547/jocee.1.1.27}, url = {http://jocee.kntu.ac.ir/article-1-43-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-43-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} } @article{ author = {Arezoo, Jamal and Salahshoor, Karim}, title = {A Novel Integrated Solution Algorithm for Explicit Model Predictive Control in Embedded Applications}, abstract ={The paper addresses complexity of explicit model predictive control (MPC) in terms of online evaluation and memory requirement. Explicit MPC defines a piecewise affine (PWA) function over different regions of system state-space. An efficient approach is presented to integrate both complexity reduction schemes via 1) a separator function to remove regions defined over control actions which attain saturated values and 2) elimination of regions which have symmetry. The proposed method reduces the conventional necessity of explicit MPC, online evaluation, and storage requirement, by removing the regions corresponding to the saturated optimal control inputs using a simpler replacement function. Moreover, the method incorporates the concept of symmetries in the context of MPC quadratic programming problem to eliminate redundant symmetric regions, leading to devising a novel solution algorithm with much less complexities for embedded applications. The presented method also simplifies the symmetry identification process because the symmetry search algorithm is performed only for regions on which control action is unsaturated rather than the whole original regions. Various simulation tests are conducted to comparatively demonstrate effectiveness of the proposed algorithm for an inexpensive implementation of large-order systems in terms of the required storage and number of floating point operations.}, Keywords = {Explicit MPC, quadratic programing, symmetric regions, and saturated regions}, volume = {1}, Number = {1}, pages = {37-47}, publisher = {K. N. Toosi University of Technology (KNTU)}, doi = {10.52547/jocee.1.1.37}, url = {http://jocee.kntu.ac.ir/article-1-33-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-33-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} } @article{ author = {Ghahremani, Nemat Allah and Alhassan, Hass}, title = {Generalized Incremental Predictive Filter for Integrated Navigation System INS/GPS in Tangent Frame}, abstract ={The extended Kalman filter (EKF) is a widely used algorithm for nonlinear estimation of Inertial Navigation Systems (INS) and the Global Position System (GPS) integration. However, EKF has several limitations, such as linearization dependency, and the model error statistics are assumed as a zero-mean Gaussian noise with known covariance. Consequently, if EKF is not tuned correctly, the INS error predictions can quickly diverge. To overcome the limitations of existing Kalman algorithms, this paper derives a real-time predictive approach. The proposed method increases the accuracy and the reliability requirements of loosely INS/GPS integration by estimating the unknown model errors of sensors without augmenting the state space. Also, considering the insufficiency of the researches on the integrated navigation in tangent (launch) frame, this research derives the navigation equations in tangent frame and its error model is analyzed. The estimation performance of the predictive approach is analyzed. The performance is verified using an experimental data acquired from a land-vehicle test. The results of predictive filter demonstrate superior performance to the traditional EKF. The test results of land-vehicle navigation validate the advantages of the presented method, which increases the position accuracy by an amount of 70% and it decreases the computational cost to 50% and improves the estimation performance for the integrated INS/GPS better than the traditional EKF. This test is a fundamental step to determine the capability of the filter for robotics and aerospace applications in future.}, Keywords = {Extended Kalman filter, Incremental predictive filter, INS/GPS, Land-vehicle test, Tangent frame.}, volume = {1}, Number = {1}, pages = {49-59}, publisher = {K. N. Toosi University of Technology (KNTU)}, doi = {10.52547/jocee.1.1.49}, url = {http://jocee.kntu.ac.ir/article-1-35-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-35-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} } @article{ author = {Abbasi, Ehsan and Danesh, Mohammad and Ghayour, Mostaf}, title = {Distributed formation tracking control of a multi-quadrotor system based on sliding mode and a rate bounded PID controller in the presence of internal perturbation and external disturbance}, abstract ={In this paper, a distributed consensus problem with path tracking problem for multiple quadrotors with bounded disturbances under a directed topology is solved. At first, dynamic model of a single quadrotor is divided into two subsystems; fully-actuated and under-actuated subsystem. Some coupling terms between the two subsystems are regarded as internal perturbations. Bounded external disturbances are considered in this paper too and are entered to the quadrotors. Rate bounded PID controller and sliding mode controller are considered for fully-actuated subsystem of the quadrotors, for altitude and yaw angle of the quadrotors respectively. For under-actuated subsystems of the quadrotors, a distributed control protocol based on sliding mode control is proposed to guarantee that the consensus is achieved and the desired path is tracked by the group with bounded errors. These errors are only associated with external disturbances. Analysis based on Lyapunov theory and different simulations show the stability and effectiveness of the proposed control system.}, Keywords = {Multi-agent system, Quadrotor, sliding mode controller, distributed control protocol}, volume = {1}, Number = {1}, pages = {61-70}, publisher = {K. N. Toosi University of Technology (KNTU)}, doi = {10.52547/jocee.1.1.61}, url = {http://jocee.kntu.ac.ir/article-1-46-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-46-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} } @article{ author = {Rashidnejad, Zahra and karimaghaee, paknosh}, title = {Design of adaptive backstepping control for stabilization and synchronization of a class of uncertain fractional-order chaotic systems with uncertainties and disturbances}, abstract ={In this work, the goal is to achieve both stabilization and synchronization of a general class of fractional-order chaotic systems. It is assumed that there are uncertainties and external disturbances in the system, and it is also supposed that the system parameters are unknown. Uncertainties and disturbances are undesirable factors that can disrupt the system response. To this end, appropriate adaptive laws have been proposed to address these factors. A systematic step-by-step technique is also developed for designing a controller based on the backstepping method. The analysis of the proposed control structure is carried out according to the fractional Lyapunov theorem which is a more realistic technique for the analysis and stability of nonlinear systems. Finally, the simulation results are presented to confirm and prove the effectiveness of the proposed method. The results of implementing our proposed controller for different fractional-order chaotic systems are compared with some control approaches in the available papers and it confirms the superiority of the proposed control in this paper.}, Keywords = {Adaptive control, backstepping control, chaotic system, fractional calculus, synchronization.}, volume = {1}, Number = {1}, pages = {71-83}, publisher = {K. N. Toosi University of Technology (KNTU)}, doi = {10.52547/jocee.1.1.71}, url = {http://jocee.kntu.ac.ir/article-1-24-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-24-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} } @article{ author = {Gharib, Behnam and MahboobiEsfanjani, Rez}, title = {Distributed Control of Multi-Robot Systems with Communication Delay for Cooperative Source Seeking}, abstract ={This paper investigates the problem of cooperative source seeking by networked multi-agent systems subject to communication time-delay; where the robots of the group are equipped with the sensors that measure the field concentration. First, a novel distributed control algorithm is proposed based on the estimation of the field gradient to move the agents along the gradient direction toward the source. Sufficient conditions are derived in terms of linear matrix inequalities to tune the parameters of the control law to assure the convergence of the team to a neighborhood of the source in spite of the estimation errors and communication time-delay. A cooperative estimation scheme is developed to obtain the gradient of the formation center by the delayed information. Finally, simulation results in Matlab® and Webots® are presented to demonstrate the efficiency and applicability of the suggested theory.}, Keywords = {communication time-delay, distributed control, gradient estimation, source seeking.}, volume = {1}, Number = {1}, pages = {85-97}, publisher = {K. N. Toosi University of Technology (KNTU)}, doi = {10.52547/jocee.1.1.85}, url = {http://jocee.kntu.ac.ir/article-1-58-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-58-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} } @article{ author = {Zamani, Hasan and Abbaszadeh, Karim and Karimi, MohammadHadi and Gyselinck, Joh}, title = {An Effective Discretization Method of Derivative Operator for the Active Damping Purpose in LCL-Filter Based Grid-Tied Inverters}, abstract ={For synchronization with the grid and controlling the injected active and reactive currents of the LCL-filter based grid-tied inverters, capacitor voltages can be sampled. An LCL filter attenuates the switching harmonics effectively but needs an extra sensor for the LCL filter resonance damping. Popular methods use capacitor currents for the LCL filter resonance damping. Theoretically, the derivative of capacitor voltage, which is proportional to the capacitor current, damps the resonance, and the extra sensor is avoided. However, traditional discretization methods for digital implementation of the derivative operator are not valid when the resonance frequency is high. Indeed, they don't preserve the phase and magnitude of the ’s’ function in the resonance frequency region. This paper introduces an effective method for discretizing the ’s’ function in the desired frequency range. The capacitor voltages of the LCL filter are sampled and the proposed function makes their derivative. The output of the derivative function with a tuned gain is added to the controller’s output for damping the LCL filter resonance. The simulation results show the effectiveness of the proposed method.}, Keywords = {LCL filter, Grid-tied inverter, resonance damping, discretization method.}, volume = {1}, Number = {2}, pages = {1-11}, publisher = {K. N. Toosi University of Technology (KNTU)}, url = {http://jocee.kntu.ac.ir/article-1-62-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-62-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} } @article{ author = {MehriArsoon, Milad and Moghaddas-Tafreshi, Seyed Masou}, title = {Peer-to-Peer Energy Sharing for Enhancing Networked Microgrids Resilience Considering Threats to Data Availability}, abstract ={This paper studies the simultaneous resilience enhancement of networked microgrids (NMGs) operation in a peer-to-peer way against extreme weather events and threats to data availability (DA). Applying the model predictive control (MPC) method and dynamic usage of energy storage helps microgrids (MGs) to mitigate the uncertainties of events impacts and increase their adaptation ability by rescheduling at each time step. However, despite the decentralized implementation, DA threats, like a denial of service attack or MGs’ communication network damage due to the main event impact, cause communication network islanding and result in incorrect convergence of consensus values for energy sharing. Hence, MGs share the prespecified preamble vectors along with shared energy values using the same communication protocol to overcome the above problems. Furthermore, the impact of reducing the length of shared data by utilizing the MPC approach and the compressive sensing method for the large-scale communication network with low connectivity and bandwidth limitation is investigated. Numerical results show the more resilient operation of MGs against simultaneous threats to the cyber-physical infrastructures. In this case, although the system performance level decreases, this decrease is lower than the non-resilient case against these types of simultaneous threats.}, Keywords = {Compressive sensing, data availability, networked microgrids, peer-to-peer energy sharing, resilience}, volume = {1}, Number = {2}, pages = {13-25}, publisher = {K. N. Toosi University of Technology (KNTU)}, url = {http://jocee.kntu.ac.ir/article-1-61-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-61-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} } @article{ author = {Yarmohammadi, Leila and Hosseini, Seyed Mohammad hassan and Olamaei, Javad and Mozafari, Babak}, title = {Maximizing the efficiency of LCLCL-T Compensated Wireless Power Transfer Systems with independent-load Characteristics for charging applications in Smart Home}, abstract ={current study focuses on optimizing the efficiency of an LCLCL-T compensated topology in wireless power transfer systems with load-independent output current capability for battery charging. Wireless battery chargers play key devices in smart homes. To improve efficiency in these chargers, various compensated topologies are employed. In particular, the symmetric compensated LCLCL-T topology has been extensively used due to its inherent features, such as constant current output (CC), and high ability to absorb parasitic elements. However, one of the main deficits of this resonant compensation is decreased load regulation despite controlling the frequency, and on the other hand, its efficiency decreases owing to an increase in the circulating current. Therefore, in this study, the parameters of the proposed topology are reconfigured by adjusting the KW/KVA as an index to a reduction of voltage/current stresses on their elements without changing the specified system-level parameters, such as the system operating frequency, and specified CC output. Moreover, the circuit performance in the high-frequency response under different conditions is analyzed in detail, to optimize the system efficiency. Finally, the proposed system is simulated in PSIM to design the specific parameter values, the sample topology is also carried out. Analytical results show that the proposed compensation has the minimum output current fluctuation versus variations of the coupling coefficient and other parameters. Moreover, the analysis proves that, compared with the conventional design method, the proposed method improves the topology efficiency under various loads, especially under light loads.}, Keywords = {smart home, constant current application, wireless power transfer, optimization, parameter tuning method.}, volume = {1}, Number = {2}, pages = {27-36}, publisher = {K. N. Toosi University of Technology (KNTU)}, url = {http://jocee.kntu.ac.ir/article-1-59-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-59-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} } @article{ author = {Barazesh, Mohammadreza and JavidiDashtBayaz, Mohammad Hossei}, title = {Investigating the Effect of Tariff Revision Process on Electricity Retail Tariff and Utilities Death Spiral}, abstract ={The accelerating deployment of Distributed Energy Resources (DERs) is eating away at electric utilities sales and revenues. It is feared that attempting to recover their lost revenue through raising tariffs may trap utilities in a "Death Spiral". In this paper, the interaction between utilities, consumers, and DERs is modeled using System Dynamics (SD) to investigate the impact of distributed renewable resources on utilities. Furthermore, a new model for electricity tariff revision has been developed that captures regulatory and organizational delays. The model has been simulated with the latest available data and sensitivity analysis has been carried out for important parameters. Results suggest that while the death spiral is not an immediate threat under normal conditions, the delay in price revision can introduce considerable fluctuation in electricity tariff, which worsens when the delay increases. Another outcome of this study is that population growth has the potential to mitigate the effects of death spiral. On the flip side, utilities serving areas with a low rate of population growth, such as Europe, face a more significant threat from distributed resources.}, Keywords = {Distributed Generation, Utilities Business Model, System Dynamics, Utilities death Spiral}, volume = {1}, Number = {2}, pages = {37-53}, publisher = {K. N. Toosi University of Technology (KNTU)}, url = {http://jocee.kntu.ac.ir/article-1-56-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-56-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} } @article{ author = {Karkhaneh, Mohammad and Ozgoli, Sadj}, title = {A Note on the Practical Efficiency of Using Wavelet Transform for Short-term Load Forecasting in Smart Grids}, abstract ={In the smart grid era, load forecasting is the building block of a secure, reliable, and economic power system. Therefore, many researchers have spent a lot of time trying different methods to improve load forecasting accuracy. In recent years, one of the rather frequently used methods is the decomposition of load series into high and low-frequency components using wavelet transform, which reportedly has shown impressive results in some articles. In this paper, through several simulations, it’s demonstrated that despite some of the benefits of the wavelet transform, it can produce unrealistic results due to the border distortion problem. In fact, our work investigates the practical efficiency of wavelet transform in the load forecasting task from the viewpoint of a system operator who is forecasting the next day’s load profile every day. To this end, Multiple Linear Regression (MLR) and Artificial Neural Network (ANN) models are used with wavelet transform to conduct experiments on New York City electric load dataset.}, Keywords = {Artificial Neural Network, Load Forecasting, Multiple Linear Regression, Wavelet Transform.}, volume = {1}, Number = {2}, pages = {55-65}, publisher = {K. N. Toosi University of Technology (KNTU)}, url = {http://jocee.kntu.ac.ir/article-1-50-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-50-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} } @article{ author = {Makki, Milad and Rashidinejad, Masoud and Abdollahi, Amir and Salehizadeh, Mohammad Rez}, title = {Energy Efficiency Improvement by Integrating Cryptocurrency Miners in An Energy Hub Framework}, abstract ={Following population growth, the need for food is increased all over the world. In this regard, investment in greenhouses becomes an attractive solution to produce fresh agricultural products. In some parts of Iran, greenhouses are usually located next to residential buildings in rural areas. Both residential buildings and greenhouses consume electrical and thermal energy. In this regard, they can be considered in an energy hub in which photovoltaic (PV) systems and combined heat and power units (CHP) are used as the sources of electrical and thermal energies. This energy hub can be connected to the distribution network for the energy exchange. To enhance economic profit, cryptocurrency miners can be integrated into the energy hub. From the energy perspective, cryptocurrency miners consume electrical energy and produce heat. In this regard, the configuration of the energy hub becomes more complex and requires an optimal operational management and energy efficiency improvement mechanism. To this purpose, this paper presents a novel optimization framework by considering electrical energy storing, CO2 capturing, and miner heat recycling. This energy hub has been investigated for a rural residential hub in Golzar area, Kerman province of Iran, and the results are analyzed.}, Keywords = {Cryptocurrency Miner, Energy Hub, Energy Efficiency, Greenhouse, Rural area}, volume = {1}, Number = {2}, pages = {67-80}, publisher = {K. N. Toosi University of Technology (KNTU)}, url = {http://jocee.kntu.ac.ir/article-1-53-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-53-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} }