Advanced, Contemporary Control : Proceedings of KKA 2020—The 20th Polish Control Conference, Łódź, Poland, 2020

This book presents the proceedings of the 20th Polish Control Conference. A triennial event that was first held in 1958, the conference successfully combines its long tradition with a modern approach to shed light on problems in control engineering, automation, robotics and a wide range of applications in these disciplines. The book presents new theoretical results concerning the steering of dynamical systems, as well as industrial case studies and worked solutions to real-world problems in contemporary engineering. It particularly focuses on the modelling, identification, analysis and design of automation systems; however, it also addresses the evaluation of their performance, efficiency and reliability. Other topics include fault-tolerant control in robotics, automated manufacturing, mechatronics and industrial systems. Moreover, it discusses data processing and transfer issues, covering a variety of methodologies, including model predictive, robust and adaptive techniques, as well as algebraic and geometric methods, and fractional order calculus approaches. The book also examines essential application areas, such as transportation and autonomous intelligent vehicle systems, robotic arms, mobile manipulators, cyber-physical systems, electric drives and both surface and underwater marine vessels. Lastly, it explores biological and medical applications of the control-theory-inspired methods. Front Matter ....Pages i-xviii Front Matter ....Pages 1-1 Extremal Problems for Infinite Order Parabolic Systems with Time-Varying Lags (Adam Kowalewski)....Pages 3-15 Stability of Singularly Perturbed Systems with Delay on Homogeneous Time Scales (Ewa Pawluszewicz, Olga Tsekhan)....Pages 16-26 Trajectory Following Quasi-Sliding Mode Control for Arbitrary Relative Degree Systems (Katarzyna Adamiak)....Pages 27-38 Model Based Parameterizations of Different Topologies (Csilla Bányász, Laszlo Keviczky, Ruth Bars)....Pages 39-55 Rational Transfer Function Approximation Model for \(2 \times 2\) Hyperbolic Systems with Collocated Boundary Inputs (Krzysztof Bartecki)....Pages 56-67 Time-Varying Perfect Control Algorithm for LTI Multivariable Systems (Marek Krok, Paweł Majewski, Wojciech P. Hunek)....Pages 68-79 An Algebraic Approach to Solving the Problem of Identification by the Use of Modulating Functions and Convolution Filter. Glass Conditioning Process (Witold Byrski, Michał Drapała)....Pages 80-91 Boundary Observers for Boundary Control Systems (Zbigniew Emirsajłow)....Pages 92-104 Front Matter ....Pages 105-105 Constraining State Variables in Continuous Time Sliding Mode Control (Marek Jaskuła, Piotr Leśniewski)....Pages 107-114 Modification of the Firefly Algorithm for Improving Solution Speed (Ryszard Klempka)....Pages 115-124 On the Optimal Topology of Time-Delay Control Systems (Ruth Bars, Csilla Bányász, Laszlo Keviczky)....Pages 125-136 The Use of a Torque Meter to Improve the Motion Quality at Very Slow Velocity of a Servo Drive with a PMSM Motor (Bogdan Broel-Plater, Krzysztof Jaroszewski, Daniel Figurowski)....Pages 137-147 Design of Terminal Sliding Mode Controllers with Application to Automotive Control Systems with Model Uncertainties (Paweł Skruch)....Pages 148-160 Reference Trajectory Based SMC of DCDC Buck Converter (Piotr Leśniewski)....Pages 161-170 A-Weighting for Acoustic Radiation Shaping of a Vibrating Plate (Stanislaw Wrona, Krzysztof Mazur, Jaroslaw Rzepecki, Anna Chraponska, Marek Pawelczyk)....Pages 171-183 A New LMI-Based Controller Design Method for Uncertain Differential Repetitive Processes (Robert Maniarski, Wojciech Paszke, Eric Rogers)....Pages 184-196 Design of a Real Time Path of Motion Using a Sliding Mode Control with a Switching Surface (Jörg Kunkelmoor, Paolo Mercorelli)....Pages 197-206 A Review of Sliding Mode Controllers with the Application of Time-Varying Switching Hyperplanes (Mateusz Pietrala)....Pages 207-218 Identification of Linear Models of a Tandem-Wing Quadplane Drone: Preliminary Results (Michał Okulski, Maciej Ławryńczuk)....Pages 219-228 Floating Oil Platform Model with Dynamic Positioning and Reference System (Jakub Wieczorek, Patryk Chaber)....Pages 229-240 Front Matter ....Pages 241-241 Active Power Filter Controller for Harmonics Mitigation of Nonlinear Loads (Krzysztof Kołek)....Pages 243-252 Intelligent Temperature and Vacuum Pressure Control System for a Thermionic Energy Converter (Bartosz Kania, Dariusz Kuś, Piotr Warda, Jarosław Sikora)....Pages 253-263 Central Heating Energy Saving Strategies for a Public Building (Krzysztof Kołek)....Pages 264-274 Approximation Algorithms for Constrained Resource Allocation (Krzysztof Pieńkosz)....Pages 275-286 Analysis of Digital Filtering with the Use of STM32 Family Microcontrollers (Tomasz Marciniak, Kacper Podbucki, Jakub Suder, Adam Dąbrowski)....Pages 287-295 Diagnostics of Processes - Cloud Concept Study (Jan Maciej Kościelny, Michał Bartyś, Paweł Wnuk)....Pages 296-306 Petri Networks for Mechanized Longwall System Simulation (Adam Heyduk)....Pages 307-318 A System for Detection of Pressure Leaks (Andrzej Wojtulewicz, Maciej Ławryńczuk)....Pages 319-331 Front Matter ....Pages 333-333 Outlier Sensitivity of the Minimum Variance Control Performance Assessment (Kacper Kaczmarek, Paweł D. Domański)....Pages 335-348 Model of Aeration System at Biological Wastewater Treatment Plant for Control Design Purposes (Robert Piotrowski, Tomasz Ujazdowski)....Pages 349-359 Control of a Nonlinear and Linearized Model of Self-balancing Electric Motorcycle (Adam Wonia, Michał Wonia, Robert Piotrowski)....Pages 360-371 New Delay Product Type Lyapunov-Krasovskii Functional for Stability Analysis of Time-Delay System (Sharat Chandra Mahto, Sandip Ghosh, Shyam Krishna Nagar, Pawel Dworak)....Pages 372-383 Adaptive MRAC Controller in the Effector Trajectory Generator for Industry 4.0 Machines (Krzysztof Lalik, Mateusz Kozek, Ireneusz Dominik, Patryk Łukasiewicz)....Pages 384-395 Development and Modelling of a Laboratory Ball on Plate Process (Krzysztof Zarzycki, Maciej Ławryńczuk)....Pages 396-408 Front Matter ....Pages 409-409 Robust Controller Based on Kharitonov Theorem for Bicycle with CMG (Maciej Różewicz, Adam Piłat)....Pages 411-423 Dual Kalman Filters Analysis for Interior Permanent Magnet Synchronous Motors (Tanja Zwerger, Paolo Mercorelli)....Pages 424-435 Neural Network Control by Error-Feedback Learning for Hydrostatic Transmissions with Disturbances and Uncertainties (Ngoc Danh Dang, Harald Aschemann)....Pages 436-448 Motion Control with Hard Constraints – Adaptive Controller with Nonlinear Integration (Jacek Kabziński, Przemysław Mosiołek)....Pages 449-461 Front Matter ....Pages 463-463 Specification of Agent Based Robotic Systems Using Hierarchical Finite State Automatons (Cezary Zieliński)....Pages 465-476 Controlling the Posture of a Humanoid Robot (Teresa Zielinska, Luo Zimin)....Pages 477-487 Tracking Objects Using Stereo Vision System with Vergence and Gaze Control Mechanism (Przemysław Szewczyk)....Pages 488-499 Low-Cost Autonomous UAV-Based Solutions to Package Delivery Logistics (Jacek Grzybowski, Karol Latos, Roman Czyba)....Pages 500-507 Selection of Methods for Intuitive, Haptic Control of the Underwater Vehicle’s Manipulator (Tomasz Grzejszczak, Artur Babiarz, Robert Bieda, Krzysztof Jaskot, Andrzej Kozyra, Piotr Ściegienka)....Pages 508-519 Applicability of Artificial Robotic Skin for Industrial Manipulators (Piotr Falkowski, Zbigniew Pilat, Marek Pachuta)....Pages 520-528 Hardware in the Loop Control Based on the Open Source Simulation Environment (Damian Wroński, Grzegorz Granosik)....Pages 529-540 Front Matter ....Pages 541-541 Development of Control Modes Used in Manipulator for Remote USG Examination (Adam Kurnicki, Bartlomiej Stanczyk)....Pages 543-554 Cell Cycle as a Fault Tolerant Control System (Jaroslaw Smieja, Andrzej Swierniak, Roman Jaksik)....Pages 555-566 Biological Models’ Parameter Estimation Based on Discrete Measurements and Adjoint Sensitivity Analysis (Krzysztof Fujarewicz, Krzysztof Łakomiec)....Pages 567-578 Systems Approach Based on Petri Nets as a Method for Modeling and Analysis of Complex Biological Systems Presented on the Example of Atherosclerosis Development Process (Kaja Gutowska, Dorota Formanowicz, Piotr Formanowicz)....Pages 579-586 Influence of the Number of Thresholds on the Dynamics of Models with Switchings of the Biological Systems (Magdalena Ochab, Krzysztof Puszynski)....Pages 587-598 Front Matter ....Pages 599-599 Normal Forms of a Free-Floating Space Robot (Krzysztof Tchoń)....Pages 601-610 Construction of a Homogeneous Approximation (Grigorij Sklyar, Svetlana Ignatovich)....Pages 611-624 On Linearizability Conditions for Non-autonomous Control Systems (Katerina Sklyar, Svetlana Ignatovich)....Pages 625-637 A Classification of Feedback Linearizable Mechanical Systems with 2 Degrees of Freedom (Marcin Nowicki, Witold Respondek)....Pages 638-650 Stabilization of a 3-Link Pendulum in Vertical Position (Krzysztof Kozłowski, Dariusz Pazderski, Paweł Parulski, Patryk Bartkowiak)....Pages 651-662 Front Matter ....Pages 663-663 Synthesis and Generation of Random Fields in Nonlinear Environment (Jarosław Figwer)....Pages 665-677 On Feasibility of Tuning and Testing Control Loops by Nonstandard Inputs (Leszek Trybus, Andrzej Bożek)....Pages 678-688 Linear High-Gain Correction Observer in Nonlinear Control (Andrzej Latocha)....Pages 689-700 Grey Wolf Optimizer in Design Process of Stable Neural Controller – Theoretical Background and Experiment (Marcin Kaminski)....Pages 701-712 Residual Error Shaping in Active Noise Control - A Case Study (Małgorzata I. Michalczyk)....Pages 713-724 Design and Development of Industrial Cyber-Physical System Testbed (Jakub Możaryn, Andrzej Ordys, Adam Stec, Konrad Bogusz, Omar Y. Al-Jarrah, Carsten Maple)....Pages 725-735 Batch Algorithm for Balancing the Air Bearing Platform (Paweł Zagórski, Paweł Król, Alberto Gallina)....Pages 736-746 FxLMS Control of an Off-Road Vehicle Model with Magnetorheological Dampers (Piotr Krauze, Jerzy Kasprzyk)....Pages 747-758 Front Matter ....Pages 759-759 The Use of a Laser to Measure the Speed of a Production Line (Stanisław K. Musielak, Jerzy Kasprzyk)....Pages 761-772 Application of Multi-layered Thresholding Based on Stack of Regions for Unevenly Illuminated Industrial Images (Hubert Michalak, Krzysztof Okarma)....Pages 773-784 An Algorithm of Pig Segmentation from Top-View Infrared Video Sequences (Paweł Kielanowski, Anna Fabijańska)....Pages 785-796 Contour Classification Method for Industrially Oriented Human-Robot Speech Communication (Piotr Skrobek, Adam Rogowski)....Pages 797-808 Foreground Object Segmentation in RGB–D Data Implemented on GPU (Piotr Janus, Tomasz Kryjak, Marek Gorgon)....Pages 809-820 Particle Filter for Reliable Estimation of the Ground Plane from Depth Images in a Travel Aid for the Blind (Mateusz Owczarek, Piotr Skulimowski, Pawel Strumillo)....Pages 821-833 Front Matter ....Pages 835-835 On a Solution of an Optimal Control Problem for a Linear Fractional-Order System (Mikhail I. Gomoyunov)....Pages 837-846 The Quickly Adjustable Digital FOPID Controller (Klaudia Dziedzic, Krzysztof Oprzȩdkiewicz)....Pages 847-856 Control of the Inverted Pendulum Using Quickly Adjustable, Discrete FOPID Controller (Krzysztof Oprzędkiewicz, Klaudia Dziedzic, Maciej Rosół, Jakub Żegleń)....Pages 857-869 On Stabilization of Linear Descriptor Control Systems with Multi-order Fractional Difference of the Caputo-Type (Ewa Pawluszewicz)....Pages 870-878 Fast Evaluation of Grünwald-Letnikov Variable Fractional-Order Differentiation and Integration Based on the FFT Convolution (Mariusz Matusiak)....Pages 879-890 Fractional-Order Linear System Transformation to the System Described by a Classical Equation (Piotr Ostalczyk)....Pages 891-903 Comparison of Non-integer PID, PD and PI Controllers for DC Motor (Wojciech Mitkowski, Waldemar Bauer)....Pages 904-913 Front Matter ....Pages 915-915 Lining-Up Stabilizers for Pusher and Puller Articulated Vehicles (Maciej Marcin Michałek)....Pages 917-927 Evaluation of Parameterizations in Local Lie-Algebraic Motion Planning (Ignacy Duleba, Arkadiusz Mielczarek)....Pages 928-940 Planar Features for Accurate Laser-Based 3-D SLAM in Urban Environments (Krzysztof Ćwian, Michał R. Nowicki, Tomasz Nowak, Piotr Skrzypczyński)....Pages 941-953 Control of a Set of Unicycle-Like Robots Using an Approximate Linearisation (Dariusz Pazderski)....Pages 954-966 Formation Control of Non-holonomic Mobile Robots - Tuning the Algorithm (Wojciech Kowalczyk, Krzysztof Kozłowski)....Pages 967-978 Local Path Planning for Autonomous Mobile Robot Based on APF-BUG Algorithm with Ground Quality Indicator (Kamil Wyrąbkiewicz, Tomasz Tarczewski, Łukasz Niewiara)....Pages 979-990 Front Matter ....Pages 991-991 Tuning of Nonlinear MPC Algorithm for Vehicle Obstacle Avoidance (Robert Nebeluk, Maciej Ławryńczuk)....Pages 993-1005 DMC Algorithm with Laguerre Functions (Piotr Tatjewski)....Pages 1006-1017 Hardware-In-the-Loop Simulations of a GPC-Based Controller in Different Types of Buildings Using Node-RED (Dariusz Bismor, Karol Jabłoński, Tomasz Grychowski, Sławomir Nas)....Pages 1018-1029 Evaluation of the Control Improvement Benefits for Campaign Profiles - Nitric Acid Production Example (Paweł D. Domański, Sebastian Golonka, Piotr Marusak, Bartosz Moszowski, Ewa Wolff)....Pages 1030-1042 A New Fuzzy Logic Decoupling Scheme for TITO Systems (Paweł Dworak, Sandip Ghosh)....Pages 1043-1054 Impact of the Lost Samples on Performance of the Discrete-Time Control System (Filip Russek, Paweł D. Domański)....Pages 1055-1066 Fast Nonlinear Model Predictive Control Algorithm with Neural Approximation for Embedded Systems: Preliminary Results (Patryk Chaber)....Pages 1067-1078 Hardware Accelerators for Fast Implementation of DMC and GPC Control Algorithms Using FPGA and Their Applications to a Servomotor (Andrzej Wojtulewicz)....Pages 1079-1091 Semi-automated Synthesis of Control System Software Through Graph Search (Tomasz Gawron, Krzysztof Kozłowski)....Pages 1092-1103 Model Predictive Control of a Dynamic System with Fast and Slow Dynamics: Implementation Using PLC (Sebastian Plamowski)....Pages 1104-1115 Front Matter ....Pages 1117-1117 Stabilizability of Linear Discrete Time-Varying Systems (Artur Babiarz, Adam Czornik)....Pages 1119-1131 Controllability of Higher Order Linear Systems with Multiple Delays in Control (Jerzy Klamka)....Pages 1132-1140 Minimum Fuel Resource Distribution in Multidimensional Logistic Networks Governed by Base-Stock Inventory Policy (Przemysław Ignaciuk, Łukasz Wieczorek)....Pages 1141-1151 Front Matter ....Pages 1153-1153 Accuracy Estimation of the Fractional, Discrete-Continuous Model of the One-Dimensional Heat Transfer Process (Krzysztof Oprzędkiewicz, Klaudia Dziedzic)....Pages 1155-1166 Global Stability of Positive Discrete-Time Standard and Fractional Nonlinear Systems with Scalar Feedbacks (Tadeusz Kaczorek, Andrzej Ruszewski)....Pages 1167-1175 Discrete-Time Switched Models of Non-linear Fractional-Order Systems (Stefan Domek)....Pages 1176-1188 SoftFRAC - Matlab Library for Realization of Fractional Order Dynamic Elements (Waldemar Bauer, Jerzy Baranowski, Pawel Piątek, Katarzyna Grobler-Dębska, Edyta Kucharska)....Pages 1189-1198 New Implementation of Discrete-Time Fractional-Order PI Controller by Use of Model Order Reduction Methods (Rafał Stanisławski, Marek Rydel, Krzysztof J. Latawiec)....Pages 1199-1209 Front Matter ....Pages 1211-1211 Autonomous Delivery Robot AQUILO (Marek Długosz, Paweł Węgrzyn, Michał Roman)....Pages 1213-1224 Customizable Inverse Sensor Model for Bayesian and Dempster-Shafer Occupancy Grid Frameworks (Jakub Porębski)....Pages 1225-1236 BlurNet: Keeping Collected Data Private with a Neural Network Based Pipeline (Daniel Dworak)....Pages 1237-1248 Generic Sensor Model for Object Detection Algorithms Validation (Kamil Lelowicz, Michał Jasiński, Marcin Piątek)....Pages 1249-1260 Safe and Goal-Based Highway Maneuver Planning with Reinforcement Learning (Mateusz Orłowski, Tomasz Wrona, Nikodem Pankiewicz, Wojciech Turlej)....Pages 1261-1274 Well Convergent and Computationally Efficient Quaternion Loss (Kamil Lelowicz, Jakub Derbisz)....Pages 1275-1286 VGG Based Unsupervised Anomaly Detection in Multivariate Time Series (Grzegorz Jabłoński)....Pages 1287-1296 PC-Based Simulation Environment for the Engine Control Optimiser Hardware-in-the-Loop Testing (Jakub Sawulski, Maciej Ławryńczuk)....Pages 1297-1308 The Concept of the Control System for the A-EVE Autonomous Electric Vehicle (Marek Długosz, Michał Roman, Paweł Węgrzyn)....Pages 1309-1320 Front Matter ....Pages 1321-1321 ESO Architectures in the Trajectory Tracking ADR Controller for a Mechanical System: A Comparison (Krzysztof Łakomy, Radosław Patelski, Dariusz Pazderski)....Pages 1323-1335 Active Disturbance Rejection Control of High-Order Flat Underactuated Systems: Mass-Spring Benchmark Problem (Rafal Madonski, Mario Ramirez-Neria, Wojciech Giernacki)....Pages 1336-1347 Error-Based Active Disturbance Rejection Altitude/Attitude Control of a Quadrotor UAV (Momir Stankovic, Rafal Madonski, Stojadin Manojlovic, Taki Eddine Lechekhab, Davorin Mikluc)....Pages 1348-1358 The Novel Approach to the Tuning of the Reduced-Order Active Disturbance Rejection Controller for Second-Order Processes (Paweł Nowak, Patryk Grelewicz, Jacek Czeczot)....Pages 1359-1370 Comparison of Robustness of Selected Speed Control Systems Applied for Two Mass System with Backlash (Bartlomiej Wicher, Stefan Brock)....Pages 1371-1382 Discrete-Time Active Disturbance Rejection Control: A Delta Operator Approach (Mario Ramírez-Neria, Alberto Luviano-Juárez, Norma Lozada-Castillo, Gilberto Ochoa-Ortega, Rafal Madonski)....Pages 1383-1395 Front Matter ....Pages 1397-1397 Fault-Tolerant Design of a Balanced Two-Wheel Scooter (Ralf Stetter, Marcin Witczak, Markus Till)....Pages 1399-1410 A Fuzzy Logic Approach to Remaining Useful Life Estimation of Ball Bearings (Marcin Witczak, Bogdan Lipiec, Marcin Mrugalski, Ralf Stetter)....Pages 1411-1423 Detection of State-Multiplicative Faults in Discrete-Time Linear Systems (Dušan Krokavec, Anna Filasová)....Pages 1424-1433 Fault-Tolerant Tracking Control for Takagi–Sugeno Fuzzy Systems Under Actuator and Sensor Faults (Norbert Kukurowski, Marcin Pazera, Marcin Witczak, Francisco-Ronay López-Estrada, Teódulo Iván Bravo Cruz)....Pages 1434-1445 Network-Based Approach to Increase Logical Reliability of a Vehicle E/E-Architecture (Mohamad Chamas, Jan Mehlstäubl, Steffen Eickhoff, Kristin Paetzold)....Pages 1446-1457 Security-Oriented Fault-Tolerance in Systems Engineering: A Conceptual Threat Modelling Approach for Cyber-Physical Production Systems (Iris Gräßler, Eric Bodden, Jens Pottebaum, Johannes Geismann, Daniel Roesmann)....Pages 1458-1469 Robust Economic Model Predictive Control of Drinking Water Transport Networks Using Zonotopes (Khoury Boutrous, Fatiha Nejjari, Vicenç Puig)....Pages 1470-1482 Fault Detection and Isolation of Distributed Inverter-Based Microgrids (Horst Schulte, Alexander Pascal Cesarz)....Pages 1483-1495 Front Matter ....Pages 1497-1497 Ship Autopilot Software – A Case Study (Dariusz Rzońca, Jan Sadolewski, Andrzej Stec, Zbigniew Świder, Bartosz Trybus, Leszek Trybus)....Pages 1499-1506 Comparison of Different Course Controllers of Biomimetic Underwater Vehicle with Two Tail Fins (Michał Przybylski, Piotr Szymak, Zygmunt Kitowski, Paweł Piskur)....Pages 1507-1518 Path Controller for Ships with Switching Approach (Mirosław Tomera)....Pages 1519-1530 Autonomous Ship Utility Model Parameter Estimation Utilising Extended Kalman Filter (Anna Witkowska, Krzysztof Armiński, Tomasz Zubowicz, Filip Ossowski, Roman Śmierzchalski)....Pages 1531-1542 Identification in a Laboratory Tunnel to Control Fluid Velocity (Pawel Piskur, Piotr Szymak, Joanna Sznajder)....Pages 1543-1552 Vision-Based Modelling and Control of Small Underwater Vehicles (Stanisław Hożyń)....Pages 1553-1564 Correction to: Intelligent Temperature and Vacuum Pressure Control System for a Thermionic Energy Converter (Bartosz Kania, Dariusz Kuś, Piotr Warda, Jarosław Sikora)....Pages C1-C1 Back Matter ....Pages 1565-1568