Proceedings of 19th Latin American Control Congress (LACC 2022)

This book presents the main results of the 19th Latin American Congress of Automatic Control held in November 2022 in Havana, Cuba. The Congress showed several main research results obtained by researchers from diverse countries in the last four years. Of the papers sent to Congress, 28 were finally accepted for presentation after a rigorous analysis of scientific novelty and quality. For their presentation in this book, the papers were divided into 5 major sections that appear in the following order: Part 1. Robust and Nonlinear Control The main research topics addressed in this part are related to fault-tolerant control loops, control by sliding modes, and robust tuning of PID controllers. Examples of electrical motors and chemical processes are used to demonstrate the feasibility of using the proposed techniques. Part 2. Fault Diagnosis in Industrial Systems Fault diagnosis in industrial plants is a very important topic in the Industry 4.0 paradigm. In this part, new techniques of fault diagnosis in mechanical systems using Poincaré features; a real case study for predicting the time of the remaining job cycle at a water treatment plant; and a predictive fault diagnosis for isolated photovoltaic systems are presented. A novel methodology for detecting and locating cyber-attacks in water distribution networks using computational intelligence tools is also presented. Part 3. Robotic and Autonomous Systems New control strategies for path following for autonomous tractors and unmanned aquatic vehicles are analyzed in this part. Moreover, the important topic related to the battery health-aware model predictive control planning for autonomous racing vehicles and the use of robots for monitoring and remediation applications are examined. Part 4. Modeling, Identification, and Delayed Systems A model-based methodology for the efficient selection of centrifugal pumps; the use of probabilistic Boolean networks in smart grid models; the utilization of PSO metaheuristic algorithm in the selection of a model structure; and two schemes to control high-order delayed systems are among the main topics examined in this part. Part 5. Low-Cost Systems and Biomedical Applications In this part, some applications of low-cost monitoring and control systems and two automatic systems used for the characterization of creatinine in wastes samples during hemodialysis process and differential acquisition of blood pressure are shown. Preface Contents Robust and Nonlinear Control Robust Admissibilization of Discrete-Time Descriptor LPV Systems Based-on mathscrH2-Control 1 Introduction 2 Descriptor LPV System 2.1 Robust Stabilization by State Feedback Control 3 Main Results 3.1 LMI Characterization of the mathscrH2-Norm for Descriptor LVP System 3.2 mathscrH2-Control for Descriptor LVP System 3.3 Example 4 Conclusions References Fault Tolerance in Feedback Control Loops 1 Introduction 2 Preliminaries 2.1 A Fault Modeling 3 When a Fault is Tolerated by a Control System? 4 Variable Load Speed Control System DR300 5 Study Case: Variable Load Speed Control System 6 Conclusion References Robust PID Control with Anti-Windup Compensation for ULDS 1 Introduction 2 Descriptor Systems and LPV Systems 2.1 Descriptor Systems 2.2 LPV Systems 3 Robust Admissibility by PID Control of ULDS 4 Robust Control by PID and AW Compensation 4.1 Design of the AW Compensation 5 Numerical Evaluation 6 Conclusions References Observer-Based Tracking Control for PMSM Rooted on Port-Hamiltonian Systems Structural Properties 1 Introduction 2 Mathematical Model 3 Control Design 4 Observer Design 5 Close-Loop Based on Observer 6 Numeric Validation 7 Concluding Remarks References Sliding Mode Control Based on a Generalized Reduced Fractional Order Model: Theoretical Approach 1 Introduction 2 Fundamentals 2.1 Sliding Mode Control 2.2 Fractional Calculus 2.3 Connection with Riemann–Liouville 2.4 Discussion of Fractional Parameters 2.5 The Laplace Transform of Fractional Derivatives 3 Fractional Order Sliding Mode Control Design in the Caputo Sense 3.1 Time Delay Approximation 3.2 Fractional Transfer Functions 4 Conclusions References Tuning and Optimization Software for Non-linear PID Controllers with Guaranteed Robustness 1 Introduction 2 NPI-RR Controller Tuning 3 Performance of the NPI-RR Using Different Evolutionary Algorithms 4 Description of the Proposed Software Tool 4.1 Results 4.2 Evaluation of the Cost of Implementing the Computational Tool 5 Conclusion References Sliding Mode Control Based on a Nonlinear PID Surface for Chemical Processes 1 Introduction 2 Background 2.1 Nonlinear PID Proposed by Han 2.2 Sliding Mode Control (SMC) 3 Sliding Mode Control Design Approach 3.1 Continuous Part Design 3.2 Convergence or Reaching Condition 4 Simulation Results 4.1 Model Identification Process 4.2 Simulation Tests 5 Conclusions References Fault Diagnosis in Industrial Processes Exploratory Data Analysis on the Poincaré Features of the Electrical Torque Oriented to the Severity Diagnosis of a Gearbox Tooth Breakage 1 Introduction 2 Problem Statement and Preliminaries 2.1 Test Bed and Data Acquisition 2.2 Feature Extraction 2.3 Feature Selection 3 Main Results 3.1 Exploratory Data Analysis over all Features 3.2 Exploratory Data Analysis over the Set of Features References A Proposal of Training Data Selection for Remaining Job Cycle Time Prediction in Industrial Monitoring: A Real Case Study 1 Introduction 2 Proposed Procedure for Data Selection 3 Job Cycle Prognostic 4 Case Study: Water Purification by Reverse Osmosis 4.1 Recirculation Phase 4.2 Main Production Phase 5 Conclusions and Future Work References Energy-Efficient Wavelet Transform Implementation for Fault Diagnosis 1 Introduction 2 Wavelet Transform in Microcontrollers 2.1 Discrete Wavelet Transform 2.2 Low-Energy Accelerator Module 3 Comparison of Power Consumption Between Algorithm Without LEA and with LEA 4 Conclusions References Poincaré Images Extracted from Vibration Signals are Useful Features for Fault Classification in a Reciprocating Compressor 1 Introduction 2 The Poincaré Plot 3 Poincaré Images for Fault Classification Using CNN 3.1 Poincaré Images 3.2 Fault Classification Using Convolutional Neural Networks 4 Reciprocating Compressor Test Bed 5 Validation of the Classification Approach 6 Results and Discussion 7 Conclusions References A Novel Approach for Detection and Location of Cyber-Attacks in Water Distribution Networks 1 Introduction 2 Material and Methods 2.1 Dynamic Principal Component Analysis 2.2 Adaptive Exponential Weighted Moving Average (AEWMA) 2.3 Structural Analysis 2.4 Methodology for Detection and Location of Cyber-Attacks 3 Application of the Proposed Methodology to the C-Town Case Study 3.1 Case Study: C-Town WDN and BATADAL Dataset 3.2 Offline Stage: Detection 3.3 Offline Stage: Location 3.4 Performance Assessment 4 Results and Discussion 5 Conclusions References Predictive Diagnosis of Isolated Photovoltaic Systems Based on PWM & MPPT Charge Regulators 1 Introduction 2 Materials and Methods 3 Results 3.1 Results Using PWM Charge Regulators 3.2 Results with MPPT Charge Regulators 4 Conclusions References Robotic and Autonomous Systems Path Following Control of Autonomous Tractor Using Non-linear Guidance Law 1 Introduction 2 Vehicle Description 2.1 Lateral Dynamics Model 2.2 Steering Actuator 3 Algorithm NLGL 4 Results 4.1 Yaw Rate Controller 4.2 Simulation of Path Following 5 Conclusions References Integral Line-of-Sight Controller for 3-D Path Following in Presence of Marine Currents 1 Introduction 2 Dynamic Models of HRC-AUV 3 Decoupled Steering and Pitch Controllers 3.1 Heading Controller 3.2 Pitch Controller 4 I-LOS Controllers 4.1 I-LOS Controller for the Horizontal Plane 4.2 I-LOS Controller for the Vertical Plane 5 Results of the Simulations 6 Conclusion References Battery Health-Aware MPC Planning for Autonomous Racing Vehicles 1 Introduction 2 Vehicle Modelling and Problem Definition 2.1 Non-linear Model Description 2.2 Problem Definition 3 TS Neuro-Fuzzy Model Learning 3.1 Structure and Training Algorithms 3.2 TS Space-State Representation 4 State-Feedback Controller and Estimator Designs 5 Planner Design Based on Model Predictive Control 6 Results 7 Conclusions References Leader-Follower Formation Tracking Strategies Using Heterogeneous Robots for Monitoring and Remediation Applications 1 Introduction 2 Preliminaries 2.1 Kinematics Model of the Car-Like Robot (Leader Robot) 2.2 Kinematics Model of the Omnidirectional Robot (Follower Robot) 2.3 Problem Statement 3 Formation Tracking Strategies 3.1 Control Law for the Leader 3.2 Time-Varying Position Vector 3.3 Time-Gap Separation 4 Experimental Results 4.1 Experimental Platform 4.2 Experimental Results 5 Conclusions References Modeling, Identification and Delayed Systems Model-Based Efficient Selection of Centrifugal Pumps for Simple Branch Pumping Systems 1 Introduction 2 Mathematical Analysis 2.1 Mathematical Model 2.2 Discrete Algorithm for the Model Implementation 3 Results and Discussion 4 Conclusions References Reinforcement Learning with Probabilistic Boolean Networks in Smart Grid Models 1 Introduction 2 Materials and Methods 3 Classification 4 Results and Discussion 5 Conclusions and Future Work References Selection of Model Structure Using PSO Method 1 Introduction 2 Automating the System Identification Methodology Using Optimization 2.1 Cost Function 2.2 Optimization Method: PSO Algorithm 2.3 Discrete Optimization Problem 2.4 Inertia Calculation 2.5 Termination Rules 2.6 Hybridization with Genetic Algorithms 2.7 Particle Removal 3 Experiment and Results 4 Conclusions References Neuro-Adaptive PID Helicopter Controller Based on Atomic Functions 1 Introduction 2 Preliminaries: The Theory of Atomic Functions 2.1 The ``Mother'' Atomic Function up(x) and Its Main Properties 3 PID-RBFAF-IIR Control Scheme for the Quanser Helicopter 4 Numerical Simulation Results 4.1 Auto-Tuning PID Gains 5 Conclusions References Predictor Based Control Scheme for High-Order Delayed Systems with One Unstable Pole 1 Introduction 2 Problem Statement 3 Preliminary Results 3.1 Stability Condition for a PD Controller 3.2 Injection Scheme 4 Estimation strategy 5 Simulation Results 6 Conclusions References Observer Based Control of a Scalar Neutral Delayed System 1 Introduction 2 Class of System and Ideal Proposed Control Method 3 Main Results 3.1 Delayed Proportional Control 3.2 Proposed Observer 3.3 Proposed Observer Based Control 4 Simulation Results 5 Conclusions References Low Cost Systems and Biomedical Applications ESP32 Based Low-Power and Low-Cost Wireless Sensor Network 1 Introduction 2 LoRa and ESP32 3 Design of the Sensor Network 3.1 Proposed Network Architecture 3.2 Hardware and Operating Principle of the RTU 3.3 Hardware and Operating Principle of the Single-Channel Gateway 3.4 Design of a Communication Protocol 4 Experimentation 5 Conclusions References Low-Cost Portable System for the Estimation of Air Quality 1 Introduction 2 Materials and Methods 2.1 Hardware Description 2.2 Software Description 2.3 Calibration 2.4 Measurements Campaign 3 Results 4 Conclusions References “José Martí” International Airport Runway Lights System Control and Monitoring 1 Introduction 1.1 MCR3 Constant Current Regulator 2 Control and Monitoring of the Runway Lights System at the “José Martí” International Airport 3 Conclusions References Automatic System to Characterization of Creatinine by Optic Measurement ‘On Line’ in Wastes Samples During Hemodialysis 1 Introduction 2 Materials and Method 3 Results and Discussion 3.1 Characterization of the Optic Transmitters 3.2 Experimental Results 3.3 Real Analysis of Samples of Clinical Laboratory 3.4 Experimental Results with Wastes Samples 4 Conclusions References Automatic System to Continuous and Differential Acquisition of Blood Pressure During Tilt Test 1 Introduction 2 Materials and Method 3 Results and Discussion 3.1 Characterization of Front-End in a New System to ABP Acquisition During TT 3.2 Interface Development in LabVIEW to Control and Display of Obtained Results 4 Conclusions References