Journal of Control Science and Engineering The latest articles from Hindawi Publishing Corporation © 2016 , Hindawi Publishing Corporation . All rights reserved. The Feedback Control Strategy of the Takagi-Sugeno Fuzzy Car-Following Model with Two Delays Wed, 24 Aug 2016 09:26:15 +0000 Considering the driver’s sensing the headway and velocity the different time-varying delays exist, respectively, and the sensitivity of drivers changes with headway and speed. Introducing the fuzzy control theory, a new fuzzy car-following model with two delays is presented, and the feedback control strategy of the new fuzzy car-following model is studied. Based on the Lyapunov function theory and linear matrix inequality (LMI) approach, the sufficient condition that the existence of the fuzzy controller is given making the closed-loop system is asymptotic, stable; namely, traffic congestion phenomenon can effectively be suppressed, and the controller gain matrix can be obtained via solving linear matrix inequality. Finally, the simulation examples verify that the method which suppresses traffic congestion and reduces fuel consumption and exhaust emissions is effective. Cong Zhai, Weiming Liu, and Ling Huang Copyright © 2016 Cong Zhai et al. All rights reserved. Fault Diagnosis and Fault Tolerant Control for Non-Gaussian Singular Time-Delayed Stochastic Distribution Systems with Disturbance Based on the Rational Square-Root Model Wed, 24 Aug 2016 06:59:59 +0000 For the non-Gaussian singular time-delayed stochastic distribution control (SDC) system with unknown external disturbance where the output probability density function (PDF) is approximated by the rational square-root B-spline basis function, a robust fault diagnosis and fault tolerant control algorithm is presented. A full-order observer is constructed to estimate the exogenous disturbance and an adaptive observer is used to estimate the fault size. A fault tolerant tracking controller is designed using the feedback of distribution tracking error, fault, and disturbance estimation to let the postfault output PDF still track desired distribution. Finally, a simulation example is included to illustrate the effectiveness of the proposed algorithms and encouraging results have been obtained. Yuancheng Sun and Zhanhong Liang Copyright © 2016 Yuancheng Sun and Zhanhong Liang. All rights reserved. Robust Finite-Time Terminal Sliding Mode Control for a Francis Hydroturbine Governing System Mon, 22 Aug 2016 08:48:34 +0000 The robust finite-time control for a Francis hydroturbine governing system is investigated in this paper. Firstly, the mathematical model of a Francis hydroturbine governing system is presented and the nonlinear vibration characteristics are analyzed. Then, on the basis of finite-time control theory and terminal sliding mode scheme, a new robust finite-time terminal sliding mode control method is proposed for nonlinear vibration control of the hydroturbine governing system. Furthermore, the designed controller has good robustness which could resist external random disturbances. Numerical simulations are employed to verify the effectiveness and superiority of the designed finite-time sliding mode control scheme. The approach proposed in this paper is simple and also provides a reference for relevant hydropower systems. Fengjiao Wu, Junling Ding, and Zhengzhong Wang Copyright © 2016 Fengjiao Wu et al. All rights reserved. Synchronization of the Fractional-Order Brushless DC Motors Chaotic System Thu, 11 Aug 2016 12:17:43 +0000 Based on the extension of Lyapunov direct method for nonlinear fractional-order systems, chaos synchronization for the fractional-order Brushless DC motors (BLDCM) is discussed. A chaos synchronization scheme is suggested. By means of Lyapunov candidate function, the theoretical proof of chaos synchronization is addressed. The numerical results show that the chaos synchronization scheme is valid. Shiyun Shen and Ping Zhou Copyright © 2016 Shiyun Shen and Ping Zhou. All rights reserved. Interior Point Algorithm for Multi-UAVs Formation Autonomous Reconfiguration Tue, 09 Aug 2016 15:25:23 +0000 Here the problem of designing multi-UAVs formation autonomous reconfiguration is considered. Combined with three kinds of cost functions, nonlinear dynamic equations, and four inequality constraints, one nonlinear multiobjective optimization problem is constructed. After applying weighted sum method and separating all equality or inequality constraints, the former nonlinear multiobjective optimization problem can be converted into a standard nonlinear single objective optimization problem. Then the interior point algorithm is applied to solve it. Further some improvements are proposed to avoid rank deficiency of some matrices. The equivalence property between multiobjective optimization and single objective optimization through weighted sum method is proved. Finally the efficiency of the proposed strategy can be confirmed by the simulation example results. Wang Jian-hong and Rana Javed Masood Copyright © 2016 Wang Jian-hong and Rana Javed Masood. All rights reserved. A New Robust Method for Mobile Robot Multifloor Navigation in Distributed Life Science Laboratories Sun, 31 Jul 2016 07:46:24 +0000 A new robust method is proposed for multifloor navigation in distributed Life Science Laboratories. This method proposes a solution for many technical issues including (a) mapping and localization with ceiling landmarks and a StarGazer module for achieving an accurate and low cost multifloor navigation system, (b) a new method for path planning to navigate across multiple floor environments called backbone method and embedded transportation management system, (c) elevator environment handler with the necessary procedures to interact with the elevator presenting a new approach for elevator entry button and internal buttons detection, and (d) communication system to get an expandable network; this method utilizes a TCP/IP network for the communication. Many experiments in real Life Science Laboratories proved the efficient performance of the developed multifloor navigation system in life science environment. Ali A. Abdulla, Hui Liu, Norbert Stoll, and Kerstin Thurow Copyright © 2016 Ali A. Abdulla et al. All rights reserved. PMSM Rotor Position Detection Based on Hybrid Optical Encoder and R-Signal Zero-Setting Scheme Mon, 25 Jul 2016 09:52:29 +0000 Rotor position detection is a prerequisite for achieving good control performance of PMSM. For a PMSM control system based on an optical encoder, it is a difficulty to detect rotor position and achieve R-Signal zero-setting. To solve the problem, a hybrid optical encoder is used in the paper by which a scheme for rotor position detection and R-Signal zero-setting is proposed. This encoder can do absolute and incremental rotor position detection simultaneously; here, the former is used for acquiring imprecise rotor position and the latter is for precise rotor position. Firstly, two detection methods of the encoder are analyzed, and a scheme for rotor position detection is proposed: absolute rotor position is used for motor starting before achieving R-Signal zero-setting; once achieving R-Signal zero-setting, incremental rotor position detection that has high precision is adopted. Then a novel scheme for R-Signal zero-setting is emphatically proposed. Finally, the simulation is conducted. Results show that rotor position detection and R-Signal zero-setting can be achieved by the proposed scheme. Yaoqiang Wang, Xiaoyong Ma, Mingdong Wang, and Chong Cao Copyright © 2016 Yaoqiang Wang et al. All rights reserved. Estimation of Stator Resistance and Rotor Flux Linkage in SPMSM Using CLPSO with Opposition-Based-Learning Strategy Thu, 21 Jul 2016 13:10:58 +0000 Electromagnetic parameters are important for controller design and condition monitoring of permanent magnet synchronous machine (PMSM) system. In this paper, an improved comprehensive learning particle swarm optimization (CLPSO) with opposition-based-learning (OBL) strategy is proposed for estimating stator resistance and rotor flux linkage in surface-mounted PMSM; the proposed method is referred to as CLPSO-OBL. In the CLPSO-OBL framework, an opposition-learning strategy is used for best particles reinforcement learning to improve the dynamic performance and global convergence ability of the CLPSO. The proposed parameter optimization not only retains the advantages of diversity in the CLPSO but also has inherited global exploration capability of the OBL. Then, the proposed method is applied to estimate the stator resistance and rotor flux linkage of surface-mounted PMSM. The experimental results show that the CLPSO-OBL has better performance in estimating winding resistance and PM flux compared to the existing peer PSOs. Furthermore, the proposed parameter estimation model and optimization method are simple and with good accuracy, fast convergence, and easy digital implementation. Jian He and Zhao-Hua Liu Copyright © 2016 Jian He and Zhao-Hua Liu. All rights reserved. Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study Wed, 20 Jul 2016 08:31:00 +0000 The trajectory tracking of underactuated nonlinear system with two degrees of freedom is tackled by an adaptive fuzzy hierarchical sliding mode controller. The proposed control law solves the problem of coupling using a hierarchical structure of the sliding surfaces and chattering by adopting different reaching laws. The unknown system functions are approximated by fuzzy logic systems and free parameters can be updated online by adaptive laws based on Lyapunov theory. Two comparative studies are made in this paper. The first comparison is between three different expressions of reaching laws to compare their abilities to reduce the chattering phenomenon. The second comparison is made between the proposed adaptive fuzzy hierarchical sliding mode controller and two other control laws which keep the coupling in the underactuated system. The tracking performances of each control law are evaluated. Simulation examples including different amplitudes of external disturbances are made. Faten Baklouti, Sinda Aloui, and Abdessattar Chaari Copyright © 2016 Faten Baklouti et al. All rights reserved. A Rule Based Energy Management System of Experimental Battery/Supercapacitor Hybrid Energy Storage System for Electric Vehicles Tue, 05 Jul 2016 06:39:35 +0000 In this paper, a simple and efficient rule based energy management system for battery and supercapacitor hybrid energy storage system (HESS) used in electric vehicles is presented. The objective of the proposed energy management system is to focus on exploiting the supercapacitor characteristics and on increasing the battery lifetime and system efficiency. The role of the energy management system is to yield battery reference current, which is subsequently used by the controller of the DC/DC converter. First, a current controller is designed to realize load current distribution between battery and supercapacitor. Then a voltage controller is designed to ensure the supercapacitor SOC to fluctuate within a preset reasonable variation range. Finally, a commercial experimental platform is developed to verify the proposed control strategy. In addition, the energy efficiency and the cost analysis of the hybrid system are carried out based on the experimental results to explore the most cost-effective tradeoff. Qiao Zhang, Weiwen Deng, Sumin Zhang, and Jian Wu Copyright © 2016 Qiao Zhang et al. All rights reserved. Survey of Robot 3D Path Planning Algorithms Mon, 04 Jul 2016 10:17:31 +0000 Robot 3D (three-dimension) path planning targets for finding an optimal and collision-free path in a 3D workspace while taking into account kinematic constraints (including geometric, physical, and temporal constraints). The purpose of path planning, unlike motion planning which must be taken into consideration of dynamics, is to find a kinematically optimal path with the least time as well as model the environment completely. We discuss the fundamentals of these most successful robot 3D path planning algorithms which have been developed in recent years and concentrate on universally applicable algorithms which can be implemented in aerial robots, ground robots, and underwater robots. This paper classifies all the methods into five categories based on their exploring mechanisms and proposes a category, called multifusion based algorithms. For all these algorithms, they are analyzed from a time efficiency and implementable area perspective. Furthermore a comprehensive applicable analysis for each kind of method is presented after considering their merits and weaknesses. Liang Yang, Juntong Qi, Dalei Song, Jizhong Xiao, Jianda Han, and Yong Xia Copyright © 2016 Liang Yang et al. All rights reserved. Attitude and Altitude Control of Trirotor UAV by Using Adaptive Hybrid Controller Wed, 29 Jun 2016 08:33:23 +0000 The paper presents an adaptive hybrid scheme which is based on fuzzy regulation, pole-placement, and tracking (RST) control algorithm for controlling the attitude and altitude of trirotor UAV. The dynamic and kinematic model of Unmanned Aerial Vehicle (UAV) is unstable and nonlinear in nature with 6 degrees of freedom (DOF); that is why the stabilization of aerial vehicle is a difficult task. To stabilize the nonlinear behavior of our UAV, an adaptive hybrid controller algorithm is used, in which RST controller tuning is performed by adaptive gains of fuzzy logic controller. Simulated results show that fuzzy based RST controller gives better robustness as compared to the classical RST controller. Zain Anwar Ali, Daobo Wang, Suhaib Masroor, and M. Shafiq Loya Copyright © 2016 Zain Anwar Ali et al. All rights reserved. Designing the Adaptive Tracking Controller for Uncertain Fully Actuated Dynamical Systems with Additive Disturbances Based on Sliding Mode Thu, 23 Jun 2016 12:59:32 +0000 This paper addresses the problem of adaptive tracking control for uncertain fully actuated dynamical systems with additive disturbance (FDSA) based on the sliding mode. We use the adaptive mechanism to adjust the uncertain parameters in sliding mode control law which can be switched to two modes depending on the sliding surface. By choosing appropriately the parameters in control law, the desired transient time can be obtained without effects of uncertain parameters and additive disturbances. The chattering phenomenon can be minimized by a chosen constant. This control method is applied to the angles tracking control of the twin rotor multi-input multi-output system (TRMS) which have nonlinear characteristics, the input torque disturbances and the coupling between the horizontal and vertical movements. The simulation and experimental results are presented that validate the proposed solution. Chi Nguyen Van Copyright © 2016 Chi Nguyen Van. All rights reserved. An Improved MPPT Algorithm for PV Generation Applications Based on - Curve Reconstitution Tue, 21 Jun 2016 09:32:51 +0000 The output power of PV array changes with the variation of environmental factors, such as temperature and solar irradiation. Therefore, a maximum power point (MPP) tracking (MPPT) algorithm is essential for the photovoltaic generation system. However, the curve changes dynamically with the variation of the environmental factors; here, the misjudgment may occur if a simple perturb-and-observe (P&O) MPPT algorithm is used. In order to solve this problem, this paper takes MPPT as the main research object, and an improved MPPT algorithm for PV generation applications based on curve reconstitution is proposed. Firstly, the mathematical model of PV array is presented, and then the output dynamic characteristics are analyzed. Based on this, a curve reconstitution strategy is introduced, and the improved MPPT algorithm is proposed. At last, simulation and comparative analysis are conducted. Results show that, with the proposed algorithm, MPP is tracked accurately, and the misjudgment problem is solved effectively. Yaoqiang Wang, Meiling Zhang, and Xian Cheng Copyright © 2016 Yaoqiang Wang et al. All rights reserved. Rolling Force Prediction in Heavy Plate Rolling Based on Uniform Differential Neural Network Mon, 20 Jun 2016 09:36:34 +0000 Accurate prediction of the rolling force is critical to assuring the quality of the final product in steel manufacturing. Exit thickness of plate for each pass is calculated from roll gap, mill spring, and predicted roll force. Ideal pass scheduling is dependent on a precise prediction of the roll force in each pass. This paper will introduce a concept that allows obtaining the material model parameters directly from the rolling process on an industrial scale by the uniform differential neural network. On the basis of the characteristics that the uniform distribution can fully characterize the solution space and enhance the diversity of the population, uniformity research on differential evolution operator is made to get improved crossover with uniform distribution. When its original function is transferred with a transfer function, the uniform differential evolution algorithms can quickly solve complex optimization problems. Neural network structure and weights threshold are optimized by uniform differential evolution algorithm, and a uniform differential neural network is formed to improve rolling force prediction accuracy in process control system. Fei Zhang, Yuntao Zhao, and Jian Shao Copyright © 2016 Fei Zhang et al. All rights reserved. The Determination of Feasible Control Variables for Geoengineering and Weather Modification Based on the Theory of Sensitivity in Dynamical Systems Thu, 16 Jun 2016 09:49:58 +0000 Geophysical cybernetics allows for exploring weather and climate modification (geoengineering) as an optimal control problem in which the Earth’s climate system is considered as a control system and the role of controller is given to human operators. In mathematical models used in climate studies control actions that manipulate the weather and climate can be expressed via variations in model parameters that act as controls. In this paper, we propose the “instability-sensitivity” approach that allows for determining feasible control variables in geoengineering. The method is based on the sensitivity analysis of mathematical models that describe various types of natural instability phenomena. The applicability of this technique is illustrated by a model of atmospheric baroclinic instability since this physical mechanism plays a significant role in the general circulation of the atmosphere and, consequently, in climate formation. The growth rate of baroclinic unstable waves is taken as an indicator of control manipulations. The information obtained via calculated sensitivity coefficients is very beneficial for assessing the physical feasibility of methods of control of the large-scale atmospheric dynamics and for designing optimal control systems for climatic processes. It also provides insight into potential future changes in baroclinic waves, as a result of a changing climate. Sergei A. Soldatenko and Rafael M. Yusupov Copyright © 2016 Sergei A. Soldatenko and Rafael M. Yusupov. All rights reserved. Combined Parameter and State Estimation Algorithms for Multivariable Nonlinear Systems Using MIMO Wiener Models Mon, 06 Jun 2016 11:36:40 +0000 This paper deals with the parameter estimation problem for multivariable nonlinear systems described by MIMO state-space Wiener models. Recursive parameters and state estimation algorithms are presented using the least squares technique, the adjustable model, and the Kalman filter theory. The basic idea is to estimate jointly the parameters, the state vector, and the internal variables of MIMO Wiener models based on a specific decomposition technique to extract the internal vector and avoid problems related to invertibility assumption. The effectiveness of the proposed algorithms is shown by an illustrative simulation example. Houda Salhi and Samira Kamoun Copyright © 2016 Houda Salhi and Samira Kamoun. All rights reserved. Stability Analysis of a Helicopter with an External Slung Load System Sun, 05 Jun 2016 09:00:25 +0000 This paper describes the stability analysis of a helicopter with an underslung external load system. The Lyapunov second method is considered for the stability analysis. The system is considered as a cascade connection of uncertain nonlinear system. The stability analysis is conducted to ensure the stabilisation of the helicopter system and the positioning of the underslung load at hover condition. Stability analysis and numerical results proved that if desired condition for the stability is met, then it is possible to locate the load at the specified position or its neighbourhood. Kary Thanapalan Copyright © 2016 Kary Thanapalan. All rights reserved. A Metric Observer for Induction Motors Control Tue, 31 May 2016 12:29:07 +0000 This paper deals with metric observer application for induction motors. Firstly, assuming that stator currents and speed are measured, a metric observer is designed to estimate the rotor fluxes. Secondly, assuming that only stator currents are measured, another metric observer is derived to estimate rotor fluxes and speed. The proposed observer validity is checked throughout simulations on a 4 kW induction motor drive. Mohamed Benbouzid, Abdelkrim Benchaib, Gang Yao, Brice Beltran, and Olivier Chocron Copyright © 2016 Mohamed Benbouzid et al. All rights reserved. Integral Sliding Mode Control for Trajectory Tracking of Wheeled Mobile Robot in Presence of Uncertainties Mon, 30 May 2016 08:53:07 +0000 Wheeled mobile robots present a typical case of complex systems with nonholonomic constraints. In the past few years, the dominance of these systems has been a very active research field. In this paper, a new method based on an integral sliding mode control for the trajectory tracking of wheeled mobile robots is proposed. The controller is designed to solve the reaching phase problem with the elimination of matched disturbances and minimize the unmatched one. We distinguish two parts in the suggested controller: a high-level controller to stabilize the nominal system and a discontinuous controller to assess the trajectory tracking in the presence of disturbances. This controller is robust during the entire motion. The effectiveness of the proposed controller is demonstrated through simulation studies for the unicycle with matched and unmatched disturbances. Aicha Bessas, Atallah Benalia, and Farès Boudjema Copyright © 2016 Aicha Bessas et al. All rights reserved. Hopf Bifurcation Control in a FAST TCP and RED Model via Multiple Control Schemes Thu, 26 May 2016 15:20:33 +0000 We focus on the Hopf bifurcation control problem of a FAST TCP model with RED gateway. The system gain parameter is chosen as the bifurcation parameter, and the stable region and stability condition of the congestion control model are given by use of the linear stability analysis. When the system gain passes through a critical value, the system loses the stability and Hopf bifurcation occurs. Considering the negative influence caused by Hopf bifurcation, we apply state feedback controller, hybrid controller, and time-delay feedback controller to postpone the onset of undesirable Hopf bifurcation. Numerical simulations show that the hybrid controller is the most sensitive method to delay the Hopf bifurcation with identical parameter conditions. However, nonlinear state feedback control and time-delay feedback control schemes have larger control parameter range in the Internet congestion control system with FAST TCP and RED gateway. Therefore, we can choose proper control method based on practical situation including unknown conditions or parameter requirements. This paper plays an important role in setting guiding system parameters for controlling the FAST TCP and RED model. Dawei Ding, Chun Wang, Lianghui Ding, Nian Wang, and Dong Liang Copyright © 2016 Dawei Ding et al. All rights reserved. Optimal Control Problem Investigation for Linear Time-Invariant Systems of Fractional Order with Lumped Parameters Described by Equations with Riemann-Liouville Derivative Thu, 26 May 2016 08:12:08 +0000 This paper studies two optimal control problems for linear time-invariant systems of fractional order with lumped parameters whose dynamics is described by equations which contain Riemann-Liouville derivative. The first problem is to find control with minimal norm and the second one is to find control with minimal control time at given restriction for control norm. The problem setting with nonlocal initial conditions is considered which differs from other known settings for integer-order systems and fractional-order systems described in terms of equations with Caputo derivative. Admissible controls are allowed to belong to the class of functions which are -integrable on half segment. The basic investigation approach is the moment method. The correctness and solvability of moment problem are validated for considered problem setting for the system of arbitrary dimension. It is shown that corresponding conditions are analogous to those derived for systems which are described in terms of equations with Caputo derivative. For several particular cases of one- and two-dimensional systems the posed problems are solved explicitly. The dependencies of basic values from derivative index and control time are analyzed. The comparison is performed of obtained results with known results for analogous integer-order systems and fractional-order systems which are described by equations with Caputo derivative. V. A. Kubyshkin and S. S. Postnov Copyright © 2016 V. A. Kubyshkin and S. S. Postnov. All rights reserved. Simplified Finite Set Model Predictive Control Strategy of Grid-Connected Cascade H-Bridge Converter Thu, 26 May 2016 06:33:20 +0000 Finite set model predictive control (FS-MPC) has become a promising control technology in power converter, because of the advantages of good dynamic response and accurate current tracking capability. In real-time control process, the conventional FS-MPC strategy requires more time for prediction and optimization. As a result, there will be a certain delay between sampling and output. In order to reduce the amount of calculation and overcome the adverse effect of the delay on the system performance, this paper presents a simplified FS-MPC method. Firstly, adjacent levels method is used to reduce the amount of the calculation, and then two-step FS-MPC is adopted to compensate the calculation delay. The control strategy is validated by the simulation and experimental results of a grid-connected cascaded H-bridge converter. Jingang Han, Chao Li, Tengfei Yang, and Jun Han Copyright © 2016 Jingang Han et al. All rights reserved. Multilinear Model of Heat Exchanger with Hammerstein Structure Wed, 25 May 2016 13:56:50 +0000 The multilinear model control design approach is based on the approximation of the nonlinear model of the system by a set of linear models. The paper presents the method of creation of a bank of linear models of the two-pass shell and tube heat exchanger. The nonlinear model is assumed to have a Hammerstein structure. The set of linear models is formed by decomposition of the nonlinear steady-state characteristic by using the modified Included Angle Dividing method. Two modifications of this method are proposed. The first one refers to the addition to the algorithm for decomposition, which reduces the number of linear segments. The second one refers to determination of the threshold value. The dependence between decomposition of the nonlinear characteristic and the linear dynamics of the closed-loop system is established. The decoupling process is more formal and it can be easily implemented by using software tools. Due to its simplicity, the method is particularly suitable in complex systems, such as heat exchanger networks. Dragan Pršić, Novak Nedić, Vojislav Filipović, Ljubiša Dubonjić, and Aleksandar Vičovac Copyright © 2016 Dragan Pršić et al. All rights reserved. Generalized ESO and Predictive Control Based Robust Autopilot Design Tue, 24 May 2016 14:13:27 +0000 A novel continuous time predictive control and generalized extended state observer (GESO) based acceleration tracking pitch autopilot design is proposed for a tail controlled, skid-to-turn tactical missile. As the dynamics of missile are significantly uncertain with mismatched uncertainty, GESO is employed to estimate the state and uncertainty in an integrated manner. The estimates are used to meet the requirement of state and to robustify the output tracking predictive controller designed for nominal system. Closed loop stability for the controller-observer structure is established. An important feature of the proposed design is that it does not require any specific information about the uncertainty. Also the predictive control design yields the feedback control gain and disturbance compensation gain simultaneously. Effectiveness of GESO in estimation of the states and uncertainties and in robustifying the predictive controller in the presence of parametric uncertainties, external disturbances, unmodeled dynamics, and measurement noise is illustrated by simulation. Bhavnesh Panchal and S. E. Talole Copyright © 2016 Bhavnesh Panchal and S. E. Talole. All rights reserved. Nonlinear and Robust Control Strategy Based on Chemotherapy to Minimize the HIV Concentration in Blood Plasma Thu, 19 May 2016 06:52:52 +0000 A nonlinear PI-type control strategy is designed in order to minimize the HIV concentration in blood plasma, via medical drug injection, under the framework of bounded uncertain input disturbances. For control design it is considered a simplified mathematical model of the virus infection as a benchmark. The model is based on mass balances of healthy cells, infected cells, and the virus concentrations. The proposed controller contains a nonlinear feedback PI structure of bounded functions of the regulation error. The closed-loop stability of the system is analyzed via Lyapunov technique, in which robustness against system disturbances is demonstrated. Numerical experiments show a satisfactory performance of the proposed methodology as a HIV therapy, in which the virion particles and the infected CD4+T cells are minimized and, as an interesting result, the drug dosage can be suspended, thus avoiding drug resistance from the virus. Finally, the proposed controller is compared to a standard sliding-mode and hyperbolic tangent controllers showing better performance. Ricardo Aguilar-López, Rigel Valentín Gómez-Acata, Gerardo Lara-Cisneros, and Ricardo Femat Copyright © 2016 Ricardo Aguilar-López et al. All rights reserved. An Approach of Tracking Control for Chaotic Systems Wed, 18 May 2016 13:00:41 +0000 Combining the ergodicity of chaos and the Jacobian matrix, we design a general tracking controller for continuous and discrete chaotic systems. The control scheme has the ability to track a bounded reference signal. We prove its globally asymptotic stability and extend it to generalized projective synchronization. Numerical simulations verify the effectiveness of the proposed scheme. Jin Xing and Fangfang Zhang Copyright © 2016 Jin Xing and Fangfang Zhang. All rights reserved. Adaptive Moving Sliding Mode Control for SISO Systems: Application to an Electropneumatic System Tue, 26 Apr 2016 09:31:08 +0000 This paper aims to propose and develop an adaptive moving sliding mode controller (AMSMC) that can be applied for nonlinear single-input single-output (SISO) systems with external disturbances. The main contribution of this framework consists to overcome the chattering phenomenon problem. The discontinuous term of the classic sliding mode control is replaced by an adaptive term. Moreover, a moving sliding surface is proposed to have better tracking and to guarantee robustness to the external disturbances. The parameters of the sliding surface and the adaptive law are deduced based on Lyapunov stability analysis. An experimental application of electropneumatic system is treated to validate the theoretical results. Assil Ayadi, Soufien Hajji, Mohamed Smaoui, and Abdessattar Chaari Copyright © 2016 Assil Ayadi et al. All rights reserved. Design and Application of Offset-Free Model Predictive Control Disturbance Observation Method Sun, 24 Apr 2016 11:48:25 +0000 Model predictive control (MPC) with its lower request to the mathematical model, excellent control performance, and convenience online calculation has developed into a very important subdiscipline with rich theory foundation and practical application. However, unmeasurable disturbance is widespread in industrial processes, which is difficult to deal with directly at present. In most of the implemented MPC strategies, the method of incorporating a constant output disturbance into the process model is introduced to solve this problem, but it fails to achieve offset-free control once the unmeasured disturbances access the process. Based on the Kalman filter theory, the problem is solved by using a more general disturbance model which is superior to the constant output disturbance model. This paper presents the necessary conditions for offset-free model predictive control based on the model. By applying disturbance model, the unmeasurable disturbance vectors are augmented as the states of control system, and the Kalman filer is used to estimate unmeasurable disturbance and its effect on the output. Then, the dynamic matrix control (DMC) algorithm is improved by utilizing the feed-forward compensation control strategy with the disturbance estimated. Xue Wang, Baocang Ding, Xin Yang, and Zhaohong Ye Copyright © 2016 Xue Wang et al. All rights reserved. Air Gauge Characteristics Linearity Improvement Thu, 21 Apr 2016 13:29:56 +0000 This paper discusses calibration uncertainty and linearity issues of the typical back-pressure air gauge. In this sort of air gauge, the correlation between the measured dimension (represented by the slot width) and the air pressure in the measuring chamber is used in a proportional range. However, when high linearity is required (e.g., nonlinearity less than 1%), the measuring range should be shortened. In the proposed method, based on knowledge of the static characteristics of air gauges, the measuring range is kept unchanged but the nonlinearity is decreased. The static characteristics may be separated into two sections, each of them approximated with a different linear function. As a result, the nonlinearity is reduced from 5% down to 1% and even below. Cz. J. Jermak, M. Jakubowicz, J. Dereżyński, and M. Rucki Copyright © 2016 Cz. J. Jermak et al. All rights reserved.