Journal of Control Science and Engineering The latest articles from Hindawi Publishing Corporation © 2016 , Hindawi Publishing Corporation . All rights reserved. Vulnerability Analysis of CSP Based on Stochastic Game Theory Mon, 24 Oct 2016 13:56:00 +0000 With the development of industrial informatization, the industrial control network has gradually become much accessible for attackers. A series of vulnerabilities will therefore be exposed, especially the vulnerability of exclusive industrial communication protocols (ICPs), which has not yet been attached with enough emphasis. In this paper, stochastic game theory is applied on the vulnerability analysis of clock synchronization protocol (CSP), one of the pivotal ICPs. The stochastic game model is built strictly according to the protocol with both Man-in-the-Middle (MIM) attack and dependability failures being taken into account. The situation of multiple attack routes is considered for depicting the practical attack scenarios, and the introduction of time aspect characterizes the success probabilities of attackers actions. The vulnerability analysis is then realized through determining the optimal strategies of attacker under different states of system, respectively. Jiajun Shen and Dongqin Feng Copyright © 2016 Jiajun Shen and Dongqin Feng. All rights reserved. A New Scheme on Synchronization of Commensurate Fractional-Order Chaotic Systems Based on Lyapunov Equation Sun, 16 Oct 2016 08:42:33 +0000 This paper proposes a new fractional-order approach for synchronization of a class of fractional-order chaotic systems in the presence of model uncertainties and external disturbances. A simple but practical method to synchronize many familiar fractional-order chaotic systems has been put forward. A new theorem is proposed for a class of cascade fractional-order systems and it is applied in chaos synchronization. Combined with the fact that the states of the fractional chaotic systems are bounded, many coupled items can be taken as zero items. Then, the whole system can be simplified greatly and a simpler controller can be derived. Finally, the validity of the presented scheme is illustrated by numerical simulations of the fractional-order unified system. Hua Wang, Hang-Feng Liang, Peng Zan, and Zhong-Hua Miao Copyright © 2016 Hua Wang et al. All rights reserved. A Novel Relative Navigation Control Strategy Based on Relation Space Method for Autonomous Underground Articulated Vehicles Tue, 11 Oct 2016 11:18:27 +0000 This paper proposes a novel relative navigation control strategy based on the relation space method (RSM) for articulated underground trackless vehicles. In the RSM, a self-organizing, competitive neural network is used to identify the space around the vehicle, and the spatial geometric relationships of the identified space are used to determine the vehicle’s optimal driving direction. For driving control, the trajectories of the articulated vehicles are analyzed, and data-based steering and speed control modules are developed to reduce modeling complexity. Simulation shows that the proposed RSM can choose the correct directions for articulated vehicles in different tunnels. The effectiveness and feasibility of the resulting novel relative navigation control strategy are validated through experiments. Fengqian Dou, Yu Meng, Li Liu, and Qing Gu Copyright © 2016 Fengqian Dou et al. All rights reserved. Control of Power Converters for Emerging Applications of Power Electronics Tue, 04 Oct 2016 11:11:26 +0000 Ahmed M. Massoud, Shehab Ahmed, Ayman S. Abdel-Khalik, Ahmed A. Elserougi, and Khaled H. Ahmed Copyright © 2016 Ahmed M. Massoud et al. All rights reserved. Improved Distributed Model Predictive Control with Control Planning Set Wed, 28 Sep 2016 11:59:20 +0000 We focus on distributed model predictive control algorithm. Each distributed model predictive controller communicates with the others in order to compute the control sequence. But there are not enough communication resources to exchange information between the subsystems because of the limited communication network. This paper presents an improved distributed model predictive control scheme with control planning set. Control planning set algorithm approximates the future control sequences by designed planning set, which can reduce the exchange information among the controllers and can also decrease the distributed MPC controller calculation demand without degrading the whole system performance much. The stability and system performance analysis for distributed model predictive control are given. Simulations of the four-tank control problem and multirobot multitarget tracking problem are illustrated to verify the effectiveness of the proposed control algorithm. Wei Chen Copyright © 2016 Wei Chen. All rights reserved. An Improved Backstepping-Based Controller for Three-Dimensional Trajectory Tracking of a Midwater Trawl System Wed, 07 Sep 2016 16:40:04 +0000 An improved backstepping control method for three-dimensional trajectory tracking of a midwater trawl system is investigated. A new mathematical model of the trawl system while considering the horizontal expansion effect of two otter boards is presented based on the Newton Euler method. Subsequently, an active path tracking strategy of the trawl system based on the backstepping method is proposed. The nonstrict feedback characteristic of the proposed model employs a control allocation method and several parallel nonlinear PID (Proportion Integration Differentiation) controllers to eliminate the high-order state variables. Then, the stability analysis by the Lyapunov Stability Theory shows that the proposed controller can maintain the stability of the trawl system even with the presence of external disturbances. To validate the proposed controller, a simulation comparison with a linear PID controller was conducted. The simulation results illustrate that the improved backstepping controller is effective for three-dimensional trajectory tracking of the midwater trawl system. Zhao Yan, Yun sheng Mao, and Cheng gang Liu Copyright © 2016 Zhao Yan et al. All rights reserved. Decentralized Control of a Group of Homogeneous Vehicles in Obstructed Environment Wed, 31 Aug 2016 16:16:18 +0000 The presented solution is a decentralized control system with a minimal informational interaction between the objects in the group. During control and path planning the obstacles are transformed into repellers by the synthesized controls. The main feature distinguishing the developed approach from the potential fields method is that the vehicle moves in the fields of forces depending not only on the mutual positions of a robot and an obstacle but also on the additional variables allowing solving the problem of robot’s path planning using a distributed control system (Pshikhopov and Ali, 2011). Unlike the work by Pshikhopov and Ali, 2011, here an additional dynamic variable is used to introduce stable and unstable states depending on the state variables of the robot and the neighboring objects. The local control system of each vehicle uses only the values of its own speeds and coordinates and those of the neighboring objects. There is no centralized control algorithm. In the local control algorithms the obstacles are represented as vehicles being a part of the group which allows us to unify the control systems for heterogeneous groups. An analysis was performed that proves existence and asymptotic stability of the steady state motion modes. The preformed simulation confirms the synthesis and analysis results. Vyacheslav Pshikhopov, Mikhail Medvedev, Alexander Kolesnikov, Roman Fedorenko, and Boris Gurenko Copyright © 2016 Vyacheslav Pshikhopov et al. All rights reserved. Decentralized Robust Adaptive Output Feedback Stabilization for Interconnected Nonlinear Systems with Uncertainties Tue, 30 Aug 2016 05:56:20 +0000 Based on adaptive nonlinear damping, a novel decentralized robust adaptive output feedback stabilization comprising a decentralized robust adaptive output feedback controller and a decentralized robust adaptive observer is proposed for a large-scale interconnected nonlinear system with general uncertainties, such as unknown nonlinear parameters, bounded disturbances, unknown nonlinearities, unmodeled dynamics, and unknown interconnections, which are nonlinear function of not only states and outputs but also unmodeled dynamics coming from other subsystems. In each subsystem, the proposed stabilization only has two adaptive parameters, and it is not needed to generate an additional dynamic signal or estimate the unknown parameters. Under certain assumptions, the proposed scheme guarantees that all the dynamic signals in the interconnected nonlinear system are bounded. Furthermore, the system states and estimate errors can approach arbitrarily small values by choosing the design parameters appropriately large. Finally, simulation results illustrated the effectiveness of the proposed scheme. Qiang Yang, Ming Zhu, Tao Jiang, Jin He, Jianying Yuan, and Jianda Han Copyright © 2016 Qiang Yang et al. All rights reserved. Gait Tracking Control of Quadruped Robot Using Differential Evolution Based Structure Specified Mixed Sensitivity Robust Control Sun, 28 Aug 2016 16:47:36 +0000 This paper proposed a control algorithm that guarantees gait tracking performance for quadruped robots. During dynamic gait motion, such as trotting, the quadruped robot is unstable. In addition to uncertainties of parameters and unmodeled dynamics, the quadruped robot always faces some disturbances. The uncertainties and disturbances contribute significant perturbation to the dynamic gait motion control of the quadruped robot. Failing to track the gait pattern properly propagates instability to the whole system and can cause the robot to fall. To overcome the uncertainties and disturbances, structured specified mixed sensitivity robust controller was proposed to control the quadruped robot legs’ joint angle positions. Before application to the real hardware, the proposed controller was tested on the quadruped robot’s leg planar dynamic model using MATLAB. The proposed controller can control the robot’s legs efficiently even under uncertainties from a set of model parameter variations. The robot was also able to maintain its stability even when it was tested under several terrain disturbances. Petrus Sutyasadi and Manukid Parnichkun Copyright © 2016 Petrus Sutyasadi and Manukid Parnichkun. All rights reserved. Generalized Minimum Variance Control for MDOF Structures under Earthquake Excitation Thu, 25 Aug 2016 07:56:50 +0000 Control of a multi-degree-of-freedom structural system under earthquake excitation is investigated in this paper. The control approach based on the Generalized Minimum Variance (GMV) algorithm is developed and presented. Our approach is a generalization to multivariable systems of the GMV strategy designed initially for single-input-single-output (SISO) systems. Kanai-Tajimi and Clough-Penzien models are used to generate the seismic excitations. Those models are calculated using the specific soil parameters. Simulation tests using a 3DOF structure are performed and show the effectiveness of the control method. Lakhdar Guenfaf and Mohamed Azira Copyright © 2016 Lakhdar Guenfaf and Mohamed Azira. 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.