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International audienceThe aim of this study is to provide a full comprehensive study of the singular linear parameter-varying (LPV) systems and observer synthesis in a real process. The states and unknown inputs estimation problem for a binary distillation column is solved by using an LPV proportional-integral observer (PI-Observer). A singular LPV model of the process is developed. This model facilitates the design of the PI-Observer for singular LPV systems. The observer proposed is tested using experimental data of a distillation column separating an ethanol??water mixture. The results indicate that the observer is able to accurately reconstruct the product composition dynamics and the unknown inputs of the process

This paper presents the design and control of a two-link lightweight robotic arm using Shape Memory Alloy wires as actuators. Both, a single wire actuated system and an antagonistic configuration system are tested in open and closed-loop. The mathematical model of the SMA wire, as well as the kinematics and dynamics of the robotic arm, are presented. The Operational Space Control of the robotic arm is performed by using a Joint Space control in the inner loop and Closed Loop Inverse Kinematics in the outer loop. In order to choose the best Joint Space Control approach, a comparative study of four different control approaches (Proportional Derivative, Sliding Mode, Adaptive and Adaptive Sliding Mode Control) is carried out for the proposed model. From this comparative analysis, the adaptive controller was chosen to perform Operational Space Control. This control helps us to perform accurate positioning of the endeffector of SMA wire based robotic arm. The complete Operational Space control was successfully tested through simulation studies performing position reference tracking in the end-effector space. Through simulation studies the proposed control solution is successfully verified to control the hysteretic robotic arm.

This paper addresses the modeling and control of the air path system of diesel engines. We propose robust control for the diesel engine equipped with Exhaust Gas Recirculation (EGR) and Variable Geometry Turbocharger (VGT) systems. The goal is to control carefully the air flow for a diesel engine to reduce emissions of pollutant particles and fuel consumption. A mean value model of the air loop is considered and rewriten using fuzzy Takagi-Sugeno (TS) approach. A control strategy based in Lyapunov function and pole placement in LMI regions (Linear Matrix Inequalities) is developed. It takes into account the variation of the engine speed. The goal is to design a robust control law that tracks some reference signals. The effectiveness of the proposed fuzzy tracking controllers in the system diesel engine is demonstrated through numerical simulations.

In this paper a high-gain observer used to estimate the product compositions in a distillation column for a non-ideal mixture (ethanol-water) through the tray temperature measurements is presented. The design of this observer is based on a simplified mathematical model. One of the main advantages of this observer is its constant gain, therefore its tuning depends only on choosing a few constant parameters satisfying some simple algebraic inequalities. The effectiveness of the proposed method is demonstrated through on-line experiments in a distillation pilot plant. 