2018 (vol. 28) - Number 1

*I. Duleba, I. Karcz-Duleba:*

A comparison of methods solving repeatable inverse kinematics for robot manipulators

*A. Niederliński:*

A new approach for modelling uncertainty in expert systems knowledge bases

*T.T. Tuan, L.D. Tufa, M.I.A. Mutalib, N.M. Ramli :*

Optimal operation of a process by integrating dynamic economic optimization and model predictive control formulated with empirical model

*M. Kaleta:*

Network winner determination problem

*A. Kowalewski:*

Extremal problems for parabolic systems with time-varying lags

*T. Rybus, K. Seweryn, J.Z. S±siadek:*

Application of predictive control for manipulator mounted on a satellite

*T. Kaczorek:*

Reachability and observability of positive discrete-time linear systems with integer positive and negative powers of the state Frobenius matrices

*G. Grassi, A. Ouannas, V-T. Pham:*

A general unified approach to chaos synchronization in~continuous-time systems (with or without equilibrium points) as well as in discrete-time systems

*D. Pazderski:*

A robust smooth controller for a unicycle-like robot

ACS Abstract:

**2009 (Volume 19)**

Number 3

**Controllers of the boost DC-DC converter accounting its minimum- and nonminimum-phase nature**

R. Gessing(Silesian University of Technology, Gliwice, Poland) |

**keywords:** nonlinear systems, minimum/nonminimum phase systems, switched systems, PWM modulation, power electronics

**LQ optimal and reaching law based design of sliding mode supply policy for inventory management systems**

P. Ignaciuk, A. Bartoszewicz(Technical University of Lodz, Lodz, Poland) |

**keywords:** sliding-mode control, inventory control, discrete-time systems

**Optimal distributed control problems of retarded parabolic systems**

A. Kowalewski, A. Krakowiak(AGH University of Science and Technology, Cracow, Poland) |

**keywords:** distributed control, parabolic systems, time lags, linear quadratic problem, quadratic programming method

**Pointwise completeness and pointwise degeneracy of standard and positive fractional linear systems with state-feedbacks**

T. Kaczorek(Białystok Technical University, Białystok, Poland) |

**keywords:** pointwise completeness, pointwise degeneracy, positive fractional linear system, feedback

**Pole placement method for DC motor torque controller**

G. Sieklucki(AGH University of Science and Technology, Cracow, Poland) |

The work describes the use of pole placement state-space method for parametric optimization of motor torque controller. Presented method is universal for any type of mathematical model in contrast to standard optimization (optimal shape or optimal modulus criterion). The general oscillatory element is analyzed. Mathematical models of separately excited and brushless DC motors are compared. Ready to use relationship for parametric optimization of motor torque controller is presented. The results of the simulation, in the environment Matlab-Simulink, of the closed-loop control system are shown.

**keywords:** electric drive, oscillatory element, motor torque controller, state-space, pole placement, normalized Bessel polynomials, separately excited DC motor (brush), brushless DC (BLDC) motor

**Analytical and neuro-fuzzy modeling for fault detection and identification for nonlinear systems: application to robot manipulator**

M.S. Lazeregue, H. Salhi(Laboratoire Systemes Dept. Electonique, Universite Saad Dahlab, Soumaa, Blida, Algerie) | M. Tadjine(Process Conrol Laboratory. Dept E.E. ENP, Alger, Algerie) |

**keywords:** dynamical system, robot manipulator, neuro-fuzzy modeling, identification, error compensation, fault detection and identification

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