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Resumen Todos Obligatorio Segundo Parcial
Resumen Todos Obligatorio Segundo Parcial
Education
The International Federation of Automatic Control
Nizhny Novgorod, Russia, June 19-21, 2012
- Fuzzy logic and fuzzy ruled based systems (15h). Building mathematical developments, it would not fit in the available
of fuzzy models from data using clustering (k-means and space and most of the students would not be able to absorb
subtractive). them. Instead, a more “learning – by – doing“ approach is
followed: learn the most important theoretical aspects to
- Fuzzy control, the first contact with control the students understand the method, implement and practice with it, and if
have. Experience shows that this is very positive, since fuzzy needed come back to theory. The “learning-by-doing”
control can be taught almost like a game. This creates in approach is not an empirical one, it needs sound
student’s minds an image of control much more attractive mathematical support, but instead of putting the accent on
than if they had started with the classical control based on abstract theoretical demonstrations, it works for stimulating
Laplace transform. The fundamental concepts of control the student’s intellectual curiosity by practical work
systems (open-loop, closed-loop, reference, disturbances, involving several perceptions. The flexibility of
error, etc.) are introduced The students are given a black box Matlab/SIMULINK environments allows the fast “mise-en-
(where a transfer function is inside), apply inputs and read oeuvre” and experimentation of controllers following the
outputs, try to build up a mental image of the system and then cycle: experiment-analyse the results-check with the theory.
write the fuzzy rules, defining previously the membership This allows the development of a mental image of the field
functions of the antecedents and consequents. Mamdani and that supports the development of the student skills, finally the
Takagi-Sugeno types are studied and experienced. Usually most important goal of their education.
the students succeed to get a good controller. The Matlab
Fuzzy Logic toolbox has facilities enabling this exercising. 4. SOME EXPERIMENTAL EXERCISES
2.3 Digital and optimal control In group-working (an education goal by itself), students carry
on computational experiments with several levels of
The third course where students contact with control is the complexity. Some examples of practical exercises, using the
“Algorithms for Diagnosis and Self-Regulation”. The “bionic Matlab and Simulink software, are briefly described in the
man” with artificial organs controlled by the central nervous following.
system, a fusion of biology and electronic, is the motivation
for advanced control theories. The following subjects are 4.1 Simulation of the evolution of the population of a
studied: biological species
- Discretization techniques, Z-Transform (review), discrete Defining a biological species (insects, for example) as a
transfer function and its recursive identification (5h). system whose individuals live an integer number of years,
and considering that the population grows with a given
- The synthesis of digital controllers in an “outward-to-
limitation, the population’s temporal evolution is simulated
inward” approach: given the desired closed-loop transfer
using a simplified model in the form of the non-linear
function, given the process (open loop) discrete transfer
difference equation (1) (Flood (1993)),
function, derive the digital controller from them to shape the
closed-loop, obeying to the constrains of stability and
realizability. Diophantine equations are introduced and the x k +1 = Ax k (1 - x k ) = f (x k ), x k Î [0,1] (1)
discrete PID control is looked as a particular case (5h).
where xk is a fraction of the population’s maximum value in
- Pole-zero cancellation controllers: advantages and year k. and A is a positive constant that depends on
drawbacks (the imperfect cancellation of instable poles and environmental conditions (the availability of food, water,
zeros) (5 hours). climate, etc.).
- State feedback, in discrete state space, and how it shapes the The students, after creating the model, simulate it and analyze
the influence of the values of the initial population and of the
closed loop characteristic equation by a proper calculation of
the feedback gains. The regulator problem is treated, and is constant A on the temporal evolution of the population.
faced as a way to surpass the pole-zero cancellation
controllers (5 hours). 4.2 Simulation of the ingestion and excretion of a drug
- Optimal control is introduced for the regulator problem,
including the Ricatti equation in recursive and steady-state The main objectives of this work are to use methods of
versions. It is presented as a special case of state feedback (5 numerical integration of functions and to consider numerical
hours). methods to simulate continuous systems modelled by
differential equations. As example, the system considers the
The syllabus organization is illustrated by Fig. 1. ingestion and excretion of a drug shown in Fig. 2 (Bruce(
2001)).
3. LEARNING METHODOLOGY
The systems and control program is extensive, including
most of the control techniques with practical relevance. If
they would be studied with all the details and all
Figure 2: System of ingestion and excretion of a drug.
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9th IFAC Symposium Advances in Control Education
Nizhny Novgorod, Russia, June 19-21, 2012
The drug is taken orally, at a rate u(t), goes to the intestines, where VL(t) is the lungs volume, P(t) is the differential
where it reaches a quantity x1(t), and then it is absorbed by pressure between the pressure of the forced ventilation and
the bloodstream. The bloodstream, where the drug reaches a the atmospheric pressure, and a and b are coefficients
quantity x2(t), passes through the kidney (where it is assumed depending on the total compliance (lungs + chest) and on the
there is no absorption) that expels the drug at a rate y(t), resistance to the flux of the forcing air into the lungs.
passing it into the urine. In this approach, for reasons of The other considered system describes the functioning of the
simplicity, other physiological actions are disregarded and skeletal muscle using a model with a 2nd order differential
the elimination of the drug by cellular metabolism is ignored. equation (4) ((Bruce (2001)),
In medical terminology the process is multi-compartmental.
Assuming the kidney is only one transition element, the dy (t ) d 2 y (t )
process has only two compartments. Being necessary to find Ky (t ) B M u (t ) (4)
dt dt 2
a compartmental model of the process, an equivalent fluidic
system can be developed, as shown in Fig. 3. where y(t) is the output, K the elastic constant, B the viscous
friction constant, M the mass and u(t) the input (applied
force).
Special emphasis is given to the relation between the transfer
function and the state space representations and to the
introduction of feedback control for regulation and tracking
purposes.
415
9th IFAC Symposium Advances in Control Education
Nizhny Novgorod, Russia, June 19-21, 2012
0.8
0.6
0.4
0.2
0
I2
-0.2
Figure 5. The closed digital control-loop with ZOH.
-0.4
-0.6
Given the G(s), the students:
-0.8 (i) Develop and implement the controller D(z) of
-1 minimum settling time.
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1 (ii) Develop and implement a deadbeat controller.
I1
(iii) Derive a controller by pole-zero cancellation,
Figure 4. Phase portrait for the system (8) for given values of considering the closed-loop behavior specified by
the constants. The nonlinear system has 3 singularities with the damping factor and the settling time.
different stability properties (attractor, repelling, saddle
point). 4.8 Discrete State variable feedback of a second order system
given by a continuous state equation.
4.5 Recursive identification of discrete linear systems.
Considering a continuous time process represented in state
A file is given with input and output time series of a system space, considering the ZOH and a given sampling period,
(not known by the student) discretized with a given sampling discrete state feedback is derived and implemented. Stability
frequency. Using the Matlab Systems Identification toolbox, analysis and the closed loop-steady state error are addressed.
each group studies the recursive identification problem, the
416
9th IFAC Symposium Advances in Control Education
Nizhny Novgorod, Russia, June 19-21, 2012
4.9 Optimal control of a discrete system for a finite horizon, importance. Control is very important in the understanding of
with the recursive solution of the Ricatti equation. the feedback paths in physiological systems. It is decisive in
building artificial organs such as artificial arms and legs, and
A discrete time process, known to be controllable and in controlling artificial devices such as pacemakers or insulin
observable, is given. The Linear Quadratic Regulator is injection devices for diabetic patients. Control is in the center
implemented with the study of the relative influence of the Q of future medicine.
(state) and R (input) penalty matrices.
REFERENCES
5. BIBLIOGRAPHY OF THE COURSES Allman Elizabeth S. and John A. Rhodes (2003).
The courses are developed accordingly with the instructors’ Mathematical Models in Biology: An Introduction by
experience. However there are some books that the students Cambridge University Press.
must use as complementary knowledge. For example Baura G D (2002). System Theory and Practical Applications
Bertalanfy (1969), Hoppensteadt and Peskin (2000), Khoo of Biomedical Signals, (Biomedical Engineering S.),
(1999), Ogata (2002), Bronzino (2000), Elizabeth and John Wiley and Sons.
Rhodes (2003), Baura (2002), Flood and Carson (2003), Bertalanffy, L. (1969). General Systems Theory, George
Ross(2004), Hagan and Coll. (1995). Brazillier, NY.
Boyd, D.W. (2001). Systems Analysis and Modelling, A
Macro-to-Micro Approach with Multidisciplinary
6. STUDENTS FEEDBACK Applications, Academic Press.
Bronzino, Joseph D. (Editor) (2000). The Biomedical
Students in general express a positive evaluation of the three Engineering Handbook (Electrical Engineering
courses referred above. The main difficulty arises from the Handbook), Springer Verlag.
lack of knowledge in computer programming. Since the Bruce, Eugene N. (2001). Biomedical Processing and Signal
examples are mainly from biomedical problems, they are Modelling, John Wiley and Sons.
stimulated by them and they succeed to overcome these Feigenbaum, M.J. (1979)."The Universal Metric Properties of
difficulties. Students have a solid mathematics and physics Nonlinear Transformations." J. Stat. Phys. 21, 669-706.
background to attain the learning objectives of these courses. Flood, R. L. and E. R. Carson (1993). Dealing with
Complexity, An Introduction to the Theory and
The University has a quality management and control system Applications of Systems Science, Plenum Press, NY.
with mandatory anonymous answers by the students, every Hagan Martin T., H,. B. Demuth and M. H. Beale (1995),
semester, for each of the individual courses. The average Neural Network Design, PWS Publishing.
results for the three courses involving Systems and Control is Hoppensteadt Frank C., Charles S. Peskin (2000). Modeling
usually 4 into 5, meaning a very positive opinion about them. and Simulation in Medicine and the Life Sciences (Texts
The students are inquired about several aspects: importance in Applied Mathematics), Springer Verlag.
of the course for their perception of the professional life, Marmarelis, Vasilis Z. (2004). Nonliner Dynamic Modeling
quality of study and bibliographical materials, experienced of Physiological Systems, IEEE Series in Biomedical
quality of learning, coherence between delivered theory and Engineering.
practical exercises, their involvement in learning activities, Michael Khoo. M. (1999). Physiological Control Systems:
adequacy of the number of students per class, global Analysis, Simulation, and Estimation, J. Wiley & Sons.
appreciation of the lecturers, fairness of evaluation. Ogata, K. (2002). Modern Control Engineering, 4th ed.,
Prentice Hall
7. CONCLUSIONS Polking J. and David Arnold (1999). Ordinary Differential
Equations using MATLAB, Prentice Hall.
At the end, the Biomedical Engineering students of the Ross T. (2004). Fuzzy Logic With Engineering Applications,
University of Coimbra learned, experienced and developed 2nd Ed., McGraw Hill.
skills in the main control techniques with practical
rd
st st
Mandatory, 3 year, B.Sc. Optional, 1 year, M.Sc. Optional, 1 year, M.Sc.
Computational Models of Neural and Fuzzy Algorithms for Diagnosis
Physiological Processes Computation and Self‐Regulation
General Systems Theory Neural networks in
Differential equations. biomedical applications. Systems identification.
Transfer function. Fuzzy Logic. Digital Control.
State equations. Fuzzy Control. Optimal Control.
Nonlinear and chaotic
systems.
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