Milos Schlegel - Academia.edu (original) (raw)

Papers by Milos Schlegel

2016 3rd International Symposium on Wireless Systems within the Conferences on Intelligent Data Acquisition and Advanced Computing Systems (IDAACS-SWS), 2016

The paper demonstrates use of wireless sensor as input data source for fast real-time automatic c... more The paper demonstrates use of wireless sensor as input data source for fast real-time automatic control. Fast, underactuated and highly unstable inverse triple pendulum system is controlled on the basis of values measured on the pendulum arms and wirelessly transmitted to the controller. The presented solution working in 2.4 GHz band and based on Atmel SAM R21 SoC on the sensor side and Atmel AT86RF233 transceiver on the controller side delivers data from 2 IRC sensors and 3-axis gyroscope with latency as low as 350 us.

The paper describes two approaches to problem of active damping of vibrations of cantilever beam.... more The paper describes two approaches to problem of active damping of vibrations of cantilever beam. First one uses standard LTI (linear time invariant) mathematical model of the system and state feedback with the state observer designed by pole placement method. The incomplete pole assignment method is used instead of the standard full assignment. The second one is based on experimental identification of the first mode shape and design dynamic compensator. Experimental results of both methods are compared. The problem of robustness of the compensator by frequency domain method based on the unstructured uncertainty of the model is also addressed.

Linear and Multilinear Algebra, 1987

... Dearees - of the Invariant Factors and the Rank of Principal Submatrices of a Matrix JIR~ HOL... more ... Dearees - of the Invariant Factors and the Rank of Principal Submatrices of a Matrix JIR~ HOLENDA Technical Universitjj, Nejedlebo Sady 74, 306 14 Plzeh Czechoslovakia MILOSSCHLEGEL Skoda Reseerc!? !.mt;tute. 375 00 Plzeh, Czechns!nvakia ...

Solid State Phenomena, 2010

Input shaping has been demonstrated to be a simple method of reducing vibration in many types of ... more Input shaping has been demonstrated to be a simple method of reducing vibration in many types of controlled machines. The method is implemented by convolving a command signal with an impulse sequence of input shaper to produce a shaped input that is then used to command the system. Designing the input shaper involves determining the amplitudes and timing of the impulses such that the resulting shaped commands lead to desired levels of vibration reduction. Up to now, to the best knowledge of the authors, it is known only few special types of input shapers (ZV, ZVD, ZVDk, EI, SI,...). This paper presents two general approaches for parametrization of all three impulse zero vibration input shapers.

2019 22nd International Conference on Process Control (PC19), 2019

The paper deals with a class of plug-in type repetitive controllers intended for servo systems wh... more The paper deals with a class of plug-in type repetitive controllers intended for servo systems which follow periodic reference signals or compensate periodic exogenous disturbances. Proportional-integral (PI) feedback controller is complemented by an internal model of a generic periodic signal aiming at perfect asymptotic tracking or disturbance rejection. A novel design method is proposed allowing a simultaneous tuning of the PI controller and the repetitive control part. The design requirements can be formulated in the frequency domain as proper loop-shaping inequalities defining constraints on important closed-loop sensitivity functions. These constraints are translated directly into the parametric plane of the controller allowing to derive a complete set of admissible controllers. The proposed method is demonstrated in a case study of a flexible motion system.

2021 23rd International Conference on Process Control (PC), 2021

This paper deals with PI(D) controller autotuners of global automation producer Siemens and Czech... more This paper deals with PI(D) controller autotuners of global automation producer Siemens and Czech SME company REX Controls. The PID-Compact function block (Siemens) and the PIDMA function block (REX Controls) autotuners were compared on a setup consisting of a Siemens S7-1200 PLC, programmed in the TIA Portal, and a Raspberry Pi, programmed in REXYGEN, with the Monarco HAT I/O module. The autotuning results are demonstrated on a subset of well known PI(D) control benchmarks by K. J. Åström and T. Hägglund. The subset contains lag-dominated, delay-dominated, non-minimum phase systems and system with integral action. The results presented in this article show that the PIDMA autotuner significantly outperforms the Siemens one in speed and performance, but at the same time show the problem of automatic tuning of the PID controller is not yet completely solved. This area needs to be further addressed in the future, every year is commissioned millions PI(D) controllers, the correct settin...

Proceedings of the 19th IFAC World Congress, 2014

Proceedings of the 16th IFAC World Congress, 2005, 2005

$Research paper thumbnail of PID pulse autotuner based on a class of fractional-order systems$

PID pulse autotuner based on moments of the impulse response was already proved suitable for indu... more PID pulse autotuner based on moments of the impulse response was already proved suitable for industrial practice. The new concept proposed in this paper relieves several weaknesses of the first autotuner generation. The autotuning procedure works ...

Mechatronic Systems and Materials, 2009

Publications: Parametrization of all three impulse zero vibration input shapers.