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This Master Thesis Project presents an interactive program intended to be used in a course in Digital control, given by the Department of Automatic Control at Lund Institute of Technology. This application is supposed to give the students a good comprehension of sampled data systems. The areas that are covered are sampling, aliasing, observability, parameter sensitivity, PID-control, pole placemen
This Master Thesis project is a pilot study in developing a collision avoidance function for an autonomous underwater vehicle, also called AUV. A collision avoidance function is necessary to ensure safe operation of an AUV. The AUV gets information about the surroundings through an active sonar. The image from the sonar has to be processed to extract information about the environment, e.g., detect
As a part of a research project, AB Volvo Technological Development is investigating the properties of traction batteries of different types. The aim is to find a suitable energy storage for electric/hybrid vehicles. This master thesis examines the possibility of using a non-linear model of a traction battery to construct a device that accurately estimates the battery State of Charge (SoC) under
Modelling of an industrial control loop for concentration control using Omola, an object-oriented modelling language, is described. The major modelling effort has been made to make a complete nonlinear model of the pneumatic positioner-actuator of the control valve in the loop. A library of several friction models has also been developed. These models have been used to describe friction in the con
Communication delays in real time systems cause detoriation of the control performance of the closed loop system. To investigate this problem a process with varying delay is studied. Control of a motor in presence of delays is studied for different delay models. Design equations are derived based on polynomial design. The design depends on the designer's choices, i.e. desired closed-loop behav
