Keywords: Control de Sistemas No Lineales, Control de Sistemas Lineales, Detección y Aislamiento de Fallas
Abstract: This paper presents the design of a generalized learning observer (GLO) structure for simultaneous estimation of variable states and actuator faults in a wider class of systems known as descriptor nonlinear parameter varying (D-NLPV) systems. This generalized structure provides additional degrees of freedom in the observer design to improve robustness and reduce the convergence time for fault estimation. Its design is obtained in terms of a set of linear matrix inequalities. The performance of the proposed methodology is evaluated in the model of a heat exchanger with two countercurrent cells with actuator faults.

Keywords: Detección y Aislamiento de Fallas, Control de Sistemas No Lineales, Control Discontinuo (modos deslizantes)
Abstract: This paper presents a novel unknown input observer for nonlinear systems which, based on as much time derivatives of the output as its relative degree plus one, is able to asymptotically reconstruct both the state and the unknown input for a class of nonlinear systems. Design conditions are expressed as linear matrix inequalities thanks to a convex representation of the nonlinear terms involved in the error system which, in turn, is obtained from a recently appeared factorization. Examples are provided to highlight the advantages of the proposal.

Keywords: Detección y Aislamiento de Fallas, Procesos Biológicos, Otros Tópicos Afines
Abstract: In this work three fractional observers are implemented in order to estimate faults of a fractional nonlinear system and a Bergman model which gives us a real application model, the faults considered are additive faults. In this work observer-based diagnosis is implemented and we compare the fractional observers with a criterion of a performance index function. Based on this performance index,the fractional observers are compares, and is verified which one gives the best performance. We characterized three fractional observers, selecting the observer gains in order to give the best performance of each observer.

Keywords: Modelado e Identificación de Sistemas, Detección y Aislamiento de Fallas, Sistemas Biomédicos
Abstract: This paper deals with the design of a sliding mode observer allowing to estimate the state vector of a nonlinear dynamical cardiovascular system linearly unobservable. This state estimation is used for detecting faults to study the problem of cardiovascular anomalies that can originate from variations in physiological parameters and deviations in the performance of the heart’s mitral and aortic valves.

Keywords: Detección y Aislamiento de Fallas, Control de Procesos
Abstract: This article deals with a development of a pipeline leak detection system for monitoring hydrocarbon pipelines in real time. This system is based on the integration of methods of negative pressure waves of propagation and mass and momentum balance calculation. The system is designed to receive real-time data from multiple remote terminals which operate in the field and its processing in a monitoring center. For validation of the system, a liquefied gas pipeline of 20” diameter and 60 km in length was used. The validation of the system was done by comparing the events detected and located by the developed system and the results of verification of real leak locations. Some inspection results using this system are presented

Keywords: Detección y Aislamiento de Fallas, Sistemas de Parámetros Distribuidos, Modelado e Identificación de Sistemas
Abstract: In this work, practical considerations regarding the use of a fault diagnosis scheme based on a distributed adaptive estimator for the high-voltage direct current (HVDC) transmission line within a simplified model of the DC link are presented. Due to transients and steady-state ripple caused by unmodeled nonlinearities in the HVDC system's conversion part, parameter adjustments of the distributed estimator, including gains and thresholds, are performed to successfully determine the fault magnitude and position within the line through simulation studies. To validate the proposed scheme, numerical simulations of the diagnostic scheme are compared with two HVDC links: a simplified one and the CIGRE (International Council on Large Electric Systems).

Keywords: Control Óptimo, Control de Sistemas No Lineales, Otros Tópicos Afines
Abstract: In this paper, we address the issue of harvesting prey and intermediate predators in a tritrophic food chain. Our approach is based on a model that characterizes the interactions among the three species. We assume that the intermediate predator has alternative food sources (it is a generalist), while the top predator relies solely on the intermediate predator (it is a specialist). This model has been previously explored in the literature, but representing the harvesting effort as a scalar control variable. In this study, we treat it as a vector variable, offering a more comprehensive representation, particularly relevant for terrestrial species hunting. Our primary objective is to determine optimal harvesting policies that ensure the persistence of all three species. To achieve this, we formulate the problem as an optimal control problem with a finite horizon and path constraints. We present a numerical example solved using ICLOCS2.

Keywords: Procesos Biológicos, Modelado e Identificación de Sistemas
Abstract: Currently, there is a promising therapy to treat cancer that uses dendritic cell infusions. Dendritic cells play a crucial role in the initiation, programming, and regulation of the specific immune response, for this reason they are considered the best antigen-presenting cells. The objective of using them in immunotherapy is to induce a specific immune response of T cells towards cancer cells. This article provides a brief review of three mathematical models of the tumor-immune system interaction subject to dendritic cell immunotherapy. It is important to point out that analyzing mathematical models is a crucial stage in the design of control laws for establishing optimal administration protocols for dendritic cell immunotherapy.

Keywords: Modelado e Identificación de Sistemas, Sistemas Biomédicos, Otros Tópicos Afines
Abstract: This work presents a robust observer-based approach for parameter identification and state estimation in fractional-order SIR and SEIR models, applied to analyze the spread of the SARS-CoV-2 Omicron variant in Mexico from December 26, 2021, to March 26, 2022. By utilizing measurements of changes in the infected population, a robust observer is proposed to reconstruct the transmission rate within the fractional model. The method accounts for noisy measurement cases and incorporates parametric reconstruction and state observation. The proposed approach is demonstrated through numerical results, showcasing its capabilities in effectively estimating parameters and states. The findings of this study have implications for formulating strategies to prevent, slow, and halt the spread of infectious diseases, offering valuable insights for combating future disease outbreaks.

Keywords: Procesos Biotecnológicos, Control de Sistemas No Lineales, Control de Procesos
Abstract: The monitoring and control of bioreactors is essential for any bioprocess. Therefore, measuring some essential biochemical key variables is crucial, such as the reaction rates, whose structure is usually barely known. Although many high gain and sliding mode observers-based estimators were designed to estimate these variables, these strategies are not robust against external disturbances. This work extends the high gain and sliding mode techniques to simultaneously estimate the reaction rates and an external disturbance under a persistent excitation condition that is easy to verify. Furthermore, the proposed algorithms are exponentially and finite-time stable, respectively. Finally, both observers are tested in a continuous fermentation process simulation.

Keywords: Modelado e Identificación de Sistemas, Procesos Biotecnológicos, Control de Sistemas No Lineales
Abstract: In the ongoing search for efficient techniques to identify and validate dynamic models in various fields of science and engineering, the sparse identification of nonlinear dynamics (SINDy) algorithm has emerged as a promising tool to carry out this task. In this study, SINDy is applied to identify two chemical processes: pH neutralization and temperature control in a bioreactor. To accomplish this, firstly, the dynamic behavior of each system was modeled, and data were collected for both processes. Then, the studied algorithm was employed to identify the dynamic models of each process. Then, the identified models by SINDy were validated by comparing them with first-principles models. Several tests were conducted to assess the capability of SINDy-based models in predicting the dynamic behavior of the pH and temperature processes. The results revealed a satisfactory agreement between the models obtained by SINDy and the first-principles models. Hence, we show the SINDy algorithm could be reliable tool for identifying dynamic models for chemical processes.

Keywords: Procesos Biológicos, Modelado e Identificación de Sistemas, Procesos Biotecnológicos
Abstract: This paper proposes an innovative method to estimate the states in a nonlinear time-delayed quorum sensing (QS) model using an extended Kalman filter (EKF) observer. By addressing the inherent time delays in QS system which arise as a delayed response of bacteria to population fluctuations, the study introduces variable structure dynamical estimators, specifically the EKF, to approximate missing states based on available measurements. The EKF observer is applied to estimate four out of five internal non-measurable nonlinear states in a time-delayed QS model. This is the first attempt to utilize the EKF state estimation in nonlinear time delay QS models. The research contributes to the understanding of QS systems, provides insights into the communication dynamics inside biological systems, and offers a practical solution for estimating states in realistic scenarios.

Keywords: Control de Sistemas No Lineales, Control Discontinuo (modos deslizantes), Otros Tópicos Afines
Abstract: Nowadays the use of quadrotors is extremely extended in different recreational, industrial and research environments, for that reason having a way to generate motion following a predetermined position without losing the degrees of freedom of the quadrotor is an interesting idea. In the present work a model of a quadrotor with cross configuration is obtained, analytically by the Euler-Lagrange method, and non-holonomic constraints are imposed through a vector that gives the direction to follow in every movement it performs. A Twisting control is used to generate the point-to-point trajectory that the quadrotor should follow, in particular for this work, pointing to the positive x-axis of the qudrotor.

Keywords: Control Discontinuo (modos deslizantes), Control de Sistemas No Lineales
Abstract: This paper presents sets of gains for the nested discontinuous controller family. The methodology for obtaining gains is based on a control Lyapunov function, this function determines the conditions for the value of each of the controller gains, the last gain being the one that is directly related to the boundaries of the disturbances and uncertainties. In this way the algorithm for obtaining gains can be summarized in three steps. The first step concerns about establishing the value of the weight vector, the degrees of homogeneity of the r-homogeneous functions that make up the proposed Lyapunov function. The second step consists of establishing the value of the first gain, which, for second and higher order controllers, is sufficient for it to be real positive. The third step is to determine the maximum value of an objective function. Moreover, it allows us to obtain the lower bound of the set of values for the gain that stabilize the system. The results show that the set of gains obtained stabilize the closed-loop system.

Keywords: Control Discontinuo (modos deslizantes), Sistemas Multi-Agente, Control Robusto
Abstract: This article presents a distributed control of unicycle mobile robots for the leader-follower configuration while maintaining a specific geometric distribution in the horizontal plane. The proposed control algorithm facilitates the formation of the follower robots with respect to the leader by using a quasi-sliding mode. The technique uses a pair of sliding variables, and the proposed controller guarantees the convergence of the sliding variables to a region close to zero. The particular formulation of these sliding variables ensures that their convergence to a bounded region around zero, provides asymptotic convergence of the formation errors towards a bounded region around the origin.

Keywords: Control Discontinuo (modos deslizantes), Control Robusto, Control de Sistemas No Lineales
Abstract: The effect of deterministic measurement noise on barrier function-based adaptive sliding mode controllers (BFASMC) is analyzed. For general bounded deterministic noise signals, it is impossible to select the controller parameters to track some perturbation with unknown bound. Nonetheless, if the assumption of continuity of the noise is added, the tracking of such a perturbation is possible whenever the barrier function width depends on the bound of the noise. If Lipschitz continuity of the noise is assumed, then the barrier function width can be chosen arbitrarily.

Keywords: Control Discontinuo (modos deslizantes), Control de Sistemas No Lineales, Control Robusto
Abstract: This paper presents a performance analysis for the reaction wheel pendulum (RWP) using continuous sliding mode controllers in the proportional integral derivative (PID-like) form. The fourth-order linearized model of the RWP is used for control design to obtain the simulations and the experimental results to verify the theoretical properties of this type of algorithm.

Keywords: Control de Sistemas No Lineales, Control Discontinuo (modos deslizantes), Control Robusto
Abstract: This paper presents the design of a robust controller, based on an integral sliding–mode control (ISMC) approach together with an interval predictor–based state feedback controller and a Model Predictive Control (MPC) scheme, for a class of uncertain linear parameter–varying (LPV) systems. The proposed controller deals with some state and input constraints and is robust to some external disturbances and parameter uncertainties. Furthermore, the performance of the proposed scheme is validated by numerical simulations.

Keywords: Detección y Aislamiento de Fallas, Otros Tópicos Afines
Abstract: This paper presents the electrical modification of the windings of a 350 W three-phase permanent magnet synchronous motor (PMSM) of an electric scooter to insert short-circuit faults in a controlled manner. The in-wheel motor (outer rotor) was altered in two of its windings in order to cause two types of faults: short-circuit fault between windings and short-circuit faults between winding and stator structure (chassis). The type of fault of interest to cause is the incipient type (small in magnitude); therefore the selection of the taps will be in the same coils or close to the star point. To guarantee that the values of the electrical parameters in the windings (resistance and self inductance) correspond to those of the manufacturer, they are measured by means of instruments and the industrial method is also used to obtain the nominal values without the presence of a fault and in the presence of incipient short-circuit faults. Faults are entered manually and temporarily by means of electrical contactors; the information is measured by means of an RLC instrument and an oscilloscope for current and voltage measurement in each phase.

Keywords: Educación en Control, Tecnología para Control
Abstract: This paper presents a didactic-embedded platform for system identification applied to a BLDC motor like those found in drones. The main component of the embedded system is a Raspberry Pi 4 board with a slave board based on Microchip microcontroller PIC18F45K50. A detailed case study shows the platform's applicability to identify the Brushless Direct Current (BLDC) motor's parameters using the process reaction curve method.

Keywords: Modelado e Identificación de Sistemas, Sistemas Electromecánicos, Control de Sistemas No Lineales
Abstract: A high-gain linear observer is proposed for online identification and reconstruction of a periodic disturbance. It is assumed that the frequency of the periodic disturbance is known, but its amplitude and phase are unknown. This is not a stringent assumption since such supposition can be easily characterized for disturbances like cogging torque, or bearing defects, both well-known problems in the control of electric machines. The observer design is based on the internal model principle in combination with a high-gain observer. Numerical results are included to validate the estimation of the periodic disturbance even when another disturbance of a different frequency is added. The estimated disturbance can be used to design a controller for reducing the disturbance effect. Alternatively, the estimated disturbance can be used for fault detection like in the case of gears and bearing faults, or simply to characterize the cogging torque of a particular machine.

Keywords: Control de Sistemas No Lineales, Sistemas Adaptables, Sistemas Electromecánicos
Abstract: In this work, the problem of parameter uncertainty of the Permanent Magnet Synchronous Motor (PMSM) model in the dq reference frame is studied by implementing an adaptive control scheme. The starting point of this paper is to analyze the system structure and represent the system as an interconnection between the electric subsystem, which is a completely actuated system, and the mechanical subsystem which is not actuated. This decomposition allows the design of a current tracking control based on the Passivity Based Control (PBC) methodology for the electrical subsystem. The interconnection, which is power preserving, allows to consider the unactuated mechanical subsystem as a passive perturbation that is proven to be bounded. The numerical evaluation was done by a MATLAB Simulink simulation with a comparison that shows that the designed control is able to deal with the parameters uncertainties of the electrical subsystem.

Keywords: Control de Sistemas Lineales, Control de Sistemas No Lineales
Abstract: This work proposes the design of an extended state observer to estimate the electrical angular position, angular velocity, and load torque of a surface permanent magnet synchronous motor. We propose a rotating mathematical model (d,q) modified to the observer design when exists an alignment error between the actual and estimated reference frame. From the study of the observer's stability, we propose a methodology to estimate the electrical angular position of the rotor. Finally, we perform high-precision emulations to validate the theoretical results.

Keywords: Procesos Biotecnológicos, Control de Sistemas Lineales, Control de Procesos
Abstract: In this work, it is explored a controlled semi-batch operation for a stirred tank reactor in which an enzymatic hydrolysis of cellulose is carried out to enhance the concentration of reducing sugar. A high concentration of reducing sugar impacts fermentation processes in a biorefinery. Cellulose and enzyme feedings are driven by controllers to maintain the highest cellulose concentration allowed by a physical constraint in the process; in consequence, more cellulose is fed than in a typical batch operation and a greater glucose concentration is obtained. The construction of controllers is systematic, and performance is illustrated by simulation.

Keywords: Control de Procesos, Control de Sistemas No Lineales, Procesos Biotecnológicos
Abstract: In this paper, an optimization strategy with modifier adaptation based on a mechanistic model and the estimation of the input-output map gradient is presented to solve optimization problems in real-time. The strategy consists of defining an optimization problem based on the process model with first-order modifiers in the objective function that include the information of the input-output map gradient to correct the uncertainties of the process model. The gradient of the input-output map is estimated by means of a differentiator based on a multivariable Super-Twisting algorithm. The proposed real-time optimization with modifier adaptation strategy is implemented in a bioethanol production process and validated through closed-loop simulations.

Keywords: Control de Sistemas Lineales, Control de Procesos, Control Clásico
Abstract: In this article, we address the mechanical design and temperature control of an ecological egg incubator. A central component of the proposed incubator is the heating chamber, where the temperature is adjusted using a nickel/chromium heating element and a solar energy-based thermotank. Temperature regulation within the heating chamber is carried out through a PI controller. The tuning of the control gains is performed using the D-partition method, which allows obtaining stability regions of the closed-loop system in the presence of input time delay.

Keywords: Control de Procesos, Control de Sistemas No Lineales, Modelado e Identificación de Sistemas
Abstract: This article presents an improvement to an algebraic observer to estimate the state of a mechanical system whose only feedback variable is acceleration. This problem appears in different mechanical systems, e.g., structures subject to the effects of earthquakes. The algebraic observer that motivates this work is constrained to a finite time range; it cannot observe for time very close to zero, nor beyond a large value, because it would make singular the matrix involved in the estimation. In this proposal these disadvantages are eliminated by obtaining a matrix with independent-of-time determinant. The objective of the observer is to estimate the position and velocity that correspond to the acceleration measure, for use in a recently published control law of the semi-active control system of a single-story building by means of a magnetorheological damper.

Keywords: Control de Procesos, Control Clásico, Cómputo para Control
Abstract: In the application of the theory of fault detection and isolation (FDI), there is a particular area that is the detection of leaks in pipelines that carry some type of liquid. An important premise in most of these detection methods is that the flow pressure at the pipeline inlet is considered to be constant, but this premise is not fulfilled when there is a hydraulic pump at the pipeline inlet. In this paper, a solution is presented to keep the pressure constant at the entrance of a prototype pipeline built specifically for the detection of pipeline failures. It is proposed to close a control loop to regulate the pressure, this with a proportional-integral controller (PI); The handicap in this proposal is that there is a discrete element in the loop, a frequency inverter. The steps of the controller design and its implementation in the pipeline are described. The final result shows excellent performance in pressure regulation.

Keywords: Control de Sistemas No Lineales, Robótica y Mecatrónica, Control Basado en pasividad
Abstract: This paper proposes a control scheme in order to attain finite-time regulation of robots manipulators in the task-space. The stability analysis is carried out by means of strict Lyapunov functions since the well-known results of homogeneous systems cannot be applied directly. Simulations results verify the performance of the proposed control scheme.

Keywords: Control de Sistemas No Lineales, Control Basado en pasividad, Sistemas Electromecánicos
Abstract: A strategy of angular velocity control of the three-phase permanent magnet synchronous motor is presented in its natural reference frame, i.e., no transformations are made to the mathematical model, so the design of the control algorithm is carried out with the three differential equations obtained for the stator windings as well as with the electromagnetic torque that results with the three stator currents, with the assumption that only the signals of both the stator currents and the angular position are available. To obtain a signal that relates to angular velocity, a state-space representation of a second-order linear filter is used. Likewise, a formal stability analysis of the entire system is presented.

Keywords: Control Basado en pasividad, Robótica y Mecatrónica, Control de Sistemas No Lineales
Abstract: This article employs a pedagogical approach to provide graphical evidence for visualizing an energy-shaping control methodology applied to a class of mechanical systems. The principal objective of this graphical evidence is to corroborate that the proposed control law leads to a desired closed-loop system with a Hamiltonian structure. An important attribute of the desired closed-loop system is that allow us to achieve various control objectives and design criteria. A brief summary of the energy-shaping plus damping injection control methodology is explained. Finally an illustrative example of a simple pendulum applying this graphical evidence is presented.

Keywords: Control de Sistemas No Lineales, Control Basado en pasividad, Control Robusto
Abstract: In this paper a tracking Passivity--based Control (PBC) for a multiterminal Voltage Source Converter based High Voltage Direct Current Network (VSC--HVDC) is evaluated. First, the system (an actual multiterminal HVDC) described as a Port Hamiltonian (PH) System and the controller are presented and subsequently three scenarios are proposed to evaluate the closed--loop behavior, namely: (i) load changes; (ii) generation changes and, (iii) DC--bus changes. Numerical simulations are carried out and results shown the robustness of the closed--loop to cope with these common disturbances.

Keywords: Control Basado en pasividad, Sistemas Electrónicos de Potencia
Abstract: In the present work, a strategy is proposed to control the pulse width modulation signals of the power devices of high switching of a three-phase alternating current to direct current converter as well as the current of a load type RL guaranteeing that the power factor of the supply be the unity, which is achieved by taking advantage of the properties that the complete mathematical model has in the two-phase synchronous frame of reference. Likewise, a formal stability analysis of the complete closed-loop system is presented, thereby demonstrating that the proposed scheme guarantees global asymptotic stability with all bounded internal signals.