Keywords: Sistemas Adaptables, Control de Sistemas No Lineales, Detección y Aislamiento de Fallas
Abstract: This work presents the design of an adaptive observer for a class of Lipschitz nonlinear systems, where the observer is able to estimate more than one unknown parameter. Thanks to this, it is possible to estimate the system states, which facilitates the monitoring of nonlinear Lipschitz systems. The proposed observer is tested for monitoring a semiactive suspension, in order to know the stiffness parameters of the tire and chassis, allowing the detection of possible anomalies in the system. To ensure observer stability, the gains are calculated by LMI obtained by Lyapunov analysis. The proposed observer is evaluated by estimating the unknown states and parameters of a mechanical system allowing monitoring of its performances.

Keywords: Sistemas Eléctricos de Potencia, Control de Sistemas No Lineales, Modelado e Identificación de Sistemas
Abstract: The stability of a Single Machine Infinite Bus (SMIB) is enhanced through a nonlinear (NL) observer-based controller driven by load angle measurement with a constructive framework: (i) based on input-output feedback linearising control strategy, (ii) with assignable pole closed-loop (CL) linear dynamics, (iii) with a linear geometric (G) (Luenberger with integral action to eliminate the output estimation mismatch) observer, and (iv) rejection of model parameter errors and unmeasured input disturbances coupled with a simple tuning scheme. As a result, the proposed observer-based controller has a more systematic design and priority assurance of robust functioning with a suitable trade-off between transient response, robustness concerning model exogenous disturbances, control effort, and a relatively simple conventional tuning scheme in comparison with the traditional industrial controllers as the Power System Stabilizer and Automatic Voltage Regulator (PSS/AVR). The proposed controller is tested with a representative example through numerical simulation and compared with the traditional control scheme PSS/AVR.

Keywords: Control Robusto, Control de Sistemas No Lineales, Control Discontinuo (modos deslizantes)
Abstract: This work presents a comparison of two control algorithms for the model of a nonlinear converter system used as a virtual synchronous generator (VSG). The converter connects between the electrical grid and an intermittent renewable system, such as photovoltaic or wind, with backup for sudden disturbances in electricity generation. The proposal of the VSG arises from the fact that, on one hand, the conventional generation system consists of large power plants such as combined-cycle power plants that employ generators and turbines with significant physical inertia. On the other hand, when connecting renewable systems such as wind and solar, which use converters to integrate with the grid, they lack physical inertia. It is necessary to couple this inertia to the system in order to compensate for the disturbances of intermittent systems and thereby maintain the frequency of the electrical power network. It should be clarified that physical inertia is not available when renewable systems such as wind or photovoltaic are connected. Recent studies have shown that it is possible to compensate for the disturbance caused by this lack of inertia through a backup system and the virtual synchronous generator (power converter) using control algorithms. In this work, linearization and super twisting algorithms are employed for handling disturbances, and the main differences between the algorithms are demonstrated when facing sudden changes in active or reactive power.

Keywords: Control de Sistemas No Lineales, Control Robusto, Sistemas Discretos
Abstract: In this paper a solution for the stabilization problem is proposed for continuous-time nonlinear systems, taking into account state and input constraints. The proposed sampled-time controller includes the design of a control law based on an interval predictor-based state-feedback controller and a model predictive control (MPC) approach that deals with the system constraints. The interval predictor-based state-feedback controller is designed based on Lyapunov function approach, which provides a safe set where the state constraints are not violated, out of this set the MPC is activated. The practical, uniform, and asymptotic stability of the considered nonlinear systems is guaranteed. A constructive method based on linear matrix inequalities (LMIs) is proposed to compute the controller gains.

Keywords: Control Robusto, Control de Sistemas No Lineales, Robótica y Mecatrónica
Abstract: This work presents a continuous robust control method for stabilizing the reaction wheel pendulum, despite the effect of external perturbations and using only output information. To achieve this, first, an extended high-order sliding-modes observer estimates the states and identifies the perturbations, theoretically, in finite time. Then, an active disturbance rejection scheme considers the estimated states and the identified perturbation. As a result, the closed-loop system is robust against external perturbations, and the system trajectories converge to the origin. Experimental results illustrate the performance and advantages of the presented algorithm

Keywords: Control de Sistemas No Lineales, Robótica y Mecatrónica
Abstract: This article presents the prediction problem for uniformly observable nonlinear systems with input delay. The prediction problem is addressed using high-gain observer-based predictors. A modified Lyapunov-Krasovskii functional is used to analyze the exponential convergence of the prediction error. The predictor design and tuning are illustrated through a flexible joint robot with input delay.

Keywords: Modelado e Identificación de Sistemas, Sistemas Eléctricos de Potencia
Abstract: In this paper, a hybrid wind-solar microgrid with battery storage aimed to bolstering remote and rural economies in Mexico (Alamos, Sonora and Petatlan, Guerrero) is presented. A load demand profile based on local economic activities is proposed and the optimal system sizing is obtained using a genetic algorithm (GA) and particle swarm optimization (PSO), both programmed in MATLAB, minimizing the global cost, and analyzing the cost of energy. The results are compared with a grid extension showing that schemes are feasible, since they present good stability and a lower cost than the extension of distributed networks.

Keywords: Modelado e Identificación de Sistemas, Control Clásico, Sistemas Electrónicos de Potencia
Abstract: This research presents two schemes for hydrogen generation by alkaline water electrolysis using a photovoltaic system and a boost converter as a power source. The first scheme aims to extract the maximum power from the photovoltaic system using the P&O algorithm and use this energy to generate hydrogen. Thus, obtaining the maximum efficiency of the photovoltaic-electrolytic cell system. The second scheme aims to generate hydrogen on demand, eliminating the need for storage and reducing the associated costs and risks. Nevertheless, this approach does not fully maximize the power available in the PV system, resulting in lower overall efficiency. Finally, it concludes with the proposal of an approach that combines on-demand hydrogen generation and maximum energy extraction from solar panels. Any unused energy from the electrolytic reactor is stored in a battery bank through a bidirectional converter. However, the simulation and implementation of this third scheme are proposed as future work.

Keywords: Sistemas Electrónicos de Potencia, Sistemas Estocásticos, Control Supervisor
Abstract: Distributed generation has emerged as an alternative for energy production, which can combine clean and renewable energies with energies produced based on fossil resources. The microgrids allow to interconnect different type of resources, generation and storage systems, which imply to harmonize their characteristics to reach a good performance as a whole. The complexity to coordinate, synchronize and optimize the better operation conditions of the microgrids, require an energy management system (EMS) that decides the dispatch of energy, which meets the objective function, in addition to satisfying the marked restrictions and maintaining a balance between generation and consumption. In this work, an energy management system is proposed for a grid-connected microgrid that decides the dispatch and interaction of the equipment together, the energy dispatch suggested by the EMS gives the lowest operating prices and also satisfies the energy balance between generation and demand.

Keywords: Sistemas Eléctricos de Potencia, Sistemas Electrónicos de Potencia, Control de Procesos
Abstract: In this paper, a simulation analysis of a multiport DC/DC converter with Boost topology has been carried out. The converter topology consists of two inputs and one output. This analysis aims to obtain the first version to cope with partial shading in a PV system using a multiport converter. The analysis shows the multiport converter's functionality to track the maximum power point of the two PV panels using the Perturb and Observe (P&O) algorithm in normal irradiance conditions and partial shading situations. A switching time of the switches was established to perform individual power extraction from each panel connected to each port individually. These findings will contribute to the feasibility of the proposed methodology for efficient energy extraction using multiport converters as another alternative to cope with partial shading.

Keywords: Otros Tópicos Afines, Control Clásico, Sistemas Electrónicos de Potencia
Abstract: This paper describes a novel Maxim Power Point Tracking (MPPT) control for Photovoltaic Cells. The proposed control strategy uses a power monitor at the Solar Cell out-port. The proposed scheme locates the maximum power by estimating the measured power and corresponding first derivative. The continuous power estimation allows a Pulse Width Modulation circuit to control the switching of a step-up DC-DC converter, setting the solar cell in an average maximum power operation. The manuscript describes the control laws and electronic circuit implementation, exhibiting an improvement in voltage ripple compared to state-of-the-art solutions.

Keywords: Otros Tópicos Afines, Modelado e Identificación de Sistemas, Control de Sistemas No Lineales
Abstract: This article presents the results of the characterization of a transparent photovoltaic cell, which is part of one of the most recent technologies in photovoltaic system developments. The study emphasizes the parameters that best determine the performance of the Transparent Solar Cell (TSC), with the purpose of supporting future research aimed at understanding its performance. Additionally, a mathematical model representing the electrical dynamics of the system is proposed. The model is obtained through identification, a technique based on the treatment of experimental data. Its formulation is achieved using a Hammerstein-Wiener mathematical structure for non-linear MISO systems.

Keywords: Control de Sistemas Lineales, Control Robusto, Control Clásico
Abstract: In this paper an interval observer is designed for a continuous-time plant with an even number of states. We assume that the measured output corresponds to half of the states of the plant. The observer is designed in such a way that the estimation error is a linear cooperative system, whose state matrix can be assigned arbitrarily. The observer’s performance is exemplified by numerical simulations of a mechanical system.

Keywords: Control de Sistemas Lineales, Modelado e Identificación de Sistemas, Sistemas Multi-Agente
Abstract: A new stability analysis for traffic systems characterized by the presence of pointwise and distributed delays is presented. The stability analysis is carried out via stability tests in a finite number of mathematical operations. In addition, an improved necessary and sufficient condition for retarded type systems is also presented. Some examples allow testing and validating the proposed stability analysis.

Keywords: Control de Sistemas Lineales, Control Clásico, Control de Procesos
Abstract: This paper deals with the stabilization problem for unstable second order systems with time delay. The implementation of an observer scheme that makes use of a static gain parameter and a proportional-derivative (PD) controller is proposed. The necessary and sufficient conditions for the control scheme proposed are obtained. The performance of the proposed method is showed through numeric examples on simulations.

Keywords: Control de Sistemas Lineales, Modelado e Identificación de Sistemas, Control Clásico
Abstract: The article focuses on the estimation of a seismic signal in a building-like structure using an adaptive observer. This algorithm allows to estimate to the behavior of the structure based on the accelation measurements, achieving the estimation of uncertain signal. Thus, an adaptive observer is proposed, which estimates both the state and unknown input. The approach is validated by simulating a two-story system using real data from a real earthquake. The results demonstrate the effectiveness of the observer in estimating the displacements in the structure and the unknown seismic signal.

Keywords: Control Clásico, Control de Sistemas Lineales, Sistemas Electromecánicos
Abstract: The depletion of energy resources have made saving energy a challenge in recent decades. One of the main components of energy consumption is lighting, it represents up to 20% of total energy consumption in the world; the largest amount consumed in residential and commercial buildings. Led technology, due to its characteristics of long life, high efficiency, low consumption and dimming capacity, has become an alternative to illuminate spaces. This work proposes a control scheme for LED lamp lighting with a double control loop, proportional- derivative in the internal loop and integral in the external one, based on the mathematical model in the absence of external lighting. In addition, the tuning strategy for the controller gains is proposed based on the design parameters of the standard second-order system. Through simulation it is shown that the tuning of the control strategy is adequate.

Keywords: Control de Sistemas Lineales, Otros Tópicos Afines, Educación en Control
Abstract: In this article the main objective is the design of a proportional integral (PI) observer that allows estimate the nonmeasurable states of an H2AT pendulum, who represents a person with spinal cord injury and contributes to a better understanding of the behavior of individuals with spinal cord injury. Based on the PI observer, a state feedback controller is designed for a system T-S representation.

Keywords: Control de Sistemas No Lineales, Modelado e Identificación de Sistemas, Control Clásico
Abstract: In this paper, an arbitrary-order proportional-integral-derivative controller is designed to control a pneumatic levitation system. To do it, an integer-order proportional-integral-derivative controller is tuned using the Matlab/Simulink PID Tuning block. Subsequently, the Curve-Fitting method is applied to approximate the behavior of the arbitrary-order of the integral and derivative part associated with the arbitrary-order controller. The proportional, integral and derivative gains obtained from the integer-order controller are used during the design of the arbitrary-order controller. Numerical simulations are performed in Matlab/Simulink, demonstrating a better transient response of the nonlinear system in comparison with the use of integer-order controllers.

Keywords: Modelado e Identificación de Sistemas, Control de Sistemas Lineales, Sistemas Discretos
Abstract: In this work a full-state observer is presented for MIMO linear systems in presence of uncertainties and multiple sampled outputs. The observer is capable to reconstruct the state vector in a continuous form even if it recieves the output in a sampled form. Then, it is possible to establish that the observation error will converge to a bounded value depending on the magnitude of the maximum sampling interval and uncertainties. In the case when there is no uncertainties, the observation error converges to zero. The proposed observer is tested to estimate the state vector in a building structure in which the seismic signal is treated as uncertainty.

Keywords: Modelado e Identificación de Sistemas
Abstract: Abstract: sulfate reducing bacteria (SRB) are currently important for the design of alternative technologies for bioremediation. The design of observers and/or controllers are necessary to estimate and/or control the dynamics of SRB bioprocesses. In this work, two adaptive observers with numerical application to the phenomenological model of sulfate removal by Desulfovibrio alaskesis 6SR are proposed to observe the biomass concentration with hydrogen sulfide measurement. The proposed observers contain in their structure an adaptivity term designed by the absolute error weighted by a sigmoid function. The proposed observers are compared using the ITE performance index. The numerical results indicate a better performance for the proposed estimators in contrast to the extended Luenberger observer.

Keywords: Modelado e Identificación de Sistemas, Sistemas de Eventos Discretos
Abstract: The following work presents experimental results and the validation by means of mathematical models for the application of an PI based on events/networks for the control of a fruiting chamber in the cultivation of mushroom (Pleurotus Ostreatus). The results show significant changes in the growth of the fungus, when it is in an environment of ideal and controlled conditions.

Keywords: Control de Sistemas No Lineales, Robótica y Mecatrónica, Sistemas Adaptables
Abstract: In this work, the principle of Immersion and Invariance (I&I) is used in the design of an observer/estimator for a closed-loop magnetic levitation system in order to reconstruct the magnetic levitator speed, the internal resistance of the coil and the mass of the levitating ball. By relying on Lyapunov function theory and analysis around a neighborhood of the operation point of the closed-loop dynamics, the stability and convergence of the observed states and estimated parameters to actual ones are guaranteed. Experimental results are shown to demonstrate the effectiveness of the proposed method.

Keywords: Educación en Control, Control Clásico, Tecnología para Control
Abstract: This article presents a lowcost educational platform based on a DC-DC Buck Converter to implement real-time control laws for engineering students. The motivation for this work arises from what happened during the COVID-19 pandemic when students did not have access to laboratory equipment and instruments necessary for their academic development. Particularly in the subjects of electrical circuits, electronics, and control, there has been a significant drop in the development of projects. This work shows the Buck converter's modeling and design to build and program different control laws like the Proportional Integral Derivative and the Setpoint weighted PID. Real-time experiments show the performance of the DC-DC Buck converter. The control algorithms are implemented using the MatLab / Simulink programming platform under the Waijung real-time control environment and an STM32704 data acquisition card.

Keywords: Control de Sistemas Lineales, Sistemas Electrónicos de Potencia, Otros Tópicos Afines
Abstract: The following paper presents the modeling and design of a backstepping controller based on saturation functions for a single-phase off-grid inverter system. The proposed controller consists of an algorithm that modifies the controller gains as a function of the error, which is intended to avoid the windup effect and to adapt to changes in system parameters, such as inverter load. The objective of the bakstepping controller acting on the system is to reduce the tracking error and improve the voltage quality at the inverter output by reducing the total harmonic distortion. The results of the backstepping controller with saturated gains are compared against backstepping with constant gains in order to test its performance improvement.

Keywords: Control de Sistemas Lineales, Sistemas Eléctricos de Potencia, Sistemas de Parámetros Distribuidos
Abstract: This paper proposes a proportional-integral-retarded (PIR) controller for a synchronous boost converter to ensure its reliable operation during voltage regulation. The PIR controller is based on the addition of a time-delay as a design parameter. In this approach, we analyze the spectral properties of the closed-loop system and establish a tuning rule that optimizes its dynamic response, thus maximizing the exponential decay rate for the system’s solutions. Inspired by the application field of renewable energy systems such as photovoltaic and fuel-cell systems, we validate the significance of our results via numerical simulations and show that incorporating delays as design parameters improves relative stability margins.

Keywords: Modelado e Identificación de Sistemas, Control de Sistemas No Lineales, Sistemas Electrónicos de Potencia
Abstract: This paper presents the mathematical modeling of the three-phase squirrel cage induction motor and its driver, the DC bus, and a photovoltaic system comprised of photovoltaic cells and the DC/DC boost converter. The mathematical modeling is accomplished in two manners, using the laws of Physics and the Euler−Lagrange approach. In addition, the mathematical modeling also considers the 𝒂𝒃𝒄 and 𝒒𝒅𝟎 reference frames. The mathematical models are validated through simulation in the Matlab/Simulink environment, programming the obtained equations and comparing them with a block model of the simulation environment.

Keywords: Modelado e Identificación de Sistemas, Otros Tópicos Afines, Sistemas Eléctricos de Potencia
Abstract: This paper focuses on obtaining an equivalent electrical circuit (EEC) type model for a flow battery, with parameter identification from data generated by simulating an electrochemical model of the system. The model with the EEC structure is more versatile to be used, for example, in design and testing of control and energy management strategies in hybrid systems, since it can be simulated in conjunction with other electrical circuit models of power electronics devices. The EEC model is obtained from the data resulting from the simulation of the electrochemical plant before an input signal rich in frequencies, estimating the model parameters by nonlinear least squares fitting, implemented in an algorithm available in the Matlab - Simulink platform.

Keywords: Sistemas Electrónicos de Potencia, Control de Sistemas Lineales, Sistemas Adaptables
Abstract: The current changes in the grid driven by the energy transition demands better performance from the devices connected to it. This involves the continuous supply of energy despite the presence of distortion and events of high voltage and frequency volatility. In this direction, the present work contributes by introducing a proportional-resonant controller for power inverters with the capability of tracking distorted references of varying frequency. Since the controller is able of adapting the frequency of the resonant terms, we refer to it as adaptive proportional-resonant controller. In this work, not only the aforementioned controller is presented, but a formal proof of its capability of tracking references of varying frequency is given. Furthermore, it is shown that the proposed controller also guarantees the stability of the inverter when connected to a non-ideal grid. These properties are also illustrated via numerical simulation.

Keywords: Control de Sistemas Lineales, Control Óptimo, Sistemas Discretos
Abstract: In the present work, a model based predictive control (MPC) strategy using a multi-predictor scheme for unstable high-order linear systems with delay is proposed. The stability analysis of this type of systems is difficult due to two main reasons, the appearance of an infinite number of poles when the feedback of the controller is considered and the second reason, is the delay size considered. In this work the use of a digital multi-predictor scheme is proposed, this device allows to estimate the internal variables of the process, which will be used for the design of the MPC to stabilize the plant. The present proposal considers an MPC with constraints in the control and output variables, which it is one of the most attractive features of this strategy. Numerical simulations are presented to illustrate how the efficiency of the system is increased due to the proposed control approach.

Keywords: Control Clásico, Robótica y Mecatrónica, Sistemas Hombre-Máquina
Abstract: The control of bilateral teleoperation systems with time-varying delays is a challenging problem that is usually dealt with advanced control techniques. The well-known controllers, such as PD or PID, are scarcely employed and usually in conjunction with other approaches or at least with gravity compensation. In this contribution we intend to show, experimentally, that the standard PID controller exhibits good performance and robustness in position control for teleoperators with variable delays. The results obtained are compared with a well-known algorithm used for teleoperator control.

Keywords: Control de Sistemas Lineales, Control Óptimo, Robótica y Mecatrónica
Abstract: This paper presents the design of a model predictive control (MPC) strategy applied to an optomechatronic system whose objective is to regulate the position of a laser beam system (LBS). The control scheme considers the system model and considers the existence of external disturbances. The feedback control gain is computed by minimizing an objective function of the state and the control prediction horizon. Unlike the reported works for this optomechatronic system, the proposed control scheme considers constraints on the control signal and the system output. The perturbation is estimated by an extended state observer (ESO) and rejected by a pre-compensation term. Numerical simulations validate the strategy design and allow conclusions for future real-time implementation.

Keywords: Control de Sistemas Lineales
Abstract: This paper investigates an unknown input observer for time delay systems in the strong observable and strong detectable cases. Conditions are derived to transform the system into an observer normal form and to decouple the unknown inputs. This decoupling allows us to use the measurements obtained at the output of the system to compensate for the missing information. These conditions enable the design of a Luenberger-like observer for systems that are strongly observable and to generalize to the case of strongly detectable systems, thereby relaxing the conditions for this type of system

Keywords: Control de Sistemas Lineales, Control Clásico
Abstract: This paper considers the stability of continuous linear systems with time delay. In particular, systems with one unstable pole and n pairs of complex conjugate and/or real poles are analyzed. The proposed solution consists of using an estimated state observer with a closed-loop PD type controller to access to the internal variables of the system. A partition of the time delay is proposed in the observer to addmit the double of the maximum size that when a simple PD controller is considered. The necessary and sufficient conditions for the stability of the proposed control scheme are presented and an example is presented with simulations to demostrate the usefulness of the proposed control strategy.

Keywords: Control de Sistemas Lineales, Control Clásico, Tecnología para Control
Abstract: This paper introduces a methodology for deriving state feedback gains aimed at enhancing the lateral control of Autonomous Vehicles (AV). Autonomous Vehicles represent a groundbreaking technological advancement falling under the category of intelligent transportation systems. In developed nations, AVs are regarded as a potential solution to mitigate injuries resulting from road accidents. The Society of Automotive Engineers (SAE) has introduced a comprehensive framework for classifying vehicle autonomy on a scale ranging from 0 to 5, with current Tesla vehicles currently achieving a level 3 rating. A level 5 classification denotes a fully autonomous vehicle devoid of any operational constraints. The AV system encompasses three distinct modules: Perception, Reference Generation, and Control. Among these, the Control module plays a pivotal role in ensuring the autonomy of the vehicle. Within the realm of existing literature, various lateral control systems have been documented. However, those relying on state feedback mechanisms have failed to provide a well-defined and systematic methodology for acquiring the requisite control gains. Furthermore, these approaches have not addressed the issue of varying vehicle speeds in the context of gain determination. Hence, the primary objective of this article is to present a comprehensive methodology for the systematic derivation of appropriate control gains for the AV lateral control system.

Keywords: Sistemas Electromecánicos, Cómputo para Control, Sincronización de Sistemas
Abstract: This work presents a system based on a linear array of 6x1 photoresistors capable of reconstructing an image printed on paper, using an Arduino development board for analog scanning and an algorithm based on Kalman Filter for image processing, so that it can be evaluated the quality of the resulting images.

Keywords: Otros Tópicos Afines, Tecnología para Control, Educación en Control
Abstract: Data acquisition is an ubiquitous process to gather information about real-world phenomena to be processed in the digital domain. Currently, portable and wireless devices have become attractive devices for measuring several processes. However, when a high-sampling-rate is required, data acquisition systems (DAS) are still expensive and targeted at a very small niche market. Moreover, low-cost DAS are affordable but they are resource-limited mainly resulting in a low-sample-rate. Interestingly, audio-based systems are versatile, their sampling frequency ranges from 1 kHz to 192 kHz, and support input voltages from ±1.0 V at 16-bit resolution. Furthermore, Bluetooth audio devices (BTAD) are currently, popular in personal devices, which stream bunches of data using electromagnetic waves in the radio-frequency band. Nonetheless, audio-focused devices are optimized to respond to signals within the audible spectral range (20 Hz to 20 kHz), which represents a limitation to work as general-purpose DAS. In this work, we assess the advantages and limitations of low-cost BTAD to work as wireless DAS by increasing its performance and reliability. For this purpose, we introduce a robust data processing technique based on spectral analysis. Finally, the functionality of different BTADs is evaluated over a frequency range out of their native limits, and a compensation method for the frequency bias is proposed.

Keywords: Sistemas Electromecánicos, Tecnología para Control, Control Supervisor
Abstract: This article presents the evaluation of a real-time monitoring system based on acceleration data obtained from a reduced-scale 5-story building prototype. Development is achieved under the Internet of Things (IoT) approach through the cloud using the MQTT messaging protocol. The damage evaluation is achieved by comparing 2 different states of the structural system, for this, the parameters of the civil structure model are used, which are estimated using the normalized least squares algorithm with forgetting factor. In this stage, the algorithms are programmed in Matlab-Simulink and executed on a RaspBerry PI 4. The experimental results confirm the versatility of the proposal and the relevance of the used decentralized communication architectures for real-time monitoring.

Keywords: Educación en Control, Control de Procesos, Otros Tópicos Afines
Abstract: This paper presents the design and application of a SCADA-IoT (Supervisory Control and Data Acquisition-Internet of Things) platform for monitoring an hydraulic system which simulates the operation of the raw water distribution network in the municipality of Tecate, Baja California (B.C.), Mexico. Based on the design and construction of an academic prototype, which represents the called Las Auras-Nopalera-Cuchum ́a hydraulic system, we analize the behaviour of physical variables and the integration of hardware and software components with Industry 4.0 in order to develop on-field applications using the LOGO! Web Editor software from Siemens, and cloud applications using the open source Node-RED IoT platform. Experimental results illustrate the efectiveness of the proposed prototype which retrieves level, pressure, caudal and pH real-time values as well as some signals from actuators

Keywords: Sistemas Hombre-Máquina, Sistemas Electromecánicos, Educación en Control
Abstract: This paper proposes the design and construction of an amaranth compacting and cutting machine for Cooperativa agropecuaria Teocalli Tulyehualco S.C. from R.L. de C.V. The prototype is made up of a mechanical system and an electronic system interconnected to a control panel. The assignment of the dimensions of the bars is done through a question-and-answer interface. The programming for the compaction and cutting of the bars is done through a microcontroller. Control signals from the microcontroller are sent to the power stage to drive the bipolar stepping motors. Thus, the rollers and knives are automatically adjusted for material compaction and crosscutting, respectively. In addition, the material conveyor belt is activated and the solenoid valve is activated to drop the guillotine and make the cut along the bar.

Keywords: Control de Sistemas No Lineales, Sistemas Multi-Agente, Robótica y Mecatrónica
Abstract: This paper deals with the design of a controller that guarantees the formation of multiple flying vehicles, specifically Quad-Rotor vehicles. The proposed controller is based on PID control laws and Continuous Sliding Modes (Continuous Twisting Algorithms). In order to show the feasibility and performance of the controller, experimental results were carried out using the Crazeflie Quad-Rotors.

Keywords: Robótica y Mecatrónica, Control Clásico, Tecnología para Control
Abstract: This paper addresses the problem of trajectory tracking in one arm of the Bioloid Premium humanoid robot. The kinematics modeling of the left arm was obtained using the Denavit-Hartenberg methodology. A kinematics control strategy based on state feedback and Input-Output Linearization technique was employed to achieve accurate tracking of the desired trajectories. A C language code was written to reprogram the CM-530 controller of the Bioloid Premium to allow it to interpret and execute the trajectory positions. In addition, wireless communication was established using ROS as the development platform. The experimental results demonstrate the success of the proposed approach in applying kinematic control on the robotic arm, offering an accurate and advanced alternative to the mobility options natively enabled by the ROBOTIS software.

Keywords: Control de Sistemas No Lineales, Control Robusto, Robótica y Mecatrónica
Abstract: This work proposes the design of a robust time-varying controller for the perturbed kinematic model of the unicycle mobile robot. The controller is based on composite Lyapunov functions applied in time-varying linear systems. The methodology ensures the stability of the tracking error despite the presence of multiplicative disturbances in the control channel. The synthesis of the proposed controller requires the solution of a set of off-line Linear Matrix Inequalities and the solution of an optimization process regarding the composite Lyapunov approach. Simulation results show the feasibility of the proposed strategy against classical controllers.

Keywords: Control de Sistemas No Lineales, Robótica y Mecatrónica, Control Difuso
Abstract: The main objective of this paper is to describe the design of a state feedback controller with integral action based on a proportional integral observer with Takagi-Sugeno structure, for trajectory tracking of a rehabilitation routine applied to a knee rehabilitation robot. The stability analysis of the controller is addressed by Lyapunov, a constraint is applied to the controller input.

Keywords: Sistemas Multi-Agente, Control de Sistemas Lineales, Robótica y Mecatrónica
Abstract: This work compares two novel strategies that address formation control with collision avoidance for a group of second-order agents. The first control strategy is based on the Backstepping approach (B), while the second is based on the Nested Saturation methodology (NS). Both approaches utilize the Repulsive Vector Fields (RVFs) approach for avoiding collisions. Two numerical simulations are carried out to compare the performance of both approaches. For the first numerical simulation, the simplest case of collision avoidance is considered, that is, the interchange of the position of two agents. On the other hand, for the second numerical simulation, the formation with collision avoidance for a group of nine agents is considered.

Keywords: Sistemas Discretos, Detección y Aislamiento de Fallas
Abstract: This article focuses on the design of a Luenberger structure observer with residual generation for the detection of different attack schemes (Denial of Service (DoS) and False Data Injection (FDI)) targeting the sensors and actuators of a discrete cyber-physical system. To simulate a more realistic attack signal, Markovian distribution logic is used to simulate the behavior of the signals. To demonstrate the effectiveness of the proposed scheme, a system of three interconnected tanks is used.

Keywords: Control de Sistemas No Lineales, Control de Sistemas Lineales, Sistemas Caóticos
Abstract: This work presents a method for fractional order dynamical systems design that exhibits multi-scrolls by means of a fractional-order switching piecewise linear system. This method is based on the equilibrium points positioning and the region sizes in which the system switches. Numerical results of the proposed method are also presented and the multi-stability phenomenon is exhibited.

Keywords: Sistemas Multi-Agente, Sincronización de Sistemas, Control de Sistemas Lineales
Abstract: This article deals with a differential flatness control leader-follower for a group of DC servo motors. Graph theory uses to design the form of connection and communication between servo motors. Each servo motor includes an integral action in its local control. In contrast, the input control law of the leader incorporates the speed desired reference trajectory, which will track each servo motor connected to the leader. The speed desired reference trajectory build employing a high-order Bezier polynomial—the experimental setup using the dSPACE equipment DS1104 model. The experimental results show the effectiveness and robustness of the synchronization and consensus of the control based on the differential flatness property for the group of DC servomotors.

Keywords: Sistemas Caóticos, Control de Sistemas No Lineales, Otros Tópicos Afines
Abstract: This article addresses the design problem of observers for the oscillator, focusing on the nonlinearities present in the model, which arise from the product between components of the state vector. These nonlinearities are particularly interesting because they allow obtaining an error dynamics that can be used to study the convergence properties of the observation scheme. In this sense, the design of a full-order observer is proposed, which is characterized by being a replica of the original system, with the addition of a correction term. Additionally, a numerical evaluation of the presented results is performed.

Keywords: Otros Tópicos Afines, Sistemas Caóticos, Sincronización de Sistemas
Abstract: Currently the study of fractional order systems has become of great research interest, in particular the state estimation stands out within the lines of studies for this type of systems. Different methodologies have been proposed in order to solve this problem, however most of the techniques involve complete information of the system. Thus, this work presents a methodology for state estimation in a class of fractional order systems based on a fractional order observer which is constructed through an algebraic technique. This observer presents some significant properties, for instance, only variables of interest are estimated, i.e., it is a non redundant observer, it does not need complete information of the system and the initial conditions for the observer can be freely assigned. The stability of this observer is analyzed with the global Mittag-Leffler boundedness approach. Finally, the effectiveness and accuracy of the proposed methodology is verified through state estimation of a fractional-order Duffing chaotic system.