Keywords: Modelado e Identificación de Sistemas, Sistemas Electromecánicos, Sistemas Estocásticos
Abstract: This work proposes a straightforward methodology to address the problem of parametric identification of an inverted pendulum system using the Differential Evolution metaheuristic optimization algorithm. Five variants of the algorithm are evaluated to determine which one performs best for this specific application, the main difference between the variants is the mutation stage. To validate the results, 30 simulations were carried out for each variant using both noise-free and noise-contaminated signals. This approach enables the use of robust statistical metrics to support the reliability of the results. The experiments show that the rand/2/bin variant yields the best performance in terms of accuracy and consistency under both noisy and noise-free conditions. This conclusion is based on analyzing the average error values and the variability observed across the simulations.

Keywords: Modelado e Identificación de Sistemas, Control de Sistemas No Lineales
Abstract: Floating offshore wind turbines suffer oscillations due to external disturbances, mainly waves and strong winds, resulting in reduced efficiency in the short- and in the long-term, and causing mechanical fatigue. These vibrations can be reduced by using active control. For the design of efficient controllers for these complex and non-linear wind converter devices, in this work a simplified model based on transfer functions is developed, along with the identification of the model parameters. Synthetic realistic data have been generated using OpenFAST wind turbine simulation software. Using data from a 5-MW barge-type floating wind turbine, a six-degree-of-freedom model focused on roll and pitch suitable for control system design is identified and validated with a conventional regulator.

Keywords: Tecnología para Control, Modelado e Identificación de Sistemas, Vehículos Aéreos
Abstract: An ideal gravity orbit is an orbit where the non-gravity forces are removed giving a more precise relationship between both gravity and orbit. It is commonly used for satellite navigation. A gravitational reference sensor (GRS) is one of the most common ways to obtain non-gravitational disturbances since it offers the relative position of a proof mass with extraordinarily high precision and low disturbance. In this study, the design process of a GRS applied to a drag-free nanosatellite using an optical system is described. Drag forces are estimated by the incidence of red-light LEDs on a test mass and data is processed using linear image sensors. We present a preliminary design and numerical simulations for the GRS and a possible application in measuring the Earth's atmospheric density.

Keywords: Modelado e Identificación de Sistemas
Abstract: We present a maximum likelihood estimation algorithm for a class of Wiener system with non-Gaussian noise. The noise distribution is approximated using a Gaussian sum approximation, while the static nonlinear function is represented by a piece-wise linear approximation. To solve the estimation problem, we introduce an expectationmaximization algorithm that provides closed-form expressions for the linear system model and the Gaussian mixture estimators. A coordinate descent algorithm is utilized to estimate intercepts and slopes. Numerical simulations confirm that our proposed estimators achieve accurate estimations for both the system model parameters and noise statistics.

Keywords: Modelado e Identificación de Sistemas, Otros Tópicos Afines
Abstract: In this brief note we recall the little-known fact that, for linear regression equations (LRE) with intervally excited (IE) regressors, standard LS parameter estimators ensure finite convergence time (FCT) of the estimated parameters. The convergence time being equal to the time length needed to comply with the IE assumption. As is well- known, IE is necessary and sufficient for the identifiability of the LRE—hence, it is the weakest assumption for the on- or off-line solution of the parameter estimation problem.

Keywords: Control de Sistemas Lineales, Control Clásico, Sistemas con retardos
Abstract: This paper analyzes the stabilization of a class of linear time-invariant systems with one or two unstable poles using simple PID controllers. By applying the Nyquist stability criterion, algebraic conditions are derived for the existence of stabilizing P, PI, PD, and PID controllers in systems without time delay. These conditions are formulated as corollaries of previously reported results for delayed systems, showing that the absence of delay simplifies transcendental conditions into closed-form inequalities. The findings provide a unified framework for PID design in unstable systems with real or complex stable poles.

Keywords: Sistemas con retardos, Control de Sistemas Lineales, Control Clásico
Abstract: This work addresses the problem of stability and control in second-order linear systems with two unstable poles and time delay. For this purpose, an observer–predictor scheme capable of estimating the signal before the delay affects the system is proposed. The estimated signal is used in the control stage to close the loop and design a PID controller for the system without delay. The necessary and sufficient condition that guarantees the existence of parameters that stabilize the proposed scheme is established. Furthermore, it is verified that the control strategy is able to follow step-type references and reject external disturbances of the same type. Finally, the effectiveness of the proposed scheme is verified by means of a simulation example.

Keywords: Sistemas con retardos, Control de Sistemas Lineales, Control Clásico
Abstract: Scalar neutral systems are a particular class of delayed systems, and one of their greatest challenges is that it is not easy to determine whether the open-loop system is stable or unstable. In this regard, various strategies have been proposed to control this class of systems, such as delayed PD/PID controllers. However, one challenge encountered in the output response is overshoots during the transient phase. With the aim of improving the performance of this control scheme, this work introduces a strategy based on a two-degree-of-freedom PID controller, which maintains the necessary and sufficient stability conditions of traditional delayed PID control. This solution seeks to counteract the effects induced by internal system delays as well as the presence of the zero induced by the controller. Furthermore, this methodology not only facilitates accurate reference tracking. The effectiveness of the proposed strategy will be evaluated using a numerical example.

Keywords: Sistemas con retardos, Sistemas Electrónicos de Potencia, Control de Sistemas No Lineales
Abstract: In this paper, we explore the use of a delay-based control scheme consisting of two Integral-Retarded (IR) controllers arranged in a cascaded architecture for regulating a DC-DC boost converter. The proposed control scheme utilizes an inner-current loop that adds damping by feeding back the inductor current, and an outer-voltage loop that regulates the converter's output voltage. Specifically, both inner and outer IR controllers are designed to improve the dynamic response during load and input voltage changes while attenuating high-frequency measurement noise. Tuning formulas are derived by assigning a triple real dominant root to the closed-loop system. Simulation results show better robustness properties compared to the traditional cascaded Proportional-Integral (PI) control scheme, showing the effectiveness of the delay-based approach.

Keywords: Sistemas con retardos, Control de Sistemas de Gran Escala, Sistemas Multi-Agente
Abstract: In this paper, we present analytical tuning formulas for the parameters of a distributed Proportional-Retarded protocol operating in a class of double-integrator multiagent system. For undirected graphs, we use the theory of convex directions for quasipolynomials to show that the developed tuning technique remains valid independently of the number of agents in the network. An array of numerical examples are provided to demonstrate the relevance of the approach.

Keywords: Control Clásico, Control de Sistemas Lineales, Control de Sistemas No Lineales
Abstract: The problem of the horizontal velocity control of a simplified helicopter model is addressed. The system has transmission zeros on the imaginary axis of the complex plane. This feature can significantly degrade control performance. In order to mitigate the effects of the almost non-minimum phase zeros, a control strategy based on classical techniques is proposed. The design relies on frequency-domain tools to ensure closed-loop stability and performance. Numerical simulations demonstrate the effectiveness of the approach in attenuating the influence of the transmission zeros and achieving satisfactory velocity regulation.

Keywords: Control de Procesos, Control de Sistemas Lineales, Vehículos Aéreos
Abstract: In this work, the Relative Gain Array (RGA) is employed as a measure of input-output coupling in the operation of a two-degree-of-freedom (2DOF) helicopter platform. High levels of interaction between control channels typically affect the performance of multivariable control systems, especially when decentralized controllers are used. To address this, we propose a methodology that systematically modifies the RGA matrix to achieve a more favorable configuration, including decoupling, and improved closed loop performance. The approach involves analyzing the system's steady-state gain matrix and applying a transformation that shifts the RGA values toward a desired target structure. Simulation results demonstrate that the proposed modification produces a significant change in system response, reducing or increasing coupling effects as required. These findings suggest a promising direction for the design of RGA-based controllers in practical multivariable systems, such as aerial platforms.

Keywords: Vehículos Aéreos, Mecatrónica, Modelado e Identificación de Sistemas
Abstract: An observability analysis of a dynamical model of a quadrotor UAV is presented for four different sensor configurations of interest. The dynamic model is obtained by employing the Euler--Lagrange formulation. Then the observability analysis is carried out by employing nonlinear geometrical tools. The results obtained show some non intuitive results such as nonuniformly observability for some cases. A simulation study is also presented to validate the analysis.

Keywords: Sistemas Multi-Agente, Vehículos Aéreos, Control de Sistemas No Lineales
Abstract: Unmanned aerial vehicles (UAVs) have become increasingly important in a wide range of automated processes that require cooperative operation among multiple aircraft. This work presents a consensus-based strategy for a fully connected network, with a generalized control approach for an arbitrary number of agents. The proposed method includes formation position control through the introduction of a virtual agent, as well as orientation control of the UAVs on the unit circle configuration space, SO(2), using the Laplacian matrix. The effectiveness of the proposed strategy is evaluated through numerical simulations performed in MATLAB Simulink.

Keywords: Vehículos Aéreos, Control de Sistemas No Lineales, Mecatrónica
Abstract: This work presents the design and numerical validation of a Frugal Model Predictive Control (FMPC) scheme for trajectory tracking in a quadrotor-type unmanned aerial vehicle (UAV). Considering the computational limitations of embedded platforms, the proposed controller is based on a reduced model and a control parametrization that reduces the number of decision variables from 90 to 6, enabling the enforcement of explicit constraints on position, acceleration, and slew rate. A convex quadratic formulation is adopted with a prediction horizon of 30 steps and a sampling time of 0.01 s. Simulations demonstrate accurate tracking under active constraints, with computation times suitable for real-time implementation.

Keywords: Sistemas Discretos, Cómputo para Control, Tecnología para Control
Abstract: There is currently a great deal of interest in developing semiconductor applications, including automatic control applications. Here, a dynamic system is discretized, controlled, and implemented in a Hardware Description Language (HDL) ready for System-on-Chip (SoC) manufacturing. The optimal LQR plus Observer controller is analytically designed and simulated using MATLAB/Simulink/Vivado for a standard second-order continuous-time plant. Hardware in the Loop (HiL) is used to reproduce the behavior of a dynamic system in a real-time control loop. The optimized control is implemented in Verilog as an IIR filter. The filter’s performance is constrained by quantization, due to limitations of the Silicluster chip fabrication project. The filter is represented in fixed-point arithmetic in the closed-loop system. Simulation tests and performance analysis of the system's step response are presented.

Keywords: Modelado e Identificación de Sistemas, Control Difuso, Control de Procesos
Abstract: The present study proposes a model that incorporates a modification of the climate model in an active greenhouse, with the objective of including the effects of control ventilation on humidity and temperature. The implementation of such effects is necessary for greenhouses situated in warm climates, where the economic resources allocated for cooling are limited. The model was developed using MATLAB. The results indicate that the model can accurately estimate the climate of the greenhouse station and is sufficient for its control system design. A fuzzy control system, designed and simulated with MATLAB, efficiently maintains the climate variables within the acceptable envelope of acceptance, as measured using ISE in output, thus validating the proposed model.

Keywords: Modelado e Identificación de Sistemas, Sistemas de Parámetros Distribuidos
Abstract: This work addresses the dynamic inverse problem of estimating the temperature distribution in a one-dimensional bar from noisy observations at one of its ends. The model is based on the heat equation with Neumann boundary conditions, which is discretized spatially and temporally. A Kalman filter is then implemented to track the thermal evolution of the system. The results show that, even with partial information and noise, it is possible to efficiently reconstruct the internal thermal state. This technique is of interest in systems where direct access to all states is not feasible, as well as in thermal monitoring and real-time control applications.

Keywords: Modelado e Identificación de Sistemas, Otros Tópicos Afines, Sistemas Estocásticos
Abstract: Corrosion is a complex process involving many nonlinear corrosion mechanisms, such as birth, growth, and passivation of corrosion sites, leading to complex multiscale structures. Electrochemical noise (EN) methodologies have been used to characterize corrosion parameters and mechanisms. Measurements of EN consist of spontaneous fluctuations of corrosion potential and/or current generated by corrosion reaction. The resulting time series of current and potential fluctuations from base or nominal experimental parameters (e.g., concentration, pH, and temperature) have been studied using conventional and non-conventional tools. Fractal analysis has been applied for mechanism identification purposes. This work explores the effect of the corrosion agent concentration in the corrosion mechanism using the multivariate rescaled range fractal analysis in a case study of sodium chloride salt in construction steel AISI1018.

Keywords: Control de Procesos, Mecatrónica, Sistemas Hombre-Máquina
Abstract: The problem addressed in this project is the interconnectivity between different PLCs to avoid brand lock-in. Currently, this type of connection is a challenge for manufacturers, as existing solutions involve high costs and vendor dependencies. A simple and low-cost solution is needed to reuse PLCs. Python is used as the central system, acting as a conductor and communicating with each component via Modbus TCP. To visualize and manage them, an interface is created with PySide/Qt Designer in SCADA format. The results support the use of both new and semi-used equipment with Modbus communication, reducing costs, facilitating use for training purposes and including Industry 4.0 application

Keywords: Educación en Control, Control Clásico, Tecnología para Control
Abstract: Control of dynamic systems depends on precise modeling and thoughtful design. This work presents an educational framework for exploring fundamental control concepts using a low-cost, microcontroller-based platform. The framework emphasizes hands-on learning while also exposing students to practical limitations, including saturation, sensitivity to model uncertainties and the effects of discretization. This approach bridges theoretical control principles with embedded implementation, providing an accessible and effective platform for teaching modern control techniques at the undergraduate level.

Keywords: Modelado e Identificación de Sistemas, Educación en Control, Sistemas Electromecánicos
Abstract: Regenerative braking is a key system in electric and hybrid vehicles that enables them to extend their driving range by recovering the kinetic energy of the vehicle during braking. However, the efficiency of the regenerative braking is affected by various factors, such as the vehicle speed, the driver's behavior, the storage device and the energy conversion process. Therefore, it is important to study and evaluate the performance and efficiency of the regenerative braking systems under different scenarios. Test benches with different degrees of representativeness of the actual system have been developed to achieve this goal. These test benches have proven useful to validate control strategies and optimize the energy recovery. This paper presents the design of a regenerative braking test bench that considers a brushless in-wheel motor, its driver, a battery pack with its management system and a quarter of vehicle suspension to represent the actual tire-road contact. In addition, the possible uses of the test bench for educational purposes in undergraduate engineering courses at Universidad de Monterrey are discussed. The test bench will help to develop technical skills in students, such as data analysis and problem-solving in the context of electric vehicles, which are essential for their future careers as engineers.

Keywords: Robótica de Maipuladores, Control de Sistemas No Lineales, Tecnología para Control
Abstract: Robust control design aims to alleviate uncertainties and disturbances, generally based on observers design. In this case, often it is required to know the robot dynamical model, which makes their application more complex for experimental implementations. A particular interest of this paper is to study the boundedness of the Coriolis matrix with the objective of setting conditions under which it can be neglected for the design of the controller or in the implementation of observers for robot manipulators. Theoretical conditions are proposed to bound the product C(q,dot{q})dot{q} based on motion planning for a determined smooth Cartesian trajectory. Numerical simulations using a three degrees of freedom robot manipulator validate our findings.

Keywords: Sistemas Electrónicos de Potencia, Modelado e Identificación de Sistemas, Control Basado en pasividad
Abstract: In this paper, the modeling problem and the structural analysis from a control perspective of a Class D Parallel Resonant Converter are addressed. It is shown that the model of the converter can be written as a Port-Controlled Hamiltonian system. In addition, from the structural analysis of this model, it is formally proved that the control input of the device is given by the overlap of the two duty cycles that control the two switches included in the device. To illustrate the validity of this assertion, a classical PI controller is numerically implemented showing that manipulation of this variable leads to the achievement of a control objective.

Keywords: Sistemas Biomédicos, Control de Sistemas No Lineales, Modelado e Identificación de Sistemas
Abstract: This paper analyzes the dynamics of prostate cancer under two primary androgen deprivation therapies: Continuous Androgen Suppression and Intermittent Androgen Suppression. Prostate cancer, a leading cause of male cancer mortality, often develops resistance to androgen deprivation therapies due to the emergence of androgen-independent tumor cells. We use a clinically validated mathematical model which captures interaction between androgen levels in the body, androgen-dependent tumor cells, and androgen-independent tumor cells. Numerical simulations reveal that Intermittent Androgen Suppression therapy delays tumor recurrence compared to Continuous Androgen Suppression therapy by modulating androgen levels through threshold-based control of prostate-specific antigen. Our results highlight the critical role of proliferation dynamics in androgen-independent cells, as well as the importance of therapeutic strategies in the containment of resistance to androgen suppression therapy for prostate cancer.

Keywords: Educación en Control
Abstract: Remote laboratories enable real-time scientific and technical experiments via the internet, providing access to physical instruments without on-site presence. By integrating specialized hardware, control software, and live communication tools, they replicate traditional laboratory experiences while improving flexibility and accessibility. They have proven especially valuable in maintaining academic continuity during emergencies such as the COVID-19 pandemic.

This paper presents a remote laboratory developed at the Faculty of Engineering, National Autonomous University of Mexico (UNAM), to support the Systems and Signals Analysis course in the Electrical and Electronics Engineering program. The platform allows students to interact with real-world dynamical system data and signals. Currently in its experimental phase, it will soon be available to the faculty community. We outline the project’s motivation, system architecture, and current capabilities.

Keywords: Educación en Control, Cómputo para Control, Sistemas Electromecánicos
Abstract: This work presents a didactic system for the identification and control of Brushless Direct Current (BLDC) motors. The system comprises a controller based on the PIC18F45K50 microcontroller, a Raspberry Pi 4 B+ computer with a graphical interface developed in Python using the Tkinter library. The system allows the identification of the motor's transfer function based on the speed response curve. Once the transfer function is identified, the system is capable of tuning a speed discrete-time PID controller to perform control tasks.

Keywords: Sistemas Adaptables, Control de Sistemas No Lineales, Otros Tópicos Afines
Abstract: This paper proposes a heavy-ball algorithm-based adaptive observer for the simultaneous estimation of states and constant parameters in a class of uncertain nonlinear systems subject to external disturbances. The estimator integrates a Luenberger-like observer for state estimation with a heavy-ball-inspired optimization algorithm to identify unknown constant parameters. The observer achieves exponential convergence of both state and parameter estimates. A Lyapunov-based analysis is employed to establish closed-loop stability under the standard persistence of excitation condition. The effectiveness of the proposed approach is validated through simulation studies, which demonstrate improved estimation accuracy compared to conventional adaptive observers.

Keywords: Control Clásico, Cómputo para Control, Robótica de Maipuladores
Abstract: Whole body control based on quadratic programming has become a powerful strategy for enabling multi-task robotic behaviors while handling equality and inequality constraints. A critical challenge is ensuring that joint position and velocity limits are respected without compromising task execution or real-time feasibility. Many existing approaches impose strict joint limit constraints throughout the motion, often leading to conservative behaviors or reduced control performance. In this paper, we propose a joint limit avoidance strategy that activates constraints only when necessary, as joints approach their operational limits. The method relies on a Taylor series approximation to predict joint states and introduces dynamic, threshold-based inequality constraints. Moreover, the QP is reformulated in a canonical form using stacked twosided inequalities, ensuring compatibility with efficient solvers such as QPMAD. Experimental validation on a 6-DoF UR5e robot demonstrates that the proposed method ensures safe operation while preserving responsiveness and real-time control capabilities.

Keywords: Robótica de Maipuladores, Control de Sistemas No Lineales
Abstract: In this work we propose a novel controller for the finite time stabilization of robot manipulators in the task space. The novelty of our approach is that the orientation of the robot’s end-effector is given by unit quaternions, which yields a more robust orientation representation. The controller is a simple proportional plus damping scheme with gravity cancellation term. The main technical problem in this scenario is that the closed-loop does not admit a homogeneous approximation —which is the typical way of establishing finite-time convergence properties. As usual, we first show asymptotical stability of the origin using a weak Lyapunov function. Afterwards, to overcome the need of requiring homogeneous approximation methods we propose a strict Lyapunov function in order to demonstrate finite-time stability. Simulation results are presented to validate the performance of the control scheme.

Keywords: Sistemas Electrónicos de Potencia, Control Clásico
Abstract: This paper presents a bidirectional three-port DC-DC converter that combines Buck and Boost topologies, designed to integrate a photovoltaic system and a battery bank in distributed generation applications. A systematic methodology is proposed to size the passive elements and select the switching devices, ensuring proper performance in six well-defined operating modes. An average model is developed to obtain the transfer functions required for controller design. The control strategy is based on classical PI controllers and a Perturb and Observe MPPT algorithm. This ensures stable voltage regulation, continuous conduction mode operation, and accurate maximum power point tracking, even under variable irradiance and load conditions. Simulation results confirm correct mode transitions and appropriate settling times of less than 40 ms, with ripple levels within the design limits.

Keywords: Sistemas Eléctricos de Potencia, Modelado e Identificación de Sistemas, Otros Tópicos Afines
Abstract: This paper presents two methods for the identification of line parameters in electrical distribution networks, considering two scenarios: neglecting and including shunt susceptance, corresponding to short and medium line models, respectively. The first method is based on Linear Least Squares (LSQ) and uses SCADA measurements of real and reactive power injections along with voltage phasors at each bus. This approach allows for linear estimation of both series and shunt parameters when voltage angle measurements are available. The second method employs a Weighted Least Squares (WLS) estimator using only SCADA data —voltage magnitudes and real/reactive power injections— to simultaneously estimate voltage angles and the series admittance of each line. Both approaches are numerically validated using a three-bus distribution system subject to a 24-hour load profile derived from real demand data.

Keywords: Sistemas Electrónicos de Potencia
Abstract: Among the main actions to inhibit greenhouse gases production is the replacement of fossil fuels by non-polluting alternatives, such as green hydrogen produced by an electrolyzer powered using a renewable energy source. This work develops a procedure to design and implement a switching regulator for the input current of a proton exchange membrane electrolyzer. The proposed scheme is based on a quadratic buck converter. Starting from the linearized model of the combined converter-electrolyzer, a study of its dynamics is carried out, establishing the controller scheme to be implemented as well as the most suitable feedback variables. The design procedure based on the parameters of the corresponding controller is described step by step. The improvements obtained in the electrolyzer input current dynamic by using the controller is shown by means of open and closed-loop simulation results.

Keywords: Sistemas Electromecánicos, Control Basado en pasividad, Sistemas Electrónicos de Potencia
Abstract: This work compares two speed control strategies for Permanent Magnet Synchronous Motors (PMSM): Field-Oriented Control (FOC) and Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC). The evaluation focuses on three key performance aspects given by speed tracking precision, electrical effort, and the impact on the switching devices of the Voltage Source Converter (VSC). These factors are crucial for understanding the performance and efficiency of each control strategy. Furthermore, the analysis aims to assess the precision and stability of speed tracking, the electrical effort required to achieve this tracking, and the impact on the switching components and the aging of the system. This approach provides an integrated perspective on how each controller balances accuracy, efficiency, and durability. The comparison is carried out under the stringent condition of operation with an unknown constant load torque in both numerical and experimental settings.

Keywords: Modelado e Identificación de Sistemas, Sistemas Electrónicos de Potencia, Tecnología para Control
Abstract: This paper presents a systematic methodology to model conduction losses of passive and active elements of power converters within the Port Controlled Hamiltonian (PCH) framework. The motivation behind this approach is not only to achieve a more realistic system representation, preserving the Hamiltonian structure, but also to enable the development and analysis of control schemes that optimize transient performance. The Port-Hamiltonian models for the two basic DC-DC converter topologies, Buck and Boost, are unified into a generalized structure. Finally, the proposed model is validated numerically through MATLAB-Simulink simulation comparing the ideal model, the proposed PCH model, with a reference in a Simscape implementation.

Keywords: Control Basado en pasividad, Otros Tópicos Afines, Sistemas Electrónicos de Potencia
Abstract: This article addresses the design of an observer-based controller for a generalized model of power converters, whose structure is a PCH system. The system structure is leveraged to design a controller, an observer, and their interconnection, as the proposed schemes preserve the structure. Additionally, the convergence proof of the proposed scheme is presented. Finally, to validate the results, a numerical evaluation is shown through a simulation of Boost converter.

Keywords: Control Óptimo, Control de Sistemas Lineales, Control Clásico
Abstract: This work proposes a novel state-feedback controller for Permanent Magnet Synchronous Motors (PMSMs) based on an extended integral model with dynamic input. Traditional Field-Oriented Control (FOC) schemes use cascade PI loops to regulate torque and speed; however, their dynamic response is limited by saturation effects. To overcome this, we design an optimal controller using the Linear Quadratic Regulator (LQR) theory, which employs an augmented state-space model that integrates tracking errors and replaces the inner current loop with a dynamic input. The Riccati equation is solved for customized matrices to minimize control energy while ensuring a fast transient response. Simulations under abrupt speed changes (from negative to positive) and constant load torque demonstrate the controller’s superiority over conventional PI-FOC.

Keywords: Control Óptimo, Control Robusto, Robótica de Maipuladores
Abstract: Controllers for rigid-link robots are often designed at the torque level, neglecting actuator electrodynamics, as high-frequency effects are typically considered negligible. In contrast, Rigid-Link Electrically- Driven (RLED) models incorporate control at the electrical level, capturing the full electromechanical behavior. However, when parameters such as motor inductance are sufficiently small, they can introduce singular perturbations, leading to significant deviations from the desired low-frequency mechanical response. This requires controllers that incorporate these electrical dynamics into their design. For this reason, this paper proposes a composite electrical control strategy for RLED robots based on singular perturbation theory, using two virtual control inputs to manage the fast electrical and slow mechanical dynamics, in order to control the robot by its electrical dynamics by applying the correct voltage to the motors of each joint. These inputs are combined to generate the actual voltage applied to control the robot’s motors. Also, control gains are optimized using the Complex Method Algorithm. This non-gradient-based optimization algorithm handles both continuous and discrete variables by iteratively transforming solution points into new feasible ones, thereby enhancing system performance subject to the actuators’ operational constraints. To validate the proposed method, a case study simulates an RLED model of a 3-DoF planar robot, where an optimization algorithm determines the optimal gains for the composite controller, resulting in feasible actuator voltage profiles.

Keywords: Control Inteligente, Control Óptimo, Modelado e Identificación de Sistemas
Abstract: This paper proposes a technique for sensor placement based on the selection of the most sensitive nodes when leaks are simulated at all possible locations in a water distribution network. The sensitivity metric is constructed in terms of the average pressure drop registered at each node when leaks occur at different locations. Regions with the highest sensibilities are selected as desired locations to install pressure meters. For the final selection of the sensor combination a genetic algorithm is implemented to ensure the maximum information and minimal redundancy of the selected sensors. Results are presented for two water distribution networks: a hypothetic district metered area (DMA) and a real-world DMA.

Keywords: Control Óptimo, Control Inteligente, Vehículos Aéreos
Abstract: Fuel distribution is a fundamental aspect of aircraft safety. This distribution deter-mines the position of the aircraft's center of gravity (CG), which affects stability and balance during flight. Therefore, it is crucial to efficiently distribute fuel between an airplane tanks. This work proposes a safety-related solution to fuel distribution using Particle Swarm Optimization (PSO). A specific fitness function was defined that weighs key aspects such as CG position, structural loading, fuel transfers, refueling duration, and CG displacement. The results obtained using PSO on a commercial air-craft are compared with those obtained using genetic algorithms (GA), giving better solutions in terms of CG allocation and thus, safety.

Keywords: Control Óptimo, Control de Sistemas No Lineales, Sistemas Discretos
Abstract: This article presents the design of a convex controller for trajectory tracking in automated vehicles with Ackermann steering geometry. A dynamic model of the vehicle is developed under the Quasi-Linear Parameter-Varying (qLPV) framework, which allows for an exact convex reformulation of the original nonlinear system. Based on this model, a Linear Quadratic Regulator (LQR) is designed that ensures great performance in the presence of parameter variations throughout the vehicle's operation. The proposed control strategy is validated through simulations using CARLA (Car Learning to Act), which enables realistic testing in complex urban environments. Real physical parameters from an Audi A2 model vehicle are used to enhance the fidelity of the results. The simulation results demonstrate that the controller achieves accurate trajectory tracking with minimal lateral errors, confirming the effectiveness and practicality of the proposed convex approach. This methodology offers a promising result for trajectory tracking in automated vehicles ensuring precision and performance.

Keywords: Control Óptimo, Control de Sistemas Lineales, Cómputo para Control
Abstract: We consider the problem of optimally tracking a given growth rate for investor’s wealth over a finite-horizon in a market with distributed and discrete delays. This represents an example of a stochastic linear quadratic control problem with state-delay, and with additive-multiplicative noise. We derive an explicit closed-form solution to this problem as a state feedback law.

Keywords: Control de Sistemas Lineales, Modelado e Identificación de Sistemas
Abstract: This paper uses a control theory perspective to analyze a simplified mathematical model of the effect of human emissions on global temperature. Based on a previously published model, human emissions are incorporated as an exogenous input into the system. A singular perturbation argument is used to derive an order reduced model. Finally, a bifurcation analysis is used to analyze tipping points by studying the effect of applying feedback control when emissions are regulated to be proportional to the deviation from the desired temperature.

Keywords: Control de Sistemas Lineales, Procesos Biotecnológicos, Control Robusto
Abstract: In this article, we design an H∞ polytopic interval observer applied to a bioreactor with both known and unknown inputs. This approach allows us to estimate biomass by measuring the outlet substrate in a bioreactor. To this end, we select the observer that minimizes the estimation error among observers designed in different steady states. The observer’s performance is evaluated in terms of error metrics, demonstrating that the interval observer framework yields accurate estimations. Results indicate significant robustness and high performance as evidenced by the outcomes of various tests. Results presented in this work advocate for the applicability of this data-driven observer design in real-time monitoring strategies for bioprocesses.

Keywords: Control Discontinuo (modos deslizantes), Control Robusto, Control de Sistemas Lineales
Abstract: This paper addresses the robust control of single-input linear time-invariant (LTI) systems subject to time-varying uncertainties in the input matrix. Most existing results on the existence of first-order sliding mode controllers (FOSMC) assume that the perturbation does not alter the input matrix’s range space. In contrast, this work focuses precisely on that challenging scenario. Necessary and sufficient conditions are derived for the existence of a FOSMC with a Linear sliding manifold. A relay-based discontinuous control law is proposed to ensure finite-time convergence to the manifold despite matched and unmatched disturbances. To synthesize the sliding surface, an optimization-based algorithm is developed to maximize robustness margins while guaranteeing quadratic stability of the reduced-order dynamics. The proposed approach is validated through a fin-controlled rocket model in the pitch plane, demonstrating convergence, disturbance rejection, and adherence to actuator constraints.

Keywords: Control de Sistemas Lineales
Abstract: This paper introduces an impulsive observer for linear differential-algebraic equations systems with outputs available only at discrete sampling instants. By exploiting the Kronecker decomposition of the pencil (E,A) and modeling each sample as an impulse, we derive a discrete‐time error recursion. A Lyapunov‐based LMI framework is then formulated to enforce Schur‐stability of the impulsive error. The resulting convex synthesis directly computes the observer gain, guaranteeing exponential convergence of the continuous‐time estimation error. Numerical examples illustrate convergence behavior of the proposed impulsive observer.

Keywords: Mecatrónica, Control de Sistemas Lineales, Control Robusto
Abstract: This paper addresses the design and control of a one-axis positioning system for a 3D printer. Such a system must perform high-precision motions in a robust manner, as well as meet the demand for high production rate. To achieve this goal, the precision engineering concepts of long-stroke and short-stroke motion are combined. The former aims to perform movements with precision in the order of millimeters, and the latter in the order of micrometers. The system dynamics is obtained using the modal decoupling and Finite Element (FE) approach. A servo-control scheme based on the Active Disturbance Rejection Control (ADRC) technique is proposed. The performance of the scheme is evaluated with time domain simulations and frequency domain analysis. The proposed controller is compared with the traditional Loop Shaping approach through simulations.

Keywords: Control de Sistemas Lineales, Control Robusto, Control Discontinuo (modos deslizantes)
Abstract: In this work, we propose a methodology for the state estimation of switched linear time-varying systems. The design relies on the assumption that all subsystems satisfy a differential uniform observability property, which enables the construction of state immersions for each subsystem. Within these extended coordinates, we propose a family of bl-homogeneous observers with finite-time convergence, switching in accordance with the active subsystem. It is further established that, starting from a reset condition at the switching instants, once the observer has converged, the estimation error remains identically zero.

Keywords: Control Discontinuo (modos deslizantes), Modelado e Identificación de Sistemas, Sistemas Electromecánicos
Abstract: This paper proposes a gain design for Super-Twisting control applied to a Direct Current (DC) motor. The describing function approach is employed to predict the chattering characteristics---specifically, the amplitude and frequency of self-excited oscillations---arising from parasitic dynamics modeled as a transport delay. Based on this analysis, a gain tuning strategy is developed to minimize the amplitude of the dominant harmonic. The effectiveness of the proposed methodology is validated through experimental results on the DC motor.

Keywords: Control Discontinuo (modos deslizantes), Control Robusto, Robótica Móvil
Abstract: This article presents the design of a robust control strategy applied to a Unicycle Mobile Robot (UMR), which is subject to disturbances caused by wheel slippage, to provide trajectory tracking. By implementing a saturated super-twisting control, the velocity signals of the UMR are guaranteed to remain continuous and within specified maximum bounds. Stability analysis is based on Lyapunov functions and invariant sets, demonstrating that the sliding variables converge to the origin in finite time. The specific design of the sliding variables ensures that the tracking errors asymptotically converge to zero. Consequently, the UMR successfully follows the desired trajectory while satisfying the velocity constraints and dealing with the disturbances.

Keywords: Control Discontinuo (modos deslizantes), Control Robusto, Sistemas Electromecánicos
Abstract: This paper presents an experimental validation of continuous high order sliding mode algorithms through the design of sliding surfaces using modified Ackermann formulas. The designed controllers are tested in a real experiment using a cart-pendulum setup. The order of accuracy of the chattering amplitude and gain adjustment is considered in experimental criteria.

Keywords: Control Robusto, Control Discontinuo (modos deslizantes), Mecatrónica
Abstract: Barrier function adaptation of sliding-mode control (BFASMC) is applied in a physical ball and plate system, with the objective to track some reference. Experiments will be performed to show the advantages of such control strategy. Moreover, the performance of the BFASMC will be compared against a linear controller and a super-twisting algorithm (STA) also implemented in the physical ball and plate system. The experimental results show that the BFASMC delivers a smoother control law with respect to the STA and the linear controller.

Keywords: Robótica de Maipuladores, Mecatrónica, Control Discontinuo (modos deslizantes)
Abstract: The following work addresses the trajectory tracking problem for robotic manipulators. A sliding mode-based controller is designed for an n-degree-of-freedom robotic manipulator to achieve trajectory tracking control. Conventional Sliding Mode Control involves a reaching phase, which is the time the system takes to reach the sliding surface; during this stage, the system is vulnerable to parametric uncertainties and external disturbances. The employed sliding mode technique is called Integral Sliding Mode control and allows the system to skip the reaching phase, thus making the system invulnerable to disturbances from the beginning. Additionally, a simple, easy-to-implement disturbance estimator is designed in order to smooth out the control signal. Numerical simulations of the controller implemented for a 2 DOF robotic manipulator support the performance of the proposed controller.

Keywords: Sistemas Caóticos
Abstract: Chaos phenomena have been the subject of study for decades. Even now, it remains a trending topic, as new effects are continually discovered, such as hidden attractors, fractional-order variants, and multistability, to name a few, which continue to open and expand the frontiers for chaos-based applications. Herein, this paper presents a new complex-valued chaotic system with striking characteristics, including hidden attractors that coexist with multistability and extreme multistability. In particular, the proposed system possesses two equilibrium points with positive real parts, indicating that both equilibria are stable. Surprisingly, the proposed systems generate chaos for a determined set of parameters. Analytical formulations are given to demonstrate the conditions for chaos emergence. Additionally, the chaotic behavior is numerically described using bifurcation diagrams and phase portraits.