Mikulás Huba

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Nonlinear control systems are more difficult to handle than linear, since the associativity is not valid. Laplace transforms and transfer functions, which form a symbolic computation for linear systems, are, therefore, disabled. A modern development of nonlinear control systems is thus related mainly to the systematic use of differential algebraic methods.(More)
The paper describes some new aspects of the course on Robust Constrained PID Control that is being developed and tought at the Faculty of Electrical Engineering and Information Technology of the STU in Bratislava for more than two decades. New important notions enabling more effective treatment of the carried out analysis and design are introduced and(More)
This paper deals with exact linearization - a well-known method for nonlinear control design - from a control education point of view. It presents a couple of interactive tools based on Matlab, Simulink and Matlab Web server that serve as easy-to-use control law calculators. Their main purpose is to remove the mathematical burden involved in exact(More)
This paper describes simple physical hydraulic laboratory models that are able to communicate with computer via both the standard USB interface and through converter cards. They show to be appropriate for evaluating different control approaches to linear and nonlinear controllers design and for demonstrating basic control features in both university(More)
The paper deals with an experimental evaluation of a modular design of the disturbance observer (DO) based filtered PI control with scalable filtering properties (DO-FPI). Based on simple one-parameter tuning methods it compares outcomes of its application to the speed servo control using incremental position sensor towards the alternative solution based on(More)
The paper brings analytical design of a constrained PD controller for the second order integral plants focused on achieving the possibly best tracking dynamics considering the control signal saturation. The linear pole assignment control and relay minimum time control are included as its limit solutions. The degree of freedom existing in choice of a(More)
This paper treats a noise attenuation motivated position controller design outlined in [1]. This modular approach to a filtered PD and a disturbance observer based filtered PID (FPD and DO-FPID) control design, including an experimental evaluation of an optimal filter degree choice, is extended to a constrained control grounded in the invariant set approach(More)
This paper shows that the highly nonlinear, unstable and fast system of magnetic levitation can be simply controlled by invariant sets based controller generalizing the pole assignment method for constrained systems. This can be reliably tuned by a modification of the well-known step-response based method by Ziegler and Nichols. As all unstable systems, it(More)