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Output Feedback Stabilization and Regulation for a Class of Under-Actuated Non-Minimum Phase Benchmark Nonlinear Systems

Thesis Info

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Author

Khalid, Nasir

Program

PhD

Institute

National University of Sciences & Technology

City

Islamabad

Province

Islamabad

Country

Pakistan

Thesis Completing Year

2017

Thesis Completion Status

Completed

Subject

Electrical Engineering

Language

English

Link

http://prr.hec.gov.pk/jspui/bitstream/123456789/13888/1/8.Nasir_Khalid_PhDThesis.pdf

Added

2021-02-17 19:49:13

Modified

2024-03-24 20:25:49

ARI ID

1676727806764

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In this thesis, the problem of output feedback stabilization and regulation for a class of underactuated benchmark nonlinear systems is considered. The proposed method utilizes an extended high gain observer (EHGO)-based sliding mode control (SMC) technique to control a class of nonlinear systems which may have unstable zero dynamics. Starting with Lagrangian model of the system and using a suitable coordinate transformation, a generalized normal form representation is derived which decouples the system into its internal and external dynamics. The internal dynamics is utilized to derive an auxiliary system and the full-order EHGO thus obtained is used for estimation of derivative(s) of the system output that are further used in design of an output feedback control law. It is shown that the proposed output feedback controller stabilizes the system and convergence of estimated states is demonstrated with suitable selection of observer parameters. The proposed stabilizing control scheme is applied to two of the benchmark nonlinear systems, namely Inertia Wheel Pendulum (IWP), and Translational Oscillator with Rotational Actuator (TORA), in order to demonstrate the effectiveness of the technique by simulation. The technique is extended to further solve for the servomechanism (output regulation) problem for the class of under actuated non-minimum phase nonlinear systems under consideration. Towards this end, the control design is modified to include a ‘conditional servo compensator’ in order to track reference signals as well as reject disturbances while achieving stabilization and steady-state accuracy with a desired transient performance. The conditional servo compensator is utilized to regulate the controllable states by using SMC while neglectvi ing the internal states initially. The uncontrollable states of the system are estimated using an EHGO and the error signal is then used to synthesize a control input to stabilize the internal states by incorporating it in the sliding surface of the SMC design. The proposed control scheme is then applied to the Translational Oscillator with Rotational Actuator (TORA) system to validate the efficacy of the technique.
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Genetic Analysis for Early Maturity, Yield and Quality Attributes of Indian Mustard Brassica Juncea L.

This investigation was set out to study the genetic control in early generations of key traits for production of early maturing, high quality and high yielding Brassica juncea L. genotypes in Pakistan. Eight genotypes of B. juncea were chosen for one or more of several interesting taits for genetic improvement of B. juncea in Pakistan – early maturity, yellow seed colour, large seed size, high seed quality (low erucic acid in oil and glucosinolate in meal), high seed yield and oil and protein content. All the eight selected genotypes were crossed in a complete diallel design and genetic analysis was conducted on subsequent early generations in field experiments. The genetic analysis for each trait included Hayman analysis of diallel F1 progeny for additive and dominant effects, combining ability analysis and generation mean analysis. Based on the outcome of these genetic analyses, suitable breeding methodology will be recommended for further breeding of B. juncea in Pakistan. The parental material was obtained from National Agricultural Research Centre (NARC), Islamabad, Barani Agricultural Research Institute (BARI), Chakwal and Nuclear Institute for Food and Agriculture (NIFA), Peshawar. Two early maturing genotypes included in the parental material were selected after evaluating twenty genotypes in winter 2005-06. F1 generation was obtained from the complete diallel in winter season 2006-07 at BARI, Chakwal. The 56 F1 hybrids along with their parents were sown in Randomized Complete Block Design with three replications during next crop season 2007-08. Data were recorded for days to first flowering and physiological maturity, plant height, primary branches per plant, siliquae per plant, siliqua length, seeds per siliqua,1000-seed weight, seed yield per plot, oil and protein contents, erucic acid and glucosinolate contents. 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For plant height, number of primary branches, siliquae per plant, siliqua length, seed yield per plot, oil and protein contents, over dominance was observed. The results for combining ability analysis indicated significant general combining ability for most of the traits except for plant height, siliqua length, oil and protein contents indicating that selection would not bring about significant improvement in these traits due to absence of significant variations. Combining ability analysis showed that UCD-8/4, KJ-119 and BRS-2 were good general combiners for maturity and yield related traits. NIFA RAYA x UCD-8/4, CANOLA RAYA x UCD-6/23, KJ-119 x UCD-6/23, CANOLA RAYA x UCD-8/4, KJ-119 x UCD-8/4, CANOLA RAYA x UCD-8/4, KJ-119 x BRS-2 and KJ-119 x CANOLA RAYA involved at least one of the good general combiner parents and showed high desired specific combining ability for many traits. Heterosis estimates indicated that significant negative and positive values were shown by many crosses for all the traits except for protein content, for which only one cross showed positive significant heterosis. Many of the crosses with significant positive heterosis for oil content involved yellow-seeded parents while seven of the crosses showed significant positive heterosis simultaneously for both erucic acid and glucosinolate contents. High broad sense heritability was observed for all the traits except for days to first flowering and days to physiological maturity. The estimates for genetic advance were moderate to high for all the traits. High values for heterosis, heritability and genetic advance for various traits indicated good genetic potential for selection. During the same crop season, five of the F1 crosses were selected on the basis of their performance regarding different yield related traits. To generate F2 generation, five F1 plants from each cross were selfed. Back cross generations i.e, BC1 and BC2, were also developed by crossing two F1 hybrids with both of the parents for all the five crosses. The seeds of eight parents, F1, F2, BC1 and BC2 were sown during crop season 2008-09. Data were collected for maturity and yield attributes and subjected to analysis of variance and generation mean analysis to derive information on the relative importance of additive effects, dominance deviations and epistasis with the help of six parameter model presented by Hayman. Significance of scaling tests indicated presence of epistasis. Results for generation mean analysis showed that additive gene effects were effective in most of the crosses for many traits however some crosses showed presence of dominance effects for days to physiological maturity, plant height, number of primary branches, 1000-seed weight and seed yield. Dominance x dominance interaction was prominent for all the traits while for siliqua length and seed yield, additive x dominance interaction was also important. Additive x additive component was also detected in few crosses for various traits. Duplicate epistasis was detected for 1000-seed weight and seed yield while complementary epistasis was observed for days to physiological maturity, plant height and number of primary branches. Presence of dominance effects along with duplicate epistasis for 1000-seed weight and seed yield indicated that selection might be better carried out in late segregating generations. From the information regarding genetic control of all these traits it is suggested that for the traits showing prominent role of non-additive effects and presence of over-dominance, selection can be delayed up to late segregating generations while for the traits observing more effective role of additive effects, selection can be carried out in early segregating generations. Some combinations have been identified which will be useful to develop and release early maturing, good quality and high yielding varieties of B. juncea in Pakistan.