Lumped uncertainty alleviation in output channels of MIMO nonlinear systems based on robust disturbance observer-based control strategy

Disturbances and uncertainties can produce unsatisfactory responses in many industrial and engineering systems. Besides, the practical systems and processes are multiple-input multiple-output (MIMO). Hence, achieving a good control performance with adequate output responses is not simple. Many different methods were provided for control of industrial processes in some references. However, in this paper, the primary goal is to design an appropriate tracking controller for alleviating the destructive effects of uncertainties in output channels of MIMO nonlinear systems. For this purpose, a robust mechanism has been introduced according to the optimal design of centralized extended proportional-derivative (CEPD) and disturbance observer (DOB). By designing the derivative part $K_d$ based on famous Vandermonde matrix and DOB gain $\mathrm{\Gamma }$, the robust criterion $R={\left(I+CG{K}_d\right)}^{-1}$ is obtained to tackle the undesirable factors such as nonlinear functions and uncertainties in error dynamics. The closed-loop stability is guaranteed by tuning the proportional part $K_p$ under linear matrix inequality. The proposed scheme in this paper can be used for a wide range of MIMO nonlinear systems in practical situations.     

Prediction and detection of cutting tool failure by modified group method of data handling

This paper describes a method of predicting and detecting cutting tool failure in a process computer by means of a statistical model formed by the group method of data handling (GMDH).An algorithm for modifying a process model, which has been formed beforehand by GMDH, using the newest real process data is derived at first.The first application of the algorithm is directed to the prediction of cutting tool wear. It has been found that the relative prediction errors fall within ±10% at more than 90% of predicting points.The second application of the algorithm is directed to the detection of cutting tool failure by chipping. The dynamic model of the cutting torque signal is formulated by GMDH and continuously renewed using time series process data. The difference between the estimated process output and the real process data is always monitored and becomes remarkably large when the tool failure by chipping occurs.     

Solution combustion synthesis of FeCr2O4:Zn,Al pigment powders

FeCr₂O₄:Zn,Al pigment powders were prepared via a solution combustion synthesis method. Effects of Zn and Al dopants and less/extra Fe content on the structure, molecular bonds, and optical properties of powders were studied. Results showed that addition of dopants as well as extra/less content of Fe led to weaker combustion and consequently lower X-ray diffraction peak intensities, lattice parameters, and differential thermal analysis peak intensities. Moreover, Fourier transform infrared analysis illustrated that the band position of Cr–O and Fe–O bonds were shifted to higher frequencies with moving away from stoichiometry. In addition, scanning electron micrographs showed that in all samples, porous spongy microstructures were formed with highly flake-like agglomerated particles. Furthermore, there was a significant difference between the powder samples and the tiles colored with in glaze powders due to the partial dissolution of pigments in contact with the molten glaze of tiles. In comparison to the tile colored with the stoichiometric FeCr₂O₄ pigments without dopants, the color difference (ΔE) in the tiles colored by the iron chromite pigments doped with Zn and Al dopants and less/extra Fe content reached the high values as large as ΔE = 36.19. The solar reflectance values (R_s) in near-infrared region were above 50% in all samples. Near 80% R_s in the tile colored by the iron chromite pigment doped with 3 mol% Zn and the yellowish brown appearance (L* = 43.44, a* = 6.77, b* = 18.38, c* = 19.59, h = 69.79) showed that the sample was a good candidate for cool building materials such as roof tiles.     

Phase transformation of FeCr2O4 to (Fe,Cr)2O3 solid solution pigment powders: Effect of post-heating temperature

Iron chromite powders were synthesized via solution combustion route using iron(III) nitrate nonahydrate and chromium(III) nitrate nonahydrate as starting materials, as well as glycine–urea, glycine–citric acid, and glycine–ethylene glycol mixtures as fuels. The effect of postheating at different temperatures on the structure, molecular, microstructure, and chromatic properties of powders and tiles colored by in-glaze powders was studied. The X-ray diffraction patterns showed that as-synthesized powders were obtained in crystalline FeCr₂O₄ phases moreover, postheating of the powders led to d-space shift and oxidation and formation of (Fe,Cr)₂O₃ solid solution phase regardless of fuel type. Phase transformation of FeCr₂O₄ to (Fe,Cr)₂O₃ solid solution was observed at 500/750°C depending on the dominant phase of as-synthesized particles. Fourier transform infrared analysis illustrated that the band positions of octahedral M–O and tetrahedral M–O bonds were shifted due to Fe cations movement from their position and lattice shrinkage by increasing of post-heating temperature. Moreover, scanning electron micrographs showed that Fe_0.7Cr_1.3O₃ semispherical fine particles were formed from porous spongy FeCr₂O₄ particles due to oxidation and phase transformation during the postheating. Furthermore, chromatic properties of the samples were represented. The color properties of the pigments showed that the formation of brown pigments is provided with the phase transformation from FeCr₂O₄ to (Fe,Cr)₂O₃ at a temperature of up to 750°C. Moreover, increasing the color purity to this temperature is related to the removal of residual carbonaceous matters. The chromatic properties of the glazed tiles colored using the pigments showed that postheating between 250 and 500°C led to more brown appearance.     

Synthesis of (Fe,Cr)2O3 solid solution pigment powders for ink application

Iron chromite pigment was synthesized via solution combustion using iron(III) nitrate nonahydrate and chromium(III) nitrate nonahydrate as starting materials, and glycine, urea, citric acid, and ethylene glycol as fuels. The effect of postheating temperature on the structure, microstructure, and chromatic properties of the synthesized powders was also studied. X-ray diffraction patterns showed that the as-synthesized powders were amorphous to crystalline FeCr₂O₄ phases, depending on fuel type. Moreover, regardless of the fuel type, postheating led to the d-space shift and oxidation and formation of (Fe,Cr)₂O₃ solid solution. Phase transformation of FeCr₂O₄ to (Fe,Cr)₂O₃ solid solution was observed at 500/750°C depending on the dominant phase present in the as-synthesized particles. Fourier transform infrared analysis illustrated a shift in the band position of octahedral M–O and tetrahedral M–O bonds due to the movement of Fe cations and the lattice shrinkage by increasing the postheating temperature. Moreover, scanning electron micrographs showed that Fe_0.7Cr_1.3O₃ semispherical fine particles consisted mainly of porous and spongy FeCr₂O₄ particles due to the oxidation and phase transformation during postheating. According to chromatic measurements, the ink prepared by using the powders synthesized in the presence of glycine and post-heated at 500°C showed reddish-brown color which could be considered a promising candidate for tile decoration application. Furthermore, rheology studies revealed that the prepared ink showed non-Newtonian shear thinning behavior.