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We consider an iterative learning control (ILC) approach to machining with industrial robots. The robot and the milling process are modeled using system identification methods with a data-driven approach. Two different model-based ILC algorithms are proposed and subsequently experimentally verified in a milling scenario. The difference between the two approaches is the required sensors for acquiri
The emerging new idea of lane-keeping electronic stability control is investigated. In a critical situation, such as entering a road curve at excessive speed, the optimal behavior may differ from the behavior of traditional ESC, for example, by prioritizing braking over steering response. The important question that naturally arises is if this has a significant effect on safety. The main contribut
A comparative analysis shows how vehicle motion models of different complexity, capturing various characteristics, influence the solution when used in time-critical optimal maneuvering problems. Vehicle models with combinations of roll and pitch dynamics as well as load transfer are considered, ranging from a single-track model to a double-track model with roll and pitch dynamics combined with loa
This paper presents a method for modeling and control of a piezo-actuated high-dynamic compensation mechanism (HDCM) for usage together with an industrial robot during a machining operation, such as milling in aluminum. The spindle is attached to the compensation mechanism and the robot holds the workpiece. Due to the inherent resonant character of mechanical constructions of this type, and the no
This paper presents results from time-optimal path tracking for industrial robots. More specifically, three subproblems are studied and experimentally evaluated. The first is a contact-force control approach for determining the geometric robot motion, such that the tool centre point of the robot is moved according to the specification. The second problem is off-line solution of the optimisation pr
Many of the classical approaches to controller synthesis do not scale well for large and complex systems. This is mainly due to computational complexity and the lack of distributed structure in the resulting controllers. It is important that limitations on the information given and processed by sensors and actuators can be incorporated into the design procedure. However, such constraints may great
We consider a real-time system of multiple tasks, each task having a plant to control. The overall quadratic control cost is to be optimized. We exploit the periodicity of the task response time, which corresponds to a periodic delay pattern in the feedback control loop. Perturbed periods are used as a tool to find a finite hyperperiod. We present an analytical procedure to design a periodic linea
This paper presents a straightforward method to convert non-uniformly sampled data to uniform samples in order to be processed by some off-line techniques such as system identification. In such scenarios, we deal with a finite-length measurement sequence. We assume periodic extension of the signals, which results in a simple system of linear equations. Furthermore, we take into account a number of
In real-time control systems, varying task response times may lead to delays and jitter in the delays in the feedback control loops, which adversely affects both performance and robustness. Standard LQG control design does not give any guarantees on robustness, while robust control design methods often do not handle controller timing uncertainty. We propose a sampled-data controller synthesis meth
Harmonic periods have wide applicability in industrial real-time systems. Rate monotonic (RM) is able to schedule task sets with harmonic periods up to 100% utilization. Also, if there is no release jitter and execution time variation, RM and EDF generate the same schedule for each instance of a task. As a result, all instances of a task are interfered by the same amount of workload. This property
In digital control systems, the state is sampled at given sampling instants and the input is kept constant between two consecutive instants. With the optimal sampling problem, we mean the selection of sampling instants and control inputs, such that a given function of the state and input is minimized. In this paper, we formulate the optimal sampling problem and we derive a necessary condition of t
Stochastic optimal power flow can provide the system operator with adequate strategies for controlling the power flow to maintain secure operation under stochastic parameter variations. One limitation of stochastic optimal power flow has been that only limits on lineflows have been used as stability constraints. In many systems voltage stability and small-signal stability also play an important role i
Rekryterare vässade kompetensen Havsvågor – matematiska ekvationer Ljus i hjärnan kan lindra epilepsi Lunds universitets magasin | Nr 5 | 2013 Smarta tekniker visar djurens flyttvägar Fångad i flytten 2 LUM nr 5 | 2013 LUM nr 5 | 2013 3 Luften finns – om man pum- par ut den dör den lilla fågeln i glaskupan! Och om man skapar högt tryck med eld och ånga och finurlighet kan man driva starka maskiner
https://www.lu.se/sites/www.lu.se/files/lunds-universitets-magasin-5-2013.pdf - 2026-07-18
Microsoft Word - cv_PerP.docx Prof. Per Persson Centre for Environmental and Climate Research & Department of Biology, Lund University, SE-223 62 Lund, Sweden Phone: 046-222 17 96 Email: per.persson@biol.lu.se Born September 17, 1962, male, married, two children born January 16, 2005 and December 25, 2007, Swedish citizen Education 1986-1990 Doctor of Philosophy in Inorganic Chemistry, Lund Univer
https://www.cec.lu.se/sites/cec.lu.se/files/cv_perp.pdf - 2026-07-18
Microsoft Word - THESIS IGNACIO VELASCO.doc More sustainable cooking technologies – A case study in rural kitchens in Michoacan, Mexico Author Ignacio Velasco Ulrikedalsvägen 2 T 219 224 58 Lund, Sweden Email: nachovel@hotmail.com Submitted for partial fulfillment of the requirements for LUMES, Lund University International Master’s Programme in Environmental Studies and Sustainability Science Sup
https://www.lumes.lu.se/sites/lumes.lu.se/files/ignacio_velasco.pdf - 2026-07-18
Microsoft Word - checklistaphdrasar1 (EN).docx YEAR 1 Guidelines for Doctoral Students at RÄS, 26/05/2009 Guidelines for Reviewing Individual Study Plans The doctoral research student’s working conditions ~ Extent and focus of the academic supervision To be discussed: How should the division of labour between the principal academic supervisor and the assistant academic supervisor function? H
https://www.soclaw.lu.se/en/sites/soclaw.lu.se.en/files/2020-12/guidelines_for_doctoral_students_soclaw_-_year_1.pdf - 2026-07-18
Cloud applications are often subject to unexpected events like flash crowds and hardware failures. Without a predictable behaviour, users may abandon an unresponsive application. This problem has been partially solved on two separate fronts: first, by adding a self-adaptive feature called brownout inside cloud applications to bound response times by modulating user experience, and, second, by intr
This work presents an extension of a design procedure for dynamic output feedback design for systems with nonlinearities satisfying quadratic constraints. In this work we used an axial gas compressor model described by the 3-state Moore-Greitzer compressor model (MG) that has some challenges for output feedback control design (Planovsky and Nikolaev 1990), (Rubanova 2013). The more general constra
lum_2007_09 LUM Lunds universitets magasin | Nr 9 | 2007 Rusning efter Kina-avtal Ordning i centrumröran fossiljägaren LUM nr 9 | 2007 stämningshöjare LUM nr 9 | 2007 Akademiska kapellet med kör bi- drog till att höstens professorsin- stallation blev den pampiga tillställ- ning som sig bör. Sexton professorer installerades och tre goda pedagoger belönades för sina insatser. Dessutom delades univ
https://www.lu.se/sites/www.lu.se/files/lunds-universitets-magasin-9-2007.pdf - 2026-07-18
Issue 15 Newsletter students Autumn 2020.pdf NEWSLETTER GRADUATE SCHOOL, FACULTY OF SOCIAL SCIENCES, LUND UNIVERSITY ISSUE #15, Autumn 2020 GRADUATE SCHOOL The newsletter is also available online: tinyurl.com/GSstudentnews (very handy, as that version has clickable links) Special focus: The Corona Times https://tinyurl.com/GSstudentnews https://tinyurl.com/GSstudentnews 1 Before I talk more ab
