When measuring transient behaviour in descrete time, limitations in memory size impose truncation errors on the computations performed in the subsequent analysis of data. In this paper different approached to minimize or avoid these errors are investigated.

Identification of process dynamics is used for stability monitoring in nuclear reactors (Boiling Water Reactor). This report treats the problem of estimating a damping factor and a resonance frequency from the neutron flux as measured in the reactor. A new parametric online method for identification is derived and presented, and is shown to meet the requirements of stability monitoring. The techni

This report contains a study on inertial parameter estimation for application in robot control. Symbolic manipulation using Maple is applied to support the estimation efforts.

In this thesis a visual servoing approach for uncalibrated systems with 6 degrees of freedom (DOF) is evaluated. Assuming weak perspective, the observed motions of the robot end-effector are constrained to affine trans-formations in the image space. This allows us to express the control error directly in terms of an affine transformation in the camera images. By this approach, visual servoing is r

In order to minimise development time it is important to be able to implement and test control functions at an early stage in a project, even before the electronic hardware of the new product is available. For this purpose, a PC based rapid prototyping system including a graphical modelling/simulation tool and automatic C code generation for real-time simulations with hardware in the loop may be u

In this master thesis, it will be shown howto estimate the unknown environmental forces acting on different vehicular and robotic systems. As force sensors are expensive, complex and not suitable to operate in hazardous environments, we present an approach to force estimation using model based observers. Only position measurements are assumed to be available and it will be shown how to use this fo

Robot control systems and other manufacturing equipment are traditionally closed systems. This circumstance has hampered system integration of manipulators, sensors as well as other equipment, and such system integration has often been made at an unsuitably high hierarchical level. With the aid of vision, visual feedback is used to guide the robot manipulator to the target. This hand-to-target tas

Robot control systems are traditionally closed system. With the aid of vision, visual feedback is used to guide the robot manipulator to the target in a similar manner as humans do. This hand-to-target task is fairly easy if the target is static in Cartesian space. However, if the target is dynamics in motion, a model of this dynamical behaviour is required in order for the robot to predict or tra

The development of steer-by-wire involves an increased amount of possibilities for control in future cars. For example, the experimental vehicle available has both front and rear wheel steering. This enables a simultaneous multivariable control of both the yaw rate and the side slip angle. The today existing control approach is designed in the time domain and it has a decoupled control structure,

This report summarizes a master-thesis project where the goal has been to control a submarine vehicle. The vehicle is used to take video films of the bottom of the sea. For this reason, it is desired to keep the vehicle at a constant distance over the sea bottom. The workconsist of a model-building phase, where a frequency-response experiment is performed on the vehicle. Based on this model, sever

Recent progress in parameterization of linear robust controllers has made it possible to investigate advanced controller specifications numerically using convex optimization. The main focus of this thesis project is to investigate how to design a LTI controller for a LTI plant using convex optimization, particularly Linear Programming technique. The concerned performance specification is defined a