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Series Editors:
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Giulio Maier - Milan
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Executive Editor
Paolo Serani - Udine
SIMULATION TECHIQUES
FOR APPLIED DYNAMICS
EDITED BY
MARTIN ARNOLD
MARTIN LUTHER UNIVERSITY HALLE-WITTENBERG, GERMANY
WERNER SCHIEHLEN
UNIVERSITY OF STUTTGART, GERMANY
This volume contains 210 illustrations
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Multibody Systems and Applied Dynamics
Werner Schiehlen and Peter Eberhard
Institute of Engineering and Computational Mechanics,
University of Stuttgart, Stuttgart, Germany
Abstract Modern applied dynamics is characterized by systems
consisting of mechanical, electrical, hydraulical and biological com-
ponents subject to control. For the modelling and design of con-
trolled systems the method of multibody systems is most appro-
priate due to the comparatively low number of degrees of freedom.
Therefore, the method of multibody systems is briey introduced
in the following.
Human locomotion is used as a typical example for a mechani-
cal system controlled by redundant muscle actuators requiring opti-
mization approaches for control design. The simulation techniques
applied are based on inverse dynamics considering measurement re-
sults, too.
1 Multibody Dynamics
Multibody dynamics is based on analytical mechanics dealing with rigid
bodies. Early applications of the dynamics of rigid bodies are related to gy-
rodynamics, mechanism theory and biomechanics as reviewed by Schiehlen
(1997). However, the requirements for more complex models of satellites
and spacecrafts, and the fast development of more and more powerful com-
puters led to a new branch of mechanics: multibody system dynamics. The
results of classical mechanics had to be extended to computer algorithms,
the multibody formalisms. One of the rst formalisms is due to Hooker
and Margulies (1965). This approach was developed for satellites consisting
of an arbitrary number of rigid bodies interconnected by spherical joints.
Another formalism was published by Roberson and Wittenburg (1967). In
addition to these numerical formalisms, the progress in computer hardware
and software allowed formula manipulation with the result of symbolical
equations of motion, too. First contributions are due to Levinson (1977)
and Schiehlen and Kreuzer (1977). In the 1980s complete software sys-
tems for the modeling, simulation and animation were oered on the mar-
ket as described by Schwertassek and Roberson (1986). The state-of-the-
art achieved by the end of the 20th century was documented in Schiehlen
2 W. Schiehlen and P. Eberhard
see, e.g., Eberhard and Schiehlen (2006). Thus, the position vector of the
free system can be written as
si si
i = si = y + = J Ri (y, t)y + i (y, t) (8)
y T t
where si means a vector of innitesimal rotations following from the cor-
responding rotation tensor, see, e.g., Eberhard and Schiehlen (2006), and
v i , i are the local velocities. Further, the Jacobian matrices J T i and J Ri
for translation and rotation are dened by Eqs. (7) and (8).
The system may be subject to additional r nonholonomic constraints
which do not aect the f = 6p q positional degrees of freedom, but
they reduce the velocity dependent degrees of freedom to g = f r =
6p q r. The corresponding constraint equations can be written explicitly
or implicitly, too,
For the systems translational and rotational velocities it follows from Eqs.
(7) to (9)
On the left hand side of Eqs. (13) to (15) the inertia forces are characterized
by the inertia matrix M , the global Jacobian matrices J , L and the vector
q c of the Coriolis forces. On the right hand side the vector q e of the applied
forces, which include control forces, and the constraint forces composed by
a global distribution matrix Q and the vector of the generalized constraint
forces g are found.
Each of the Eqs. (13) to (15) represents 6p scalar equations. However,
the number of unknowns is dierent. In Eq. (13) there are 6p + q unknowns
resulting from the vectors x and g. In Eq. (14) the number of unknowns is
exactly 6p = f + q represented by the vectors y and g, while in Eq. (15) the
number of unknowns is 12p q due to the additional velocity vector z and
Multibody Systems and Applied Dynamics 5
Equations (17) and (18) can now be solved by any standard time integration
code.
Within the ANCF for highly exible bodies fa absolute coordinates are
summarized in a vector y a characterizing the material points of the bodies
by an appropriate shape function. Then, the equations of motion read as
M y a + K a (y a )y a = q(y a , t) (23)
This system may feature parametrically excited vibrations due to the time-
varying, often periodic matrices. In the case of time-invariant matrices one
gets after decomposition into the symmetric and skew-symmetric parts
M y + Ky = 0 (26)
2 Human Locomotion
Human locomotion research requires simulation techniques provided by ap-
plied dynamics. Therefore, human locomotion serves in this section as a
typical application for applied dynamics.
Dynamic simulation of human motion driven by physiological muscle
models is increasingly used to understand human motion. Indeed, recent
research has provided remarkable insights into the coordination of human
walking. Because the neural excitations to the muscles are not known a
priori, optimization techniques are used based on the assumption that the
central nervous system (CNS) excites muscles in such a way as to optimize
some physiological performance criteria. In walking, the metabolic cost
of transport was shown to be an essential performance criterion, see e.g.
Ralston (1976).
The resulting neuromuscular optimal control problem is traditionally
solved by transforming the problem in an optimization by means of dis-
cretizing the controls, i.e. the neural excitations. The approach consists of
Multibody Systems and Applied Dynamics 9
repeatedly solving the initial value problem using the reconstructed con-
trol histories while minimizing a user-dened cost function. This approach,
called dynamic optimization in this contribution, is being increasingly used
to study human walking, see e.g. Gerritsen et al. (1998), Neptune et al.
(2001), Anderson and Pandy (2001), or Umberger et al. (2003). However,
the prohibitive computational eort arising from the several integrations
of the dierential equations describing the dynamics of the musculoskeletal
system prevents a broader use. Anderson and Pandy (2001), for instance,
report 10000 hours of CPU time to nd a solution for a 3-D musculoskele-
tal model. The successful application of dynamic simulation to the design
of assistive devices, to the evaluation of rehabilitation therapies or to the
planning of surgical interventions depends on the reduction of computa-
tional eort to acceptable levels.
One promising alternative to avoid several integrations of the system
equations is the use of inverse-dynamics approaches to solve the optimal
control problem. For instance, Nagurka and Yen (1990) proposed an inverse-
dynamics approach that consists of approximating the trajectories of the
generalized coordinates of a nonlinear dynamic system by Fourier series,
whose coecients are incorporated to the design parameters. This allows
the conversion of the optimal control problem into a parameter optimiza-
tion problem, and consequently the use of standard and ecient nonlinear
programming algorithms such as sequential quadratic programming (SQP).
Furthermore, the controls are computed by inverse dynamics by means of
the equations of motion from the generalized coordinates and their rst and
second time derivatives, which are obtained by analytical dierentiation.
As a result, numerical integrations of the system dierential equations are
not required and, thus, the computational eort is signicantly reduced.
Recently, Saidouni and Bessonnet (2003) and Bessonnet et al. (2005)
applied a similar approach to determine near-optimal walking trajectories
and joint moments for biped robots. Instead of Fourier series, Bessonnet
et al. (2005) employed splines of class C3, i.e. approximating polynomials
of fourth order, to approximate the time histories of the generalized coordi-
nates. They divide the gait cycle into phases and model contact by means
of kinematic constraints that are activated and deactivated along the walk-
ing cycle. The application of this approach to human locomotion requires,
however, the introduction of physiological models of the muscles and their
dynamics. Furthermore, the redundancy in the actuation resulting from the
number of muscles being greater than the number of degrees of freedom has
to be addressed. In this context, an inverse-dynamics approach is proposed,
see Ackermann (2007a), that allows for the determination of near-optimal
time histories of the generalized coordinates, muscle forces and neural exci-
10 W. Schiehlen and P. Eberhard
tations taking the contraction and activation dynamics of the muscles into
account.
As for the inverse-dynamics methods mentioned above, the trajectories
of the generalized coordinates describing the motion of the skeletal system
are approximated by parameterized functions. In addition, to deal with the
redundancy caused by the introduction of muscles, also the time histories
of the muscle forces are parameterized. The consistency between the gen-
eralized coordinates and the muscle forces is guaranteed by ensuring the
fulllment of constraints given by the equations of motion. The neural exci-
tations, i.e. the controls, are computed by inverting the muscle contraction
and activation dynamics. In this way, near-optimal time histories of the
generalized coordinates and of the muscle forces are searched that optimize
a time-integral cost function such as minimal metabolic cost of transport or
maximal proximity to measured data. The method is described in detail in
Ackermann (2007b).
1 HAT
1 Iliopsoas
2 Rectus Femoris
3 3 Glutei
4 Hamstrings
2 HAT
5 5 Vasti
6 Gastrocnemius
4
7 Tibialis Anterior
thigh 8 Soleus
6
shank thigh
7
8
foot
shank
foot
strike, left toe contact (at contact of left sole), right toe o, left heel o,
and right heel strike, respectively.
The equations of motion of the free model, which are a set of ordinary
dierential equations as described by Eq. (17), are modied to account
for the additional kinematic constraints modeling the contacts occurring
12 W. Schiehlen and P. Eberhard
CE
PE
SE
Figure 3. Hill-type muscle model
between the feet and the ground, see e.g. Schiehlen (2006), for each phase
p as
cp = 0, p = 1, ..., 8, (31)
Muscle Skeletal
Activation
Contraction System
Dynamics
Dynamics Dynamics
performed by Stein et al. (1996). In order to account for the moments lmj,r
and lmj,l applied at the metatarsophalangeal joints by the muscles exor
halucis longus and exor digitorum longus, negative moments up to 10 Nm
are allowed to act at points Br and Bl. Positive moments on the foot at the
metatarsophalangeal joint pull the toes upwards having little or no inuence
on the dynamics of the model during walking. For this reason no positive
moments are applied at the metatarsophalangeal joint in the model. Figure
4 shows a scheme of the dynamics of the complete musculoskeletal system
having the neural excitations as controls. The vectors u and a are the
vectors of the 16 neural excitations and muscle activations, respectively, of
all muscle groups considered in the model. The vectors lm and m contain
the lengths and lengthening velocities of the muscles, respectively. The
activation dynamics is modeled by a rst order dierential equation as in He
et al. (1991). The rst order contraction dynamics arises from the presence
of the series elastic element (CE) and from the muscle force-length-velocity
relations, refer e.g. to Ackermann (2007b), and is based on the model of
Nagano and Gerritsen (2001).
In order to estimate the metabolic energy rate E consumed by the mus-
cles, phenomenological muscle energy expenditure expressions recently pro-
posed in Umberger et al. (2003) are used as
where the muscle parameters are summarized in the vector pm . All muscle
parameters are selected from Nagano and Gerritsen (2001), Menegaldo et al.
(2003), and Umberger et al. (2003).
14 W. Schiehlen and P. Eberhard
Optimization Optimization
Constraints
Variables Variables
Contr.
Dyn. Optimization
Loop
Muscle
Activations
Metabolic Cost Cost Motion
Act. of Transport Function Deviation
Dyn.
Neural
Measured
Excitations
Kinematics
Constraints
of the equations of motion throughout the walking cycle, see Eq. (30).
The cost function adopted for the applications is characterized by the
metabolic cost of transport E t . The expression for the metabolic cost of
transport reads as, see Ackermann (2007a),
16
tf
Et = Ei (t)dt (33)
i=1 ti
where Ei is the metabolic cost rate from Eq. (32) for muscle i.
80
Musculoskeletal 40
Model
20
0
20
Time
Integration 40
0 0.1 0.2 0.3 0.4
Direct dynamics
3 Conclusion
In the rst section the historical development of multibody dynamics is
reviewed briey. The fundamental approaches of analytical dynamics are
summarized for rigid and exible bodies. Multibody dynamics is an ex-
cellent foundation for applied dynamics and sophisticated control design.
Multibody dynamics oers challenging problems for computational meth-
ods required advanced simulation techniques.
The second section illustrates the value of biomechanics based approaches
to evaluate and analyze the potential of the inverse-dynamics based opti-
mization framework. The results show how modelling and control of the
sophisticated systems may be veried in applied dynamics by measurements
and advanced simulation techniques.
Bibliography
M. Ackermann. A novel optimization approach to generate physiological
human walking patterns. In Proceedings of ASME, IDETC/CIE 2007,
Las Vegas, USA, 2007a. Paper: IDETC35014.
M. Ackermann. Dynamics and energetics of walking with prostheses. PhD
Thesis, Shaker Verlag, Aachen, 2007b.
M. Ackermann and W. Schiehlen. Dynamic analysis of human gait disorder
and metabolical cost estimation. Archive of Applied Mechanics, 75(10-
12):569594, 2006.
F.C. Anderson and M.G. Pandy. Dynamic optimization of human walking.
Journal of Biomechanical Engineering, 123(5):381390, 2001.
M. Arnold. Numerical methods for simulation in applied dynamics. In
M. Arnold and W. Schiehlen, editors, Simulation Techniques for Applied
Dynamics. Springer, Viena, 2008.
Bauchau, editor. Comp. Methods Applied Mechanics Engineering. volume
195(50-51): Special issue on multibody dynamics analysis, 2006.
G. Bessonnet, P. Seguin, and P. Sardain. A parametric optimization
approach to walking pattern synthesis. The International Journal of
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J. DAlembert. Traite de Dynamique. David, Paris, 1743.
P. de Leva. Adjustments to Zatsiorsky - Seluyanovs segment inertia pa-
rameters. Journal of Biomechanics, 29(9):12231230, 1996.
18 W. Schiehlen and P. Eberhard
E.F. Zajac. Muscle and tendon: properties, models, scaling, and application
to biomechanics and motor control. CRC Critical Reviews in Biomedical
Engineering, 19(4):359411, 1989.
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Modelling, Simulation and Control 39
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40 O. Brls, A. Cardona and M. Gradin
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Modelling, Simulation and Control 41
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Modelling, Simulation and Control 47
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K
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Modelling, Simulation and Control 51
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Modelling, Simulation and Control 53
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54 O. Brls, A. Cardona and M. Gradin
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Modelling, Simulation and Control 57
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Modelling, Simulation and Control 59
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60 O. Brls, A. Cardona and M. Gradin
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Modelling, Simulation and Control 61
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62 O. Brls, A. Cardona and M. Gradin
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Modelling, Simulation and Control 65
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Modelling, Simulation and Control 67
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68 O. Brls, A. Cardona and M. Gradin
0.5 0.06
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Modelling, Simulation and Control 73
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4GD ENQDB@RS 4NLHYTJ@
ENQ SGD BDMSTQX @QFTDR SG@S LDBG@SQNMHBR
VHKK AD NMD NE SGD LNRS HMTDMBHMF DMFHMDDQHMF SNOHBR -DBG@SQNMHBR B@M
AD SQD@SDC @R SGD ETSTQD NE @S KD@RS LDBG@MHB@K DMFHMDDQHMF (NVDUDQ SGD
CDRHFM NE LDBG@SQNMHB@K RXRSDLR HR MNS @M D@RX S@RJ )S HR GD@UHKX A@RDC
NM LNCDKHMF @MC RHLTK@SHNM 4GD B@O@AHKHSX SN CDUDKNO U@KHC @MC DBHDMS
RHLTK@SHNM LNCDKR HM QD@RNM@AKD CDUDKNOLDMS SHLD HR DRRDMSH@K ENQ RTBBDRRETK
CDUDKNOLDMS NE LDBG@SQNMHB@K OQNCTBSR #DQS@HMKX SGD BNMSQNK QDOQDRDMSR
SGD JDQMDK NE SGD LDBG@SQNMHB@K RXRSDL 2DBDMSKX SVN CHDQDMS @OOQN@BGDR
SNV@QCR BNMSQNK NE LDBG@SQNMHB@K RXRSDLR NBBTQ /MD @OOQN@BG B@M AD B@KKDC
LNCDK A@RDC BNMSQNK @MC SGD NSGDQ LNCDKKDRR BNMSQNK 4GD QRS @OOQN@BG
HR CDUDKNOHMF SGD BNMSQNK TRHMF SGD DWOKHBHS JMNVKDCFD NE SGD LNCDK NE SGD
BNMSQNKKDC RXRSDL VGHKD SGD RDBNMC NMD @UNHCR @MX MDBDRRHSX NE JMNVKDCFD
NE SGD LNCDK NE SGD BNMSQNKKDC RXRSDL 4GD OTQD UDQRHNM NE SGD K@SSDQ NMD
HR @ SNOHB NE NMFNHMF QDRD@QBG VGHKD SGD QRS NMD HR QD@CX ENQ OQ@BSHB@K
@OOKHB@SHNMR
6DGHBKDR @QD BTQQDMSKX SGD LNRS LDBG@SQNMHB@K OQNCTBSR 4GDX QDOQD
RDMS SGD HCD@K DW@LOKD ENQ CDLNMRSQ@SHNM NE SGD @OOKHB@SHNM NE CDRBQHADC
@OOQN@BGDR -NQDNUDQ SGD CDRBQHADC @OOQN@BGDR G@UD ADDM CDUDKNODC RODBHE
HB@KKX A@RDC NM SGD HMROHQ@SHNM @MC CDL@MCR NE @TSNLNSHUD DMFHMDDQHMF
76 M. Valek
4GDQDENQD SGHR BNMSQHATSHNM BNUDQR SGQDD L@HM SNOHBR 4GD QRS SNOHB
HR SGD DBHDMS CDUDKNOLDMS NE RHLTK@SHNM LNCDKR NE LDBG@SQNMHB@K RXRSDLR
4GD RDBNMC SNOHB HR SGD LNCDK A@RDC BNMSQNK CDRHFM NE LDBG@SQNMHB@K RXRSDLR
4GD SGHQC SNOHB HR @ CDLNMRSQ@SHNM NE @OOKHB@SHNM NE SGD CDRBQHADC @OOQN@BGDR
SNV@QCR SGD CDUDKNOLDMS NE HMSDFQ@SDC BG@RRHR BNMSQNK @MC SGD BNMSQNK NE
BNLATRSHNM DMFHMDR NE UDGHBKDR
!
-DBG@SQNMHBR HR NMD NE SGD K@QFDRS BG@MFDR QDUNKTSHNMR
SG@S G@UD S@JDM
OK@BD HM DMFHMDDQHMF @S SGD DMC NE SGD K@RS BDMSTQX )S G@R TMCDQFNMD SGD
DUNKTSHNM (DVHS
EQNL HMSDFQ@SHNM NE SGD LDBG@MHRLR VHSG DKDBSQNMHBR
@MC SGD QNANS @MC .# L@BGHMDSNNKR BNMSQNK SGQNTFG LNQD FDMDQ@K INHMHMF
NE SGD LDBG@MHBR L@BGHMDR
@MC SGD DKDBSQNMHBR @R VDKK @R SGD BNMSQNK NE
L@MX MDV GHFGSDBG OQNCTBSR E@WDR UHCDN B@LDQ@R B@QR @HQBQ@ESR DSB
TO
SN SGD UDQX FDMDQ@K BNMBDOS NE RXMDQFHRSHB BNLAHM@SHNM NE U@QHNTR SDBGMNKN
FHDR HM @ RHMFKD OQNCTBS NQ @ MDV CDRHFM LDSGNCNKNFX &HFTQD
)M SGD
BDMSTQX SGD LDBG@SQNMHBR G@R ADDM PT@KHDC @R SGD RXMDQFHRSHB HMSDFQ@SHNM
NE SGD LDBG@MHBR L@BGHMDR
VHSG SGD DKDBSQNMHBR @MC SGD HMSDKKHFDMS BNL
OTSDQ BNMSQNK VHSG SGD DLOG@RHR NM SGD CDRHFM NE HMSDKKHFDMS L@BGHMDR )M SGD
BDMSTQX SGD LDBG@SQNMHBR @R SGD RXMDQFHRSHB HMSDFQ@SHNM NE SGD OGXRHB@K
RXRSDLR VHSG SGD HMENQL@SHNM SDBGMNKNFHDR @MC BNLOKDW CDBHRHNM OQNBDRRDR
HR BNMRHCDQDC 4NLHYTJ@
SN G@UD NMD NE SGD FQD@SDRS HMTDMBDR NM
SGD CDUDKNOLDMS NM SGD DMFHMDDQHMF SDBGMNKNFX HD L@BGHMDR @MC BNMRSQTB
SHNMR 4GD LDBG@SQNMHBR HR DWODBSDC SN BNMSQHATSD CDDOKX SN SGD BQD@SHNM NE
MDV OQNCTBSR @MC SDBGMHB@K RXRSDLR VGHBG VHKK NTSCN DWHRSHMF KHLHS@SHNMR
NE OQNODQSHDR @BGHDU@AKD AX SNC@XR SQ@CHSHNM@K OQNCTBSR @MC SGTR VHKK AD
SGD LNSNQ NE SGD VD@KSG @MC SGD DBNMNLX HMBQD@RD NE SGD RDQHNTR SDBGMHB@K
OQNAKDLR? RNKTSHNM NE SGD VNQKC ATS @KRN ITRS NE ADSSDQ R@SHREXHMF SGD GTL@M
MDDCR 4GD HMSDKKHFDMS RSQTBSTQDR 'TQ@M @MC 4YNT *@MNBG@
HMSDKKHFDMS L@SDQH@KR +DKKX @MC :VDADM 7@KK@BD
LDBG@SQNMHB
BNLONMDMSR .DTFDA@TDQ DS @K
@QD SGD M@STQ@K O@QSR NE LDBG@SQNM
HBR 4GDX MNS NMKX ONRRDRR SGD ETMC@LDMS@K BG@Q@BSDQHRSHBR NE LDBG@SQNMHBR
BNMMDBSHMF SGD L@SSDQ RDMRNQR @MC CDBHRHNML@JHMF ATS @ANUD @KK SGDX
HMSQNCTBD SGD DRRDMSH@K ED@STQDR NE HMSDKKHFDMBD @MC RL@QSMDRR HM SGD LDBG@
SQNMHBR 4GDQD @QD MTLADQR NE NSGDQ CDRHFM@SHNMR KHJD @C@OSQNMHBR *@MNBG@
RSQTBSQNMHBR 'TQ@M @MC 4YNT
@MC RN NM
!MXANCX VGN ADBNLDR E@LHKH@Q VHSG SGD LDBG@SQNMHBR @BPTHQDR @M HL
OQDRRHNM SG@S MNV @MXSGHMF HR ONRRHAKD HM SDBGMNKNFX 4GD RDMRNQR @MC CQHUDR
@BST@SNQR
B@M AD OK@BDC @MXVGDQD @MC SGDX B@M AD TRDC SN BNMSQNK SGHMFR
RN SG@S @MXSGHMF SG@S HR ONRRHAKD HM SGD UHQST@K VNQKC NE GTL@M HL@FHM@SHNM
Modelling, Simulation and Control 77
BKNRD SGD LDBG@SQNMHB RXRSDL RSQTBSTQD 4GDQDENQD SGD A@RHR NE SGD NQHFHM@
SHNM NE SGD RL@QS RSQTBSTQDR HMSDKKHFDMS L@SDQH@KR LDBG@SQNMHB BNLONMDMSR
LDBG@SQNMHB @OOKHB@SHNMR @QSDE@BSR VHSG HMSDKKHFDMS ADG@UHNTQ FDMDQ@KKX HR
SGD HMUDMSHUD LNCHB@SHNM NE SGD DWHRSHMF NAIDBS OGXRHB@K RXRSDL RN SG@S
SGD LDBG@SQNMHB RSQTBSTQD HR ONRRHAKD SN AD BQD@SDC 4GTR SGD LDBG@SQNM
HBR G@R ADBNLD @ MDV RNTQBD NE HMUDMSHNMR @MC CDRHFM ! K@QFD @LNTMS NE
SGD RNKTSHNMR MDV O@SDMSR MDV L@BGHMD @MC BNMRSQTBSHNMR HMMNU@SHNMR HR
A@RDC NM SGD BQD@SHNM NE @M HMUDMSHUD LNCHB@SHNM NE SGD DWHRSHMF OGXRHB@K
RXRSDL SN L@JD SGD HMSDKKHFDMS ADG@UHNTQ ONRRHAKD 4GHR HR SGD QD@RNM ENQ
64B?2
3SQTBSTQD NE @ LDBG@SQNMHB RXRSDL
SDL DWHRS +@QMNOO DS @K #DKKHDQ 6DHSK DS @K 6@K@RDJ DS
@K 6@K@RDJ !QMNKC DS @K
4VN CHDQDMS BK@RRDR NE @O
OQN@BGDR B@M AD CHRSHMFTHRGDC &HFTQD
6@K@RDJ DS @K
4GD QRS
NMD HR SGD BNRHLTK@SHNM @MC SGD RDBNMC NMD B@M AD B@KKDC TMHENQL LNCDKHMF
4GD BNRHLTK@SHNM HR A@RDC NM HMSDQE@BHMF SGD QDRTKSDC LNCDKR HM CHDQDMS
OGXRHB@K CNL@HMR @MC SGD TMHENQL LNCDKHMF HR A@RDC NM SGD LNCDKHMF NE SGD
VGNKD LTKSHCHRBHOKHM@QX RXRSDL VHSGHM NMD TMHENQL K@MFT@FD
!
<@6:B9.A6<;
4GD QRS @OOQN@BG HR SGD TR@FD NE SNNKR ENQ RODBH@KHYDC BNLONMDMS
LNC
DKKHMF HM NMD O@QSHBTK@Q OGXRHB@K CNL@HMR @MC SGDM HMSDQE@BHMF SGD QDRTKSHMF
LNCDKR 6DHSK DS @K
4GD NTSOTS U@QH@AKDR EQNL NMD LNCDK @QD SGD
HMOTS U@QH@AKDR NE @MNSGDQ LNCDK @MC UHBD UDQR@ 4GHR DWBG@MFD NE U@QH@AKDR
HLHS@SDR SGD QD@K HMSDQ@BSHNM ADSVDDM SVN LNCDKR NE RTARXRSDLR &HFTQD
V@QD SNNKR ENQ LNCDKHMF @MC RHLTK@SHNM SGD RXRSDLR EQNL NMD OGXRHB@K CN
L@HM @QD UDQX VDKK DRS@AKHRGDC HLLDCH@SDKX @U@HK@AKD @MC UDQX VDKK SDRSDC
4GD @CU@MS@FDR @QD SG@S SGD LNCDKR @QD @U@HK@AKD HM RODBH@KHYDC LNCDKHMF
SNNKR VHSG RODBH@KHYDC MTLDQHB@K RNKUDQR CDUDKNODC TRHMF RODBH@KHRSDWODQS
JMNVKDCFD NESDM HMSN K@QFD LNCDK BNLOKDWHSX 4GD CHR@CU@MS@FD NE SGHR
@OOQN@BG HR SG@S L@MX CDS@HKR NE ROKHSSHMF SGD LNCDK @MC SGD RNKUDQ @QD
OQ@FL@SHB VHSGNTS DK@ANQ@SDC SGDNQDSHB@K JMNVKDCFD 4GD CHR@CU@MS@FDR
@QD SG@S CDUDKNOLDMS NE HMSDQE@BDR HR MDBDRR@QX KD@CHMF SN BNLOKDW RHLTK@
SHNM DMUHQNMLDMS @MC BNOHMF VHSG CHDQDMS LNCDKKHMF SDBGMHPTDR !MNSGDQ
CHR@CU@MS@FD HR SG@S HS HR SN FQD@S DWSDMS KHLHSDC SN SGD CDRHFM AX RHLTK@SHNM
2DBDMSKX FQD@S OQNFQDRR G@R ADDM @BGHDUDC HM LDSGNCNKNFHDR ENQ HMSDQE@BHMF
NE O@QSHBTK@Q RNESV@QD SNNKR 4GDQD @QD L@MX ONRRHAKD LDSGNCR ENQ HMSDQE@B
HMF NE RNESV@QD SNNKR ENQ LDBG@SQNMHB RXRSDL RHLTK@SHNM
4GD BNTOKHMF NE LNCDKR B@M AD QD@KHYDC NM CHDQDMS KDUDKR 4GDHQ BK@R
RHB@SHNM TRDR SGD FDMDQ@K BNMRHCDQ@SHNM NE BNTOKHMF #!% RNESV@QD SNNKR
&HFTQD
6DHSK DS @K
4GD QRS CHRSHMBSHNM HM SGHR BK@RRHB@SHNM
RSQTBSTQD HR ADSVDDM CDRHFM SNNKR @MC CDRHFM LNCDKR $DRHFM LNCDK CD
RBQHADR SGD ADG@UHNTQ ETMBSHNM@KHSX NE SGD RXRSDL ADHMF CDRHFMDC 4GD CDRHFM
SNNKR B@M NMKX HMBKTCD SGD BNLOTS@SHNM NE CDRHFM O@Q@LDSDQR VHSGNTS LNC
DKKHMF SGD VGNKD RXRSDL 4GD RDBNMC CHRSHMBSHNM HR ADSVDDM SGD CDRBQHOSHUD
@MC NODQ@SHNM@K LNCDKR 4GD CDRBQHOSHUD LNCDK ITRS CDRBQHADR SGD RSQTBSTQD
@MC BNMSDMS NE SGD OK@MS LNCDK 4GD NODQ@SHNM@K LNCDK B@M AD HMSDQOQDSDC
@MC FDMDQ@SDR MDV C@S@ @ANTS SGD OK@MS DF SHLD RDPTDMBD NE SGD OK@MS
ADG@UHNTQ SGD U@KTD NE SGD ODQENQL@MBD HMCDW
%W@LOKDR NE CDRBQHOSHUD
LNCDKR @QD #!$ LNCDKR RXLANKHB DPT@SHNMR NE LNSHNM OQNFQ@LLD RNTQBD
%W@LOKDR NE NODQ@SHNM@K LNCDKR @QD QTMMHMF RHLTK@SHNM LNCDKR QTMMHMF
BNLOTSDQ BNCDR 4GD MDWS CHRSHMBSHNM HR ADSVDDM RHLTK@SHNM LNCDK BNTOKHMF
@R SGD BNTOKHMF NE SHLD RDPTDMBD NE U@KTDR NE RXRSDL ADG@UHNTQ EQNL CHDQDMS
RHLTK@SHNM LNCDKR @MC SGD RHMFKD U@KTD BNTOKHMF @R SGD BNTOKHMF NE RHMFKD
U@KTDR OQNCTBDC AX CHDQDMS LNCDKR DF DWBG@MFD NE U@KTDR NE ODQENQL@MBD
HMCDW VHSGHM NOSHLHR@SHNM
4GD RHLTK@SHNM LNCDKR B@M AD BNTOKDC NM SGD
KDUDK NE CDRBQHOSHUD LNCDKR DF BNTOKHMF NE RXLANKHB DPT@SHNMR NQ RXLANKHB
RNTQBD BNCD
NQ NM SGD KDUDK NE NODQ@SHNM@K LNCDKR VGDM SGD U@KTDR FDMDQ@SDC
CTQHMF SGD RHLTK@SHNM @QD DWBG@MFDC 4GD MDWS CHRSHMBSHNM HR SGD MTLADQ
NE HMCDODMCDMS HMSDFQ@SNQR VGHBG @QD BNLLTMHB@SHMF /MD HMSDFQ@SNQ HR SGD
?SHFGS BNTOKHMF LDSGNC ETMBSHNMB@KK
NE SGD RXRSDLR @MC SVNLNQD HMSD
FQ@SNQR QDRTKS HM SGD ?VD@J BNTOKHMF LDSGNC BNRHLTK@SHNM
6DHSK DS @K
!KK BNTOKHMF U@QH@MSR B@M AD HLOKDLDMSDC @R NMD NQ LNQD OQNBDRRDR
!M NUDQUHDV NE U@QH@MSR NE BNRHLTK@SHNM HLOKDLDMS@SHNM HR HM &HFTQD
)M O@QSHBTK@Q SVN RODBHB ONHMSR NE UHDV @QD DRRDMSH@K ENQ BNRHLTK@SHNM
SDBGMNKNFX )S HR SGD RNESV@QDG@QCV@QD @MC HLOKDLDMS@SHNM HRRTD @MC SGD
Modelling, Simulation and Control 83
MTLDQHB@K RNKTSHNM HRRTD &HFTQD
4GD QRS HRRTD HR SGD PTDRSHNM NE GNV
L@MX OQNBDRRNQR @QD TRDC @MC SGD RNESV@QD SDBGMNKNFX NE OQNFQ@LLHMF BNT
OKHMF NE BNCDR BNTOKHMF NE KHAQ@QHDR RHMFKDLTKSHOKD OQNBDRRDR
@MC BNLLT
MHB@SHNM KD HMSDQE@BD RG@QDC LDLNQX 4#0)0
4GD RDBNMC HRRTD HR SGD
LNRS BQHSHB@K OQNAKDL NE BNRHLTK@SHNM 4GD L@HM OQNAKDLR NE BNRHLTK@SHNM
@QD SGD RS@AHKHSX @BBTQ@BX @MC DBHDMBX NE SGD HMSDFQ@SHNM MTLDQHB@K RNKU
HMF
OQNBDRR %RODBH@KKX BQHSHB@K NMD HR SGD RS@AHKHSX NE MTLDQHB@K RNKUHMF
OQNBDRR &QNL SGHR ONHMS NE UHDV SVN L@HM BNRHLTK@SHNM @OOQN@BGDR B@M
AD CHRSHMFTHRGDC &HFTQD
)S HR SHFGSBNTOKHMF RBGDLD VGDQD SGD HMSDFQ@
SHNM HR OQNUHCDC ITRS NMBD ENQ @KK RTARXRSDLR @MC SGD NSGDQ RTARXRSDLR @QD
SQD@SDC AX ETMBSHNMB@KK 4GD NSGDQ HR VD@JBNTOKHMF RBGDLD VGDQD SGD HMSD
FQ@SHNM HR OQNUHCDC HM D@BG BNRHLTK@SDC RTARXRSDL @MC SGD RTARXRSDLR @QD
DWBG@MFHMF SGD HMENQL@SHNM HM DPT@K V@X
## ## ##
# #
##
#
# %# !# !##
##
#
# %# # "#$ #
$
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!#
CDW ENQ LTKSHANCX RXRSDLR &HM@KKX SGD VD@J BNRHLTK@SHNM HMSDQE@BD VHSG
RHLTKS@MDNTR HMSDFQ@SHNM HM ANSG RHLTK@SHNM O@BJ@FDR HR @U@HK@AKD
';63<?: :<1296;4
4GD RDBNMC @OOQN@BG SQHDR SN CDRBQHAD SGD BNLOKDSD LTKSHCHRBHOKHM@QX
RXRSDL AX TMHENQL K@MFT@FD 4Q@CHSHNM@KKX SGD L@SGDL@SHB@K LNCDKR @MC
BNQQDRONMCHMF RHLTK@SHNM LNCDKR @QD ADHMF CDUDKNODC ENQ RXRSDLR EQNL NMD
OGXRHB@K CNL@HM 4GD A@RHR NE TMHENQL LNCDKHMF HR SG@S SGD LNCDKR ENQ @KK
O@QSHBTK@Q RTARXRSDLR @QD LNCDKDC AX SGD R@LD CDRBQHOSHNM HM SGD R@LD
LNCDKHMF K@MFT@FD 4GD RTALNCDKR @QD CDRBQHADC AX SGD R@LD BNMBDOSR TR
HMF SGD R@LD CDRBQHOSHNM 3TBG LNCDKR B@M AD M@STQ@KKX HMSDQBNMMDBSDC !R
SGD TMHENQL K@MFT@FD SGD ENTQ CHDQDMS ENQL@KHRLR B@M AD TRDC DPT@SHNMR
Modelling, Simulation and Control 87
MDSVNQJ @OOQN@BGDR @QD A@RDC NM SGD QDBNFMHSHNM SG@S @MX OGXRHB@K HMSDQ@B
SHNM HM NQ ADSVDDM @MX OGXRHB@K CNL@HM QDPTHQDR @M DWBG@MFD NE DMDQFX 4GHR
LD@MR SG@S O@QSR NE @ OGXRHB@K RXRSDL B@M AD SGNTFGS SN HMSDQ@BS UH@ ONQSR
SG@S @KKNV DMDQFX SN AD DWBG@MFDC SGD RNB@KKDC ONVDQONQS 3DBNMCKX HS HR
QDBNFMHYDC SG@S @MX CXM@LHB HMSDQ@BSHNM B@M AD CDRBQHADC AX SVN CXM@LH
B@KKX BNMITF@SDC U@QH@AKDR ?AHK@SDQ@K DWBG@MFD NE HMENQL@SHNM
5RT@KKX SGD
OQNCTBS NE SGDRD U@QH@AKDR DWOQDRRDR SGD ONVDQ NQ DMDQFX NV
4GD LTKSHONKD LNCDKKHMF @OOQN@BG HR @ UDQX FDMDQ@K @OOQN@BG A@RDC NM
SGD TMHENQL SQD@SLDMS NE @MX OGXRHB@K RXRSDL @R SGD HMSDQ@BSHNM ADSVDDM DK
DLDMSR RTARXRSDLR
CDRBQHADC AX SVN JHMC NE U@QH@AKDR SGQNTFG U@QH@AKDR
& @MC @BQNRR U@QH@AKDR 4GDRD U@QH@AKDR @QD CT@K @MC HM BNTOKDR @QD @RRN
BH@SDC VHSG D@BG HMSDQ@BSHNM BNMMDBSHNM BNMRSQ@HMS
4GDRD U@QH@AKDR ETKKK
SGD @M@KNFX NE +HQBGGNR K@VR SGD @OOKHB@SHNM NE VGHBG RTBDR ENQ SGD BNL
OKDSD SQD@SLDMS NE DPT@SHNMR CDRBQHAHMF SGD BNMMDBSDC DKDLDMSR &HFTQD
& &
%> % %> %
%> %
%> %
% %
VGDQD HR ,@FQ@MFD LTKSHOKHDQ BNQQDRONMCHMF SN SGD BNMRSQ@HMS % %
4GD K@RS DWOQDRRHNM B@M AD LNCHDC
% %
%
%
%
%
VGDQD MDV ,@FQ@MFD LTKSHOKHDQR @QD HMSQNCTBDC
64B?2
-TKSHONKD LNCDK CDQHUDC EQNL U@QH@SHNM@K OQHMBHOKDR
90 M. Valek
4GD HMSDQLDCH@SD QDRTKS HR SG@S @ LTKSHONKD VHSG ! ONKDR VGHBG G@UD @RRN
BH@SDC SGD SGQNTFG @MC @BQNRR U@QH@AKDR VHSG KNB@K OQNODQSX
HR HMSQNCTBDC
&HFTQD @
(NVDUDQ RTBG LTKSHONKDR CN MNS R@SHREX SGD FDMDQ@KHYDC +HQBG
GNR K@VR ENQ SGQNTFG @MC @BQNRR U@QH@AKDR NE SGD VGNKD LTKSHONKD 3TBG
R@SHRE@BSHNM HR @BGHDUDC AX SGD DWSDMRHNM NE SGD ONKDR AX SGD !
SG @TWHK
H@QX ONKD VHSG SGD CDMHSHNM NE SGD SGQNTFG @MC @BQNRR U@QH@AKDR &HFTQD A
%
' ' ' '
64B?2 4GQNTFG @MC @BQNRR U@QH@AKDR ENQ CHDQDMS OGXRHB@K CNL@HMR
@MC CNDR ./4 FQ@OGHB@KKX QDOQDRDMS SGD FDNLDSQX NE SGD LNCDKKDC RXRSDL
! ANMC FQ@OG HR @ CHQDBSDC FQ@OG VHSG K@ADKDC MNCDR 4GD DCFDR @QD ANMCR
@MC QDOQDRDMS @ AHK@SDQ@K RHFM@K NV NE SGD ONVDQBNMITF@SDC U@QH@AKDR B@KKDC
DNQS @MC NV !F@HM SGDRD BNMITF@SDC U@QH@AKDR ETKKK HM SGD MNCDR SGD
@M@KNFX NE +HQBGNR K@VR 4GD G@KE @QQNV QDOQDRDMSR ITRS SGD ONRHSHUD NQH
DMS@SHNM HD MNS SGD CHQDBSHNM NE SGD NV 4GD DCFDR NMKX QDOQDRDMS ONVDQ
HMSDQ@BSHNM ADSVDDM SGD ONQSR @MC B@QQX SGDLRDKUDR MN HMENQL@SHNM @ANTS
SGD MDSVNQJ RSQTBSTQD ! BQTBH@K OQNODQSX NE @ ANMC FQ@OG HR SG@S HS QDOQD
RDMSR CHDQDMS SXODR NE RSQTBSTQ@K BNMRSQ@HMSR AX CHDQDMS SXODR NE MNCDR HM
SGD R@LD L@MMDQ @R HS QDOQDRDMSR CHDQDMS SXODR NE DKDLDMSR RSNQ@FD @MC
CHRRHO@SHUD DKDLDMSR RNTQBDR DSB
AX CHDQDMS SXODR NE MNCDR (NVDUDQ HM
SGD ANMC FQ@OGR @ CDS@HKDC CHRSHMBSHNM NE BNMMDBSHNM DKDLDMSR HR TRDC 4GDQD
@QD SVN ETMC@LDMS@K B@RDR B@KKDC ITMBSHNM @MC ITMBSHNM VGDQD SGD JHMC
NE +HQBGNR K@VR ENQ DNQS @MC NV @QD HMSDQBG@MFDC &HFTQD
HM BNMSQ@RS
SN LTKSHONKDR VGDQD HM SGD MNCDR SGD @BQNRR U@QH@AKDR @QD @KV@XR DPT@K @MC
SGD SGQNTFG U@QH@AKDR @QD @KV@XR RTLLDC SN YDQN 4GD ANMC FQ@OG MNS@
SHNM B@M AD FDMDQ@KHYDC SN LTKSHONQSR @MC LTKSHANMCR SGTR HMBQD@RHMF SGD
DWOQDRRHMF B@O@AHKHSHDR NE ANMC FQ@OGR VGHBG HR MDBDRR@QX ENQ BNLOKDW RXR
SDL LNCDKR KHJD LTKSHANCX RXRSDLR 4GD HMSDQOQDS@SHNM NE DNQS @MC NV
U@QH@AKDR HM ANMC FQ@OG @OOQN@BG &HFTQD
HR LNQD BNLOKHB@SDC SG@M HM
LTKSHONKD @OOQN@BG @R HS ENKKNVR EQNL CDRBQHOSHNM NE OGXRHB@K OGDMNLDM@
AX RSNQHMF PT@MSHSX @MC JDDOHMF DPTHKHAQHTL +@QMNOO DS @K
4GHR
@OOQN@BG ENQ LTKSHOGXRHB@K LNCDKHMF HR BTQQDMSKX ADHMF DUNKUDC AX 3HL
RNESV@QD 3)- VDA
RDD LNQD HM SGD BNMSQHATSHNM NE 0 "QDDCUDKC SN SGHR
ANNJ
4GD QRS RSDO HR SGD @M@KXRHR NE SGD QD@K VNQKC NAIDBS DHSGDQ @BST@K NQ
GXONSGDRHRDC
SG@S HR LNSHU@SHMF SGD RHLTK@SHNM @MC LNCDKKHMF S@RJ 4GHR
QD@K VNQKC NAIDBS HR HMUDRSHF@SDC VHSGHM @ BDQS@HM DWODQHLDMS@K EQ@LD BNM
BDMSQ@SDC NM SGD @RODBSR SG@S MDDC SN AD HMUDRSHF@SDC HM NQCDQ SN @MRVDQ
RNLD PTDRSHNM !MRVDQHMF SGHR PTDRSHNM HR SGD NAIDBSHUD NE SGD HMUDRSHF@
SHNM 4GD QD@K VNQKC RXRSDL HR SGD LNCDK BQD@SDC HM NQCDQ SN GDKO @MRVDQ
SGD LNCDKKHMF PTDRSHNM RTBG @R GNV @ QD@KVNQKC RXRSDL VNTKC QDRONMC SN
O@QSHBTK@Q RSHLTKH 4GD QD@K VNQKC NAIDBS SGDQDENQD G@R SGQDD DKDLDMSR
4GD QD@K VNQKC RXRSDL DHSGDQ @BST@K NQ GXONSGDRHRDC
NE VGHBG VD
V@MS SN BQD@SD @ LNCDK SN TRD SN @MRVDQ @ LNCDKKHMF PTDRSHNM RTBG @R
GNV @ QD@KVNQKC RXRSDL VNTKC QDRONMC SN O@QSHBTK@Q RSHLTKH
4GD PTDRSHNM LNCDKKHMF PTDRSHNM
HR @ PTDRSHNM SG@S HR A@RDC VHSGHM
SGD QD@K VNQKC @MC HR SN AD @MRVDQDC TRHMF RHLTK@SHNM
4GD RNKTSHNM HR SGD HMSDQOQDS@SHNM NE SGD HMSDQOQDSDC NTSOTS NE SGD
RHLTK@SHNM S@RJ SGHR VHKK AD KDES AK@MJ TMSHK SGDQD HR @ RDS NE QDRTKSR
4GD RDBNMC RSDO HR SGD BNMBDOST@K S@RJ VGDQD SGD BNMBDOST@K LNCDK
HR CDUDKNODC 4GD SQ@MRENQL@SHNM EQNL QD@K VNQKC HMSN BNMBDOST@K VNQKC
BNMRHRSR NE BQD@SHMF @ GHDQ@QBGHB@K AQD@JCNVM NE SGD QD@K VNQKC RXRSDL ADHMF
HMUDRSHF@SDC DF GHDQ@QBGHB@K CDRBQHOSHNM NE QD@K OQNCTBS BNLONMDMSR @MC
HSR DMUHQNMLDMS
4GHR RBGDLD RGNTKC AD @BBNLO@MHDC AX SGD CDRBQHOSHNM
NE ETMBSHNM OGXRHB@K HMSDQ@BSHNM
@R HS HR SGD A@RHR NE B@TR@K @MC ETMBSHNM@K
DWOK@M@SHNM !R RNNM @R SGHR CDRBQHOSHNM HR BNLOKDSDC SGD BNMBDOST@KHR@SHNM
HR BNLOKDSDC $HDQDMS @RRTLOSHNMR @QD Q@HRDC @ANTS SGD FQ@MTK@QHSX NE
SGD LNCDK ADHMF CDUDKNODC ! BQTBH@K CDRHFM CDBHRHNM HR CDSDQLHM@SHNM NE
VG@S E@BSNQR HMTDMBD RXRSDL ADG@UHNTQ @MC VG@S RXRSDL ADG@UHNTQR @QD
SN AD HMBNQONQ@SDC HMSN SGHR S@RJ 4GD QDRTKS NE SGD BNMBDOST@KHR@SHNM HR SGD
BNMBDOST@K LNCDK HMUDRSHF@SDC VHSGHM SGD LNCDKKHMF DMUHQNMLDMS HM NQCDQ
SN @MRVDQ SGD LNCDKKHMF NAIDBSHUD
4GD BNMBDOST@K LNCDK HR @M @ARSQ@BSDC UHDV NE SGD QD@K VNQKC RXRSDL
Modelling, Simulation and Control 95
# # #
#" ##
#
#
$ $
#
#
!
#
#
4GD MDWS S@RJ HR OGXRHB@K LNCDKKHMF 4GD SGHQC RSDO HR SGD SQ@MRENQL@SHNM
EQNL BNMBDOST@K VNQKC HMSN HCD@K LNCDK VNQKC )S BNMRHRSR NE QDOK@BDLDMS
NE D@BG DKDLDMS NM SGD BNMBDOST@K KDUDK AX BNQQDRONMCHMF DKDLDMSR NM SGD
OGXRHB@K KDUDK 4GD DKDLDMSR NE SGD OGXRHB@K LNCDK @QD HCD@K LNCDKKHMF DKD
LDMSR DF QHFHC ANCX HCD@KKX DWHAKD ANCX HCD@K F@R HCD@K HMBNLOQDRRHAKD
THC HCD@K B@O@BHSNQ DSB
4GD DMFHMDDQHMF RBHDMBDR CD@K OQDBHRDKX VHSG SGD
HCD@K NAIDBSR -@SGDL@SHB@KKX CDRBQHADC DW@BS OQDCHBSHNM NE SGD ADG@UHNTQ
HR @U@HK@AKD NMKX ENQ HCD@K NAIDBSR 4GD @QS NE DMFHMDDQHMF LNCDKKHMF @MC
RHLTK@SHNM HR SGD B@O@AHKHSX SN SQ@MRK@SD SGD ADG@UHNTQ NE QD@K VNQKC NAIDBSR
HMSN SGD ADG@UHNTQ NE @ RXRSDL BNMRHRSHMF NE HCD@K NAIDBSR
!F@HM @R RNNM @R SGHR QDOK@BDLDMS HR BNLOKDSDC SGD OGXRHB@K LNCDKKHMF HR
BNLOKDSDC )M SGHR RS@FD SGD L@INQHSX NE LNCDKKHMF @RRTLOSHNMR @QD Q@HRDC
@MC L@MX LNCDKKHMF LNCHB@SHNMR @QD ADHMF CNMD )S HR SGD V@X NE LNC
DKKHMF HS @MC QDOQDRDMSHMF SGD QD@K VNQKC RXRSDL HM @ OGXRHB@K LNCDKKHMF
96 M. Valek
L@MMDQ &NQ DW@LOKD SVN SXOHB@K LNCHB@SHNMR @QD OQNUHCDC *4)&2 @M DK
DLDMS HR CDBNLONRDC HMSN LNQD DKDLDMSR @ RL@KK RTARXRSDL
DF @ ANCX
B@MMNS AD SQD@SDC @R QHFHC ANCX @MC HS HR LNCDKKDC @R DWHAKD ANCX ADHMF
LNCDKKDC @R RTARXRSDL
/2 RDUDQ@K DKDLDMSR @QD QDOK@BDC AX NMD DKDLDMS
@R SGD CDS@HKDC SQD@SLDMS NE HMSDQ@BSHNMR HR MDFKDBSDC DF SGD HMTDMBD NE
@ B@Q RTRODMRHNM LDBG@MHRL B@M AD MDFKDBSDC @MC SGD LNCDK BNMRHRSR NMKX
NE BG@RRHR @MC VGDDKR VHSG DWHAHKHSX NE SXQD @MC RTRODMRHNM ROQHMF
4GD
LNCDKKHMF S@RJ QDRTKSR HMSN SGD OGXRHB@K LNCDK HSR HMOTS @MC SGD HMUDRSHF@SDC
NTSOTS
4GD OGXRHB@K LNCDK HR @M @BBTQ@SD OGXRHB@K UHDV NE SGD BNMBDOST@K
LNCDK
4GD LNCDK HMOTS HR SGD LNCDKKHMF BNMBDOST@KHR@SHNM NE SGD HMOTSR NE SGD
QD@K VNQKC RXRSDLR OQNUHCHMF @ OGXRHB@K LNCDKKHMF NE SGD QD@K VNQKC
RSHLTKH SN SGD HMUDRSHF@SDC RXRSDL HD CDS@HKDC OGXRHB@K CDRBQHOSHNM
NE LNCDKKHMF DMUHQNMLDMS EQNL BNMBDOST@K S@RJ
4GD LNCDK NTSOTS HR SGD LNCDKKHMF BNMBDOST@KHR@SHNM NE SGD NAIDBSHUDR
ENQ SGD RHLTK@SHNM S@RJ HD GNV SGD HMSDQDRSDC ADG@UHNTQ HR LD@RTQDC
@MC DU@KT@SDC
4GD OQNBDRR NE CDSDQLHMHMF VGDSGDQ SGD OGXRHB@K LNCDK HR @M @CDPT@SDKX
@BBTQ@SD QDOQDRDMS@SHNM NE SGD BNMBDOST@K LNCDK HR SGD UDQHB@SHNM
4GD QDRTKSR NE SGD LNCDKKHMF S@RJ @QD HLOKDLDMSDC HM SGD ENQL NE @
BNLOTSDQDWDBTS@AKD RDS NE HMRSQTBSHNMR JMNVM @R SGD RHLTK@SHNM LNCDK )S
HR SGD SQ@MRENQL@SHNM EQNL OGXRHB@K VNQKC HMSN RHLTK@SHNM VNQKC )S BNM
RHRSR NE SGD QDOK@BDLDMS NE D@BG DKDLDMS NM SGD OGXRHB@K LNCDKKHMF KDUDK AX
BNQQDRONMCHMF DKDLDMSR NM SGD RHLTK@SHNM KDUDK 5RT@KKX SGHR QDOK@BDLDMS
B@M AD RSQ@HFGSENQV@QC @R RHLTK@SHNM O@BJ@FDR @QD SQXHMF SN CHQDBSKX BNMS@HM
SGD HCD@K NAIDBSR NE OGXRHB@K LNCDKR (NVDUDQ @KV@XR RNLD LNCHB@SHNMR
@QD MDBDRR@QX 4GD RHLTK@SHNM S@RJ BNMRHRSR NE SVN RS@FDR 4GD QRS RS@FD
CD@KR VHSG SGD HLOKDLDMS@SHNM NE SGD OGXRHB@K LNCDK TRHMF @ O@QSHBTK@Q RHL
TK@SHNM DMUHQNMLDMS RHLTK@SHNM K@MFT@FD @MC RHLTK@SHNM RNESV@QD
4GD
RDBNMC RS@FD CD@KR VHSG SGD RHLTK@SHNM DWODQHLDMS HD OQNODQ TR@FD NE
SGD CDUDKNODC RHLTK@SHNM LNCDK ENQ SGD RNKTSHNM NE SGD QD@K VNQKC OQNAKDL
4DRSHMF HR SGD OQNBDRR NE CDSDQLHMHMF VGDSGDQ SGD HLOKDLDMSDC UDQRHNM NE
SGD LNCDK HR @M @BBTQ@SD QDOQDRDMS@SHNM NE SGD OGXRHB@K LNCDK
4GD KHMD@Q CDRHFM OQNBDRR HR L@CD TO NE MTLDQNTR SQ@MRHSHNMR @BQNRR VNQKC
NAIDBSR NE CHDQDMS KDUDKR NE SGD EQ@LDVNQJ OQNCTBHMF CHDQDMS HSDQ@SHNMR @S
D@BG KDUDK %@BG SQ@MRHSHNM EQNL NMD VNQKC SN SGD MDWS HMUNKUDR SGD @CNOSHNM
NE RODBHB @RRTLOSHNMR ODQS@HMHMF SN GNV SGD LNCDK RGNTKC AD QDQDOQDRDMSDC
HM SGD MDWS VNQKC !M DW@LOKD HR RGNVM HM &HFTQD 4GD CDRHFMDQ CDUDKNOR
SGD QD@K VNQKC LNCDK @MC SGDM BNMRSQTBSR @M @RRNBH@SDC BNMBDOST@K LNCDK
Modelling, Simulation and Control 97
VGHBG HR SQ@MRENQLDC HMSN @M HCD@K LNCDK ! E@HKTQD @S SGHR ONHMS KD@CR SGD
CDRHFMDQ SN BNMRSQTBS @M @KSDQM@SHUD LNCDK NM SGD BNMBDOST@K VNQKC LNCDK
LD@MHMF SGD OQNAKDLR HCDMSHDC HM BNMRSQTBSHNM NE SGD QRS HCD@K LNCDK B@M
NMKX AD QDRNKUDC AX LNCHEXHMF SGD @RRTLOSHNMR L@CD VGDM CDUDKNOHMF SGD
QRS BNMBDOST@K LNCDK 4GHR RDBNMC BNMBDOST@K LNCDK HR ETQSGDQ CDUDKNODC
HMSN HCD@K @MC RHLTK@SHNM LNCDKR
4GHR CDUDKNOLDMS OQNBDRR NE RHLTK@SHNM LNCDK B@M AD HMSDQOQDSDC @R @M
@M@KNFX VHSG RNESV@QD DMFHMDDQHMF )S HMBKTCDR SGD @M@KNFX VHSG KHED BXBKD
4GD QD@K VNQKC S@RJ HR KHJD RNESV@QD RODBHB@SHNM SGD BNMBDOST@K VNQKC S@RJ
HR KHJD RNESV@QD @M@KXRHR SGD OGXRHB@K LNCDKKHMF S@RJ HR KHJD RNESV@QD CDRHFM
SGD RHLTK@SHNM LNCDK HLOKDLDMS@SHNM HR KHJD RNESV@QD BNCHMF CDATFFHMF @MC
SDRSHMF SGD RHLTK@SHNM DWODQHLDMS HR KHJD RNESV@QD TR@FD 4GD @M@KNFX B@M
AD ENKKNVDC HM SDBGMHPTDR TRDC ENQ OQNFQ@LLHMF SDRSHMF CDATFFHMF 3NLD
@M@KNFHDR @QD LHRRHMF HM RODBHB@SHNM @M@KXRHR CDRHFM 4GD HMSDQOQDS@SHNM
NE RHLTK@SHNM LNCDK CDUDKNOLDMS @R @ RNESV@QD CDUDKNOLDMS HR UDQX TRDETK
@MC DM@AKDR SN DWBKTCD L@MX OQNAKDLR
&NQ SGD RTOONQS NE CDUDKNOLDMS OQNBDRR NE RHLTK@SHNM LNCDKR RODBHB
JMNVKDCFD SNNKR G@UD ADDM CDUDKNODC VHSGHM SGD OQNIDBS #KNBJVNQJ :CQ@
G@K DS @K 3SDHMA@TDQ DS @K
4GDX RTOONQS SGD B@OSTQD NE
JMNVKDCFD @BBTLTK@SDC CTQHMF SGD RHLTK@SHNM LNCDK CDUDKNOLDMS )S B@M
AD TRDC ENQ SGD RTOONQS NE FDNFQ@OGHB@KKX CHRSQHATSDC CDRHFM SD@LR ENQ SGD
QDTRD NE JMNVKDCFD EQNL OQDUHNTR B@RDR NQ ENQ SGD B@TSHNTR RHLTK@SHNM LNCDK
CDUDKNOLDMS VGDQD BNLO@MHDR LTRS BNNODQ@SD NM SGD RHLTK@SHNM LNCDK CD
UDKNOLDMS ATS CN MNS VHRG SN RG@QD SGDHQ VGNKD JMNVGNV :CQ@G@K DS @K
98 M. Valek
64B?2
/UDQUHDV NE LNCDKR TRDC ENQ BNMSQNK
100 M. Valek
64B?2
%W@LOKD NE RHLOKD LTKSHANCX RXRSDL VHSG CHDQDMS BNMSQNK
OQNAKDLR
2@0?6=A6<; <3 <;96;2.? B9A6/<1F %F@A2:@
4GD MNMKHMD@Q
LTKSHANCX RXRSDLR HMBKTCHMF SGD BNMSQNK @BSHNM @QD FDM
DQ@KKX CDRBQHADC AX ,@FQ@MFD DPT@SHNMR NE LHWDC SXOD RDD DF 3SDIRJ@K
@MC 6@K@RDJ
@ @ @
@
#@
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B
& & &
@
@
&
VGDQD @ @QD SGD BNNQCHM@SDR CDRBQHAHMF SGD LTKSHANCX RXRSDL B HR SGD UDB
SNQ NE HMOTS BNMSQNK U@QH@AKDR HR SGD L@RR L@SQHW # @QD SGD FDMDQ@KHYDC
ENQBDR @QD SGD JHMDL@SHB GNKNMNLHB NQ MNMGNKNMNLHB
BNMRSQ@HMSR
HR SGD *@BNAH@M BNQQDRONMCHMF SN SGD JHMDL@SHB BNMRSQ@HMSR @QD SGD ,@
FQ@MFD LTKSHOKHDQR SGD BNMSQNK HMOTSR ENQBDR
B @QD @BSHMF SGQNTFG SQ@MR
LHRRHNMR & 4GHR E@BS SG@S SGD FDMDQ@K CDRBQHOSHNM NE LTKSHANCX RXRSDLR
102 M. Valek
@ @ @
& & &
@
# &B
&
@ @
& &
(DMBD SGD RS@SD RO@BD CDRBQHOSHNM VHSG RS@SD UDBSNQ ;@ CCS @= HM CDODMCDMS
BNNQCHM@SDR @ B@M AD NAS@HMDC (NVDUDQ HM RTBG B@RD SGD QDRTKSHMF DPT@SHNMR
@QD @ESDQ KHMD@QHY@SHNM MNS BNMSQNKK@AKD )S ENKKNVR EQNL SGD E@BS SG@S HM RTBG
B@RD SGD CDODMCDMS BNNQCHM@SDR NM SGD KDUDK NE @BBDKDQ@SHNM @QD QDK@SDC AX
SGD PT@CQ@SHB SDQLR HM UDKNBHSHDR @R ENKKNVR EQNL SGD RDBNMC CDQHU@SHUDR NE
JHMDL@SHB BNMRSQ@HMSR HM
3TBG DPT@SHNMR @QD @ESDQ KHMD@QHY@SHNM MNS
BNMSQNKK@AKD HM TRT@K ONRHSHNMR VHSG YDQN UDKNBHSHDR .DUDQSGDKDRR SGHR RHLOKD
ENQLTK@SHNM HR RNLDSHLDR UDQX TRDETK DF ENQ NOSHL@K BNMSQNK 2NTAHBDJ
@MC 6@K@RDJ
4GD NSGDQ @OOQN@BG HR A@RDC NM SGD CDRBQHOSHNM NE LTKSHANCX RXRSDLR HM
HMCDODMCDMS BNNQCHM@SDR > 4GD BNNQCHM@SDR LTRS AD HMCDODMCDMS DF SGD
Modelling, Simulation and Control 103
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@ $
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& & & &
3TARSHSTSHMF EQNL
HMSN SGD QRS SHLD CDQHU@SHUD NE SGD JHMDL@SHB BNM
RSQ@HMS HS HR ENTMC NTS SG@S SGHR L@SQHW $ RO@MR SGD MTKK RO@BD NE SGD *@BNAH@M